Intelligent trajectory control method and system for near-horizontal directional drilling in underground coal mine

Abstract

The present application provides a coal mine underground near horizontal directional drilling intelligent trajectory control method and system, relates to the coal mine drilling technology field, obtains the coal seam detection data set by data collection to the target drilling area, constructs the coal seam section vector diagram; by building a stress hidden danger analysis model, the indexes of each distributed coal seam in the hardness of coal seam, the dispersion of coal seam and the stability of coal seam are analyzed, the hidden danger coefficient of identifying drilling safety hidden danger is obtained; based on the hidden danger coefficient, the damage risk of drilling tools is analyzed, when a certain risk probability is reached, the instruction of tool face angle switching is issued; the corresponding tool control system terminal is transmitted according to the above instruction to control the direction of drill bit of drilling tools to control the angle change. The present application solves the problem that the drilling tools are damaged during the drilling of coal seam, which easily leads to the reduction of drilling tool control precision and the inaccuracy of orientation, realizes the analysis of the stress state and drilling risk probability of drilling tools, optimizes the control direction, and thus improves the control precision of drill bit angle.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of coal mine underground drilling, in particular to a coal mine underground near-horizontal directional drilling intelligent trajectory control method and system. BACKGROUND

[0002] The directional drilling technology is initially mainly used in oil drilling, and with the in-depth development of drilling technology, it also plays an important role in combination and extension with other fields, such as coal, geology and other fields. The near-horizontal directional drilling technology is a drilling method that uses the natural bending law of drilling or uses special tools to extend the near-horizontal drilling trajectory to the designed target according to the design requirements. The near-horizontal directional drilling technology for coal mine underground drilling construction can meet the high demand of coal mine underground drilling for drilling trajectory control and better provide technical services for coal mine production.

[0003] At present, the drilling of coal seams mostly uses drilling tools with a certain inclination angle to ensure the control of the drilling angle. Based on the purpose of coal seam drilling, the drilling trajectory of the drilling tool is controlled according to the planned route. However, due to the complex distribution of coal seams, coal debris may fall off and coal seams may collapse during real-time drilling, thereby affecting the subsequent drilling work.

[0004] At present, due to the damage of the corresponding tools during coal seam mining, it is difficult to meet the implementation of the pre-planned drilling trajectory during coal seam drilling. When the tool is damaged, the directional accuracy of the drilling angle of the drilling tool is reduced and the directional accuracy is not enough. SUMMARY

[0005] The present application provides a coal mine underground near-horizontal directional drilling intelligent trajectory control method and system, which is used to solve the problem that the corresponding tools are easily damaged during the existing coal seam drilling, and it is difficult to meet the implementation of the pre-planned drilling trajectory during coal seam drilling. When the tool is damaged, the directional accuracy of the drilling angle of the drilling tool is reduced and the directional accuracy is not enough.

[0006] In view of the above problems, the present application provides a coal mine underground near-horizontal directional drilling intelligent trajectory control method and system.

[0007] In a first aspect, the embodiments of the present application provide a coal mine underground near-horizontal directional drilling intelligent trajectory control method, the method is applied to a coal mine drilling trajectory control system, the system is in communication connection with a screw drill device, and the method comprises: performing coal seam detection data collection on a target drilling area to obtain a coal seam detection data set; performing vector state construction according to the coal seam detection data set to generate a coal seam cross section vector diagram; obtaining each distributed coal seam based on the coal seam cross section vector diagram; performing multi-index calculation on the each distributed coal seam to obtain a coal seam hardness index, a coal seam divergence index and a coal seam stability index; performing drilling stress analysis according to the coal seam hardness index, the coal seam divergence index and the coal seam stability index to obtain a first hidden danger coefficient; outputting a path switching instruction according to the first hidden danger coefficient; sending the path switching instruction to a drilling trajectory control system for instruction analysis to output a first analysis angle, wherein the drilling trajectory control system is embedded in the screw drill device; outputting a first switching angle with the first analysis angle, wherein the first switching angle is a change angle between a real-time tool face angle of a drill bit in the screw drill device and the first analysis angle; and performing angle control on the drill bit of the screw drill device with the first switching angle.

[0008] In a second aspect, the embodiments of the present application provide a coal mine underground near-horizontal directional drilling intelligent trajectory control system, the system comprises: a detection data collection module, the detection data collection module is used for performing coal seam detection data collection on a target drilling area to obtain a coal seam detection data set; a vector state construction module, the vector state construction module is used for performing vector state construction according to the coal seam detection data set to generate a coal seam cross section vector diagram; a coal seam distribution output module, the coal seam distribution output module is used for obtaining each distributed coal seam based on the coal seam cross section vector diagram; a multi-index calculation module, the multi-index calculation module is used for performing multi-index calculation on the each distributed coal seam to obtain a coal seam hardness index, a coal seam divergence index and a coal seam stability index; a stress hidden danger analysis module, the stress hidden danger analysis module is used for performing drilling stress analysis according to the coal seam hardness index, the coal seam divergence index and the coal seam stability index to obtain a first hidden danger coefficient; a path switching module, the path switching module is used for outputting a path switching instruction according to the first hidden danger coefficient; an instruction analysis module, the instruction analysis module is used for sending the path switching instruction to a drilling trajectory control system for instruction analysis to output a first analysis angle, wherein the drilling trajectory control system is embedded in the screw drill device; a switching angle output module, the switching angle output module is used for outputting a first switching angle with the first analysis angle, wherein the first switching angle is a change angle between a real-time tool face angle of a drill bit in the screw drill device and the first analysis angle; and an angle control module, the angle control module is used for performing angle control on the drill bit of the screw drill device with the first switching angle.

[0009] The one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0010] The coal mine underground near-horizontal directional drilling intelligent trajectory control method provided by the embodiments of the present application relates to the technical field of trajectory control in coal mine underground mining and surveying, and comprises the following steps: coal seam exploration data is collected in a target drilling area to obtain a coal seam exploration data set; a vector state is constructed according to the coal seam exploration data set to generate a coal seam cross-section vector diagram; indexes of each distributed coal seam in terms of coal seam hardness, coal seam divergence and coal seam stability are analyzed; a stress hidden danger analysis model is built, the coal seam hardness index, the coal seam divergence index and the coal seam stability index are subjected to drilling stress analysis, and a hidden danger coefficient indicating drilling safety hidden dangers is obtained; the hidden danger coefficient is used to analyze the damage risk of a drilling tool, and when a certain risk probability is reached, an instruction for switching the tool horizontal angle is issued; and a corresponding tool control system terminal is controlled according to the above instruction transmission to control the direction of the drill bit of the drilling tool to change the angle. The coal seam mining tool and the drilling tool are prone to damage, and it is difficult to meet the pre-planned mining route during coal seam mining. When the tool is damaged, the direction control accuracy of the drill bit angle of the drilling tool is reduced, and the direction is not accurate enough. The stress state of the drilling tool is analyzed to obtain the risk probability of the current mining angle, and the drilling direction is continuously optimized and adjusted, so that the control accuracy of the drill bit angle is improved.

[0011] The above description is only a summary of the technical solutions of the present application. In order to more clearly understand the technical means of the present application, the embodiments of the present application can be implemented according to the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 A coal mine underground near-horizontal directional drilling intelligent trajectory control method flowchart is provided for the embodiments of the present application;

[0013] Figure 2 A trajectory control constraint flowchart is provided for the coal mine underground near-horizontal directional drilling intelligent trajectory control method in the embodiments of the present application;

[0014] Figure 3 A flowchart of angle vector expansion analysis in the coal mine underground near-horizontal directional drilling intelligent trajectory control method is provided for the embodiments of the present application;

[0015] Figure 4 A coal mine underground near-horizontal directional drilling intelligent trajectory control system structure diagram is provided for the embodiments of the present application.

[0016] Explanation of reference signs: probe data acquisition module 10, vector state construction module 20, coal seam distribution output module 30, multi-index calculation module 40, stress hidden danger analysis module 50, path switching module 60, instruction analysis module 70, switching angle output module 80, angle control module 90. DETAILED DESCRIPTION

[0017] In order to further maintain the accuracy of the drilling trajectory in real-time mining, the coal seam distribution characteristics drilled by the drilling tool are analyzed to ensure that the real-time stress state of the drilling tool matches the self stress bearing capacity, therefore, the present application proposes a coal mine underground near-horizontal directional drilling intelligent trajectory control method and system, which is used for analyzing the stress state of the drilling tool to obtain the risk probability of the current mining angle, and then continuously optimizing and adjusting the drilling direction, so as to improve the control precision of the drilling angle.

[0018] Embodiment one

[0019] As shown in Figure 1 The present application embodiment provides a coal mine underground near-horizontal directional drilling intelligent trajectory control method, which is applied to a coal mine drilling trajectory control system, the system is in communication connection with a screw drill device, and the method comprises the following steps:

[0020] Step S100: coal seam exploration data of a target drilling area is collected to obtain a coal seam exploration data set;

[0021] Specifically, the target drilling area is a real-time divided area for coal seam mining, which represents a mining area with coal resource content of geological layers, and the target drilling area is detected to obtain the coal seam exploration data set, wherein the coal seam exploration technology includes coal seam gas logging technology, which has high resolution, good identification effect, fast and intuitive, and low cost, so that the logging technology becomes an important means for coal seam mining. The coal seam exploration technology is used for surveying the reserves, properties and cross-section layers of the coal seam, and the geological structure of the coal seam includes folds, faults and coal seams. Since the structure of the coal seam is simple, there is no interlayer, and the occurrence of the top and floor rock layers is good, the coal seam exploration data set can accurately identify the properties, trend, throw of each fault and the distribution state of the coal seam. For example, the content of the commonly used logging curve can judge the lithology, establish the lithology profile, divide the coal seam, determine the coal thickness, process and interpret the coal seam moisture, ash content, fixed carbon and other mineral components, calculate the coal seam gas content and judge the cracks. In order to solve some special geological problems, sometimes some items need to be measured, such as formation dip angle logging, natural gamma ray spectrometry logging, nuclear magnetic resonance logging, etc., thereby providing accurate data source for subsequent coal seam visualization modeling.

[0022] Step S200: vector state construction is performed according to the coal seam exploration data set, and a coal seam section vector diagram is generated;

[0023] Since the coal seam exploration data set includes the coal seam reserves, coal seam properties, coal seam impurities, stratum lithology self-nucleus and horizon division, coal seam identification and division, coal rock characteristics, coal seam gas content and physical properties of the coal seam, in addition, the inner and outer ring state distribution data of the coal seam, and the geological structure, the depth diameter of each fault in the section, etc., in order to accurately analyze and simulate the route during coal seam mining, a three-dimensional modeling method is adopted for coal seam modeling. Three-dimensional modeling can utilize borehole data, coal seam floor contour data and profile data to make all effective data become reliable information available to the entity modeling system, and realize a model that can accurately reflect the spatial distribution characteristics of geological data and their internal relations.

[0024] The coal seam modeling is comprehensively performed by utilizing borehole data, coal seam floor contour data and profile data. In order to facilitate the analysis of the distribution state of each coal seam, after the model is established, the data model is displayed in an intuitive manner, and the data model is visualized and displayed in a vector form by using computer graphics technology. This structure can also store complex data with minimal data redundancy. It also has the characteristics of high data precision and small storage space. It is a high-efficiency graphic data structure that helps to increase the accuracy of trajectory control in combination with the map coordinates of the coal seam route trajectory control.

[0025] Step S300: based on the coal seam section vector diagram, each distributed coal seam is obtained;

[0026] The coal seam section vector diagram can identify the coordinate vector of the obtained coal seam exploration data modeling, so as to mark the spatial coordinate points where the coal seam is located based on the analysis of the characteristics of the coal seam itself, record the entity coordinates and their relationships, and as accurately as possible represent the geographical entities such as points, lines and polygons. The coordinate space is continuous and allows precise definition of any position, length and area. The coordinate position relationship, properties, attribute characteristics, etc. of the obtained each distributed coal seam have a relatively clear and accurate hierarchical structure.

[0027] Step S400: multi-index calculation is performed on the each distributed coal seam to obtain a coal seam hardness index, a coal seam divergence index and a coal seam stability index;

[0028] Step S500: drilling stress analysis is performed according to the coal seam hardness index, the coal seam divergence index and the coal seam stability index to obtain a first hidden danger coefficient;

[0029] Specifically, since the state of each distributed coal seam has a belt-shaped annular area, that is, presents the characteristics of internal and external distribution, the different coal resources in different layers have different mineral content, reserves, density, etc., and the safety risk hidden dangers produced when mining different coal seams are also different, therefore, the multi-index calculation is performed on the each distributed coal seam to obtain the coal seam hardness index, coal seam divergence index and coal seam stability index of each coal seam in the layered coal seam, and drilling stress analysis is performed according to the coal seam hardness index, coal seam divergence index and coal seam stability index, so as to output the hidden danger coefficient for identifying drilling safety hidden dangers, that is, the first hidden danger coefficient.

[0030] Further, the coal seam hardness index is the physical property hardness of the coal seam, when the coal seam hardness is different, the required increased drilling bit speed of the drilling tool is also different; the coal seam divergence index is used to identify the dispersion of coal slag of the coal seam when mining is driven by the drilling tool, when the coal slag is dispersed, it is easy to fall into the drilling tool and the drilling bit, causing safety hidden dangers such as drilling tool damage; the coal seam stability index is based on the gaseous substance of the coal seam detection, the chemical blasting reaction of the gas driven during mining, such as the safety hidden dangers caused by gas or other unstable chemical gas, therefore, drilling stress analysis is performed according to the coal seam hardness index, the coal seam divergence index and the coal seam stability index, and the model is divided into three analysis indexes of coal seam hardness, coal seam divergence and coal seam stability, and the specific process of the related indexes of each distributed coal seam includes:

[0031] (1) connect the coal seam data acquisition system to obtain the properties, reserves, physical hardness, stiffness, brittleness and distribution fault of each coal seam, etc., to provide a data source for subsequent index analysis;

[0032] (2) based on the correlation data algorithm, the related data set of the coal seam hardness, the related data set of the coal seam divergence index and the related chemical index for coal seam stability analysis are respectively called;

[0033] (3) using the analytic hierarchy process, the hidden danger influence corresponding to the three analysis indexes of the coal seam hardness x t , the coal seam divergence y t, and the coal seam stability z t is calculated, corresponding to ε1, ε2, ε3, to obtain the stress f(x t , y t, , z t )(ε1, ε2, ε3) of the drilling tool at the present time t;

[0034] (4) according to the f(x t , y t, , z t) as a hidden danger probability output variable, obtain the first hidden danger coefficient. The stress state of the drilling tool is analyzed to obtain the risk probability at the current mining angle, and the drilling direction is continuously optimized and adjusted to improve the control accuracy of the drill bit angle.

[0035] Step S600: output a path switching instruction according to the first hidden danger coefficient;

[0036] Step S700: send the path switching instruction to the while-drilling trajectory control system for instruction analysis and output a first analysis angle, wherein the while-drilling trajectory control system is embedded in the screw drill device;

[0037] Further, the present application also includes:

[0038] Step S710: determine the coal seam distribution characteristics according to the coal seam detection data set;

[0039] Step S720: determine a preset drilling path according to the coal seam distribution characteristics, and input the preset drilling path into the while-drilling trajectory control system;

[0040] Step S730: determine whether the path switching instruction is received, and if the path switching instruction is received, control the angle of the drill bit of the screw drill device.

[0041] Specifically, when the degree of hidden danger of the coal seam in which the drilling tool in the screw drill device is located is obtained, the degree of hidden danger is determined, that is, when the first hidden danger coefficient is greater than a preset hidden danger coefficient, it is identified that the preset route for the current coal seam mining has a large safety hidden danger, and the drill bit steering control accuracy is easy to be damaged, affecting the trajectory control accuracy. Therefore, a path switching instruction is output, and the path switching instruction is sent to the while-drilling trajectory control system for instruction analysis to output an analysis angle for controlling the tool angle of the drill bit. The while-drilling trajectory control system is embedded in the screw drill device, and is a computer numerical control system for issuing and controlling trajectories. The while-drilling trajectory control system is connected with the coal mine detection data acquisition system, and is used to call the coal mine detection data set in the coal mine detection data acquisition system to realize further angle analysis.

[0042] It should be understood that the screw drill device is analyzed by the system before the coal mining, and the preset drilling path is determined, the preset drilling path is input into the drilling trajectory control system for path pre-control, but due to the complex distribution of coal seam, the coal residue is scattered in the drilling head, the coal seam is collapsed, etc., thereby affecting the subsequent mining work, the corresponding instrument is easy to damage during coal mining, and it is difficult to meet the implementation of the mining route planned in advance during coal mining. It is difficult to meet the implementation of the mining route planned in advance during coal mining, in addition, when the tool is damaged, the direction control accuracy of the drill bit angle of the drill is also reduced, on the one hand, when it is judged that the hidden danger coefficient is greater than the preset hidden danger coefficient, the path switching instruction is obtained, on the other hand, whether the drilling trajectory control system receives the path switching instruction is judged, if the path switching instruction is received, the angle of the drill bit of the screw drill device is controlled by using the analysis angle output by the drilling trajectory control system.

[0043] Step S800: output a first switching angle with the first analysis angle, wherein the first switching angle is the change angle between the real-time facing angle of the drill bit in the screw drill device and the first analysis angle;

[0044] Step S900: angle control of the drill bit of the screw drill device is performed with the first switching angle.

[0045] Further, as shown in Figure 3 The step S800 of the present application further comprises:

[0046] Step S810: generate a direction expansion vector with the first analysis angle, wherein the direction expansion vector includes two expansion dimensions of decreasing direction and increasing direction;

[0047] Step S820: adjust the first analysis angle based on the direction expansion vector to obtain a first analysis angle interval;

[0048] Step S830: output a first switching angle interval with the first analysis angle interval.

[0049] Specifically, the first analysis angle is an angle after the angle of the drilling tool is adjusted according to the first hidden danger coefficient, that is, the included angle with the horizontal plane, the first switching angle is a change angle between the real-time tool face angle of the drill bit in the screw drill device and the first analysis angle, further, the azimuth expansion vector includes two expansion dimensions of azimuth reduction and azimuth increase, the first analysis angle is expanded in angle to obtain a first analysis angle interval, and then the first switching angle interval is output according to the first analysis angle interval, and the drilling tool direction is changed according to the first switching angle interval, for example, when the first analysis angle is 23°, the azimuth expansion vector includes +5° (azimuth increase) and -5° (azimuth reduction); the real-time direction angle of the drill bit of the drilling tool is controlled in two expansion dimensions of azimuth reduction and azimuth increase, the fault tolerance rate during direction change is improved, the constraint condition obtained by using the stress hidden danger analysis is used to judge the safety hidden danger of the force borne by the drilling tool, and the direction angle of the drill bit of the drilling tool is changed, so that the use state of the drilling tool in the preset track is accurately supervised, and the effect of high-standard use of the drilling tool is met.

[0050] Further, the step of the application further includes S1000:

[0051] Step S1010: Obtain the geometric component information of the screw drill device, including drill bit information, stabilizer information and drill pipe information;

[0052] Step S1020: Obtain the component connection structure of the screw drill device, wherein the connection structure includes the connection structure of the drill bit-stabilizer, the connection structure of the stabilizer-drill pipe and the connection structure of the drill bit-drill pipe;

[0053] Step S1030: Perform drilling stress limiting condition analysis according to the geometric component information and the component connection structure to generate a first constraint condition;

[0054] Step S1040: Embed the first constraint condition into the while-drilling trajectory control system for drilling constraint.

[0055] Further, as shown in the step S1030 of the application, the step S1030 further includes: Figure 2

[0056] Step S1031: Input the geometric component information and the component connection structure as input information into a stress limiting analysis model, wherein the stress limiting analysis model includes a plurality of stress analysis indexes, and the plurality of stress analysis indexes include drill bit rotation centrifugal force, stabilizer connection stress and drill pipe bending moment deformation force;

[0057] Step S1032: Perform bearing limiting force analysis according to the drill bit rotation centrifugal force, the stabilizer connection stress and the drill pipe bending moment deformation force, and output a first stress limit value; ​

[0058] Step S1033: generating the first constraint condition with the first force limit.

[0059] Specifically, when the first hidden danger coefficient is greater than a preset hidden danger coefficient, it is identified that the preset route of the current coal seam mining has a greater safety hidden danger, and a path switching instruction is output, wherein the preset hidden danger coefficient is obtained by conversion according to the inherent bearing force limit of the screw drill device, and the inherent bearing force analysis process of the screw drill device is as follows:

[0060] The geometric component information and the composition connection structure of the screw drill device are obtained, wherein the geometric component information includes drill bit information, stabilizer information and drill pipe information; the connection structure includes the connection structure of the drill bit-stabilizer, the connection structure of the stabilizer-drill pipe and the connection structure of the drill bit-drill pipe; and then a force limit analysis model is performed according to the geometric component information and the information of the composition connection structure to obtain the maximum rotational speed force that can be borne by the screw drill device. When the information of the geometric component is different, that is, the materials, stability, connection methods such as welding and firmware connection of the drill bit information, stabilizer information and drill pipe information are different, the stability of the combined device is deviated, thereby affecting the upper limit of the force of the device. Further, the process of force upper limit analysis is output by building a force limit analysis model. The force limit analysis model is a three-dimensional analysis model, including analysis of three force dimensions of drill bit rotation centrifugal force, stabilizer connection force and drill pipe bending moment deformation force. The analysis results are generated into corresponding first constraint conditions.

[0061] Further, the present application also includes:

[0062] Step S1050: drilling force analysis is performed according to the coal seam hardness index, coal seam dispersion index and coal seam stability index to obtain a real-time force limit;

[0063] Step S1060: the first constraint condition is embedded into the while-drilling trajectory control system, and the first force limit in the first constraint condition is taken as a judgment condition for force hidden danger analysis of the real-time force limit, and the first hidden danger coefficient is output.

[0064] Specifically, the maximum upper limit of the force of the screw drill device is determined, and the maximum upper limit of the force generated thereby is taken as a fixed constraint condition. The real-time drilling force demand required for coal seam mining at different times is compared. If the real-time drilling force demand is less than the maximum upper limit of the force, that is, angle adjustment is not required, the mining is performed according to the preset trajectory route. If the real-time drilling force demand is greater than or equal to the maximum upper limit of the force, the real-time drilling force demand is taken as the denominator and the real-time drilling force demand is taken as the numerator for proportion analysis. According to the output corresponding hidden danger probability, angle switching control is performed.

[0065] Specifically, the model is divided into three analysis indexes of coal seam hardness, coal seam divergence and coal seam stability, and the specific process of the related indexes of each distributed coal seam includes:

[0066] The output safety hazard coefficient γ t is a function of the response target, and the maximum limit value Fmax that the drilling tool can withstand is a constant value. The proportion of the stress and limit value of each index is analyzed, and the hazard coefficient γ t that identifies the drilling safety hazard in real-time detection is output, and the formula is

[0067]

[0068] Where, Fmax=F(A,B,C), that is, the maximum limit value of the device under the force based on the drill bit rotation centrifugal force A, the stabilizer connection stress B and the drill pipe bending moment deformation force C, and the formula is transformed as follows:

[0069]

[0070] Where, γ t represents the first hazard coefficient at real-time drilling time t; ε1, ε2, ε3 are the weights of the coal seam hardness index, the coal seam divergence index and the coal seam stability index, respectively; f(x t ,y t, z t ) is the real-time stress limit value based on the coal seam hardness index x t , the coal seam divergence index y t , and the coal seam stability index z t at real-time drilling time t; F(A,B,C) is the maximum limit value of the device under the force based on the drill bit rotation centrifugal force A, the stabilizer connection stress B and the drill pipe bending moment deformation force C, that is, the first stress limit value. Through the calculation of multiple indexes of each coal seam, including coal seam hardness, coal seam divergence and coal seam stability, the hazard degree analysis of drilling stress is realized by combining multiple analysis indexes, the output result of the analysis data is improved, and the constraint condition obtained by the stress hazard analysis is used to judge the safety hazard of the force that the drilling tool can withstand in real time, so as to change the direction angle of the drilling tool bit, so as to accurately supervise the use state of the drilling tool in the preset trajectory, thereby meeting the high-standard use of the drilling tool.

[0071] Embodiment two

[0072] Based on the same inventive concept as the intelligent trajectory control method for near-horizontal directional drilling in coal mine underground in the foregoing embodiments, as shown in Figure 4 , the present application provides an intelligent trajectory control system for near-horizontal directional drilling in coal mine underground, which comprises:

[0073] The detection data acquisition module 10 is used to acquire coal seam detection data in the target drilling area to obtain a coal seam detection dataset.

[0074] Vector state construction module 20, the vector state construction module 20 is used to construct vector states based on the coal seam detection dataset and generate a coal seam cross-sectional vector map;

[0075] The coal seam distribution output module 30 is used to obtain each distributed coal seam based on the coal seam cross-sectional vector diagram;

[0076] The multi-index calculation module 40 is used to perform multi-index calculations on each distributed coal seam to obtain coal seam hardness index, coal seam divergence index and coal seam stability index.

[0077] The stress hazard analysis module 50 is used to perform drilling stress analysis based on the coal seam hardness index, coal seam divergence index and coal seam stability index to obtain the first hazard coefficient.

[0078] The path switching module 60 is used to output a path switching command based on the first hazard coefficient.

[0079] The instruction parsing module 70 is used to send the path switching instruction to the drilling trajectory control system for instruction parsing and output a first parsing angle. The drilling trajectory control system is embedded in the screw drill bit device.

[0080] A switching angle output module 80 is used to output a first switching angle with the first analytical angle, wherein the first switching angle is the change angle between the real-time tool face angle of the drill bit in the screw drilling device and the first analytical angle;

[0081] An angle control module 90 is used to control the angle of the drill bit of the screw drill device at the first switching angle.

[0082] Furthermore, the system also includes:

[0083] The coal seam distribution characteristic analysis module is used to determine the coal seam distribution characteristics based on the coal seam detection dataset.

[0084] The preset drilling path module is used to determine a preset drilling path according to the coal seam distribution characteristics and input the preset drilling path into the drilling trajectory control system.

[0085] The drill bit angle control module is configured to determine whether the path switching instruction is received, and if the path switching instruction is received, to control the angle of the drill bit of the screw drill device.

[0086] Further, the system further comprises:

[0087] The geometric component information acquisition module is configured to acquire geometric component information of the screw drill device, including drill bit information, stabilizer information, and drill pipe information.

[0088] The component connection structure acquisition module is configured to acquire the component connection structure of the screw drill device, wherein the connection structure includes a drill bit-stabilizer connection structure, a stabilizer-drill pipe connection structure, and a drill bit-drill pipe connection structure.

[0089] The geometric component information acquisition module is configured to perform drilling stress limiting condition analysis based on the geometric component information and the component connection structure, and generate a first constraint condition.

[0090] The drilling constraint module is configured to embed the first constraint condition into the drilling trajectory control system for drilling constraint.

[0091] Further, the system further comprises:

[0092] The stress limiting analysis module is configured to input the geometric component information and the component connection structure as input information into a stress limiting analysis model, wherein the stress limiting analysis model includes a plurality of stress analysis indicators, and the plurality of stress analysis indicators include drill bit rotation centrifugal force, stabilizer connection stress, and drill pipe bending moment deformation force.

[0093] The stress limiting output module is configured to perform bearing limiting force analysis based on the drill bit rotation centrifugal force, the stabilizer connection stress, and the drill pipe bending moment deformation force, and output a first stress limit value.

[0094] The constraint condition generation module is configured to generate the first constraint condition based on the first stress limit value.

[0095] Further, the system further comprises:

[0096] The drilling stress analysis module is configured to perform drilling stress analysis based on the coal seam hardness index, the coal seam dispersion index, and the coal seam stability index, and obtain a real-time stress limit value.

[0097] The hidden danger coefficient output module is configured to embed the first constraint condition into the drilling trajectory control system, and perform stress hidden danger analysis on the real-time stress limit value based on the first stress limit value in the first constraint condition as a judgment condition, and output the first hidden danger coefficient.

[0098] Further, the system further comprises:

[0099] The resolution angle expansion module is configured to generate an azimuth expansion vector with the first resolution angle, wherein the azimuth expansion vector comprises two expansion dimensions of azimuth reduction and azimuth increase.

[0100] The resolution angle adjustment module is configured to adjust the first resolution angle based on the azimuth expansion vector to obtain a first resolution angle interval.

[0101] The switching angle interval output module is configured to output a first switching angle interval with the first resolution angle interval.

[0102] The coal mine underground near-horizontal directional drilling intelligent trajectory control method and system of the embodiments can be clearly understood by the foregoing detailed description of the coal mine underground near-horizontal directional drilling intelligent trajectory control method. For the device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the related parts are referred to the method part description.

[0103] The above description of disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to the embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An intelligent trajectory control method for near-horizontal directional drilling in coal mines, characterized in that, The method is applied to a coal mine drilling trajectory control system, wherein the system is communicatively connected to a screw drill bit device, and the method includes: Coal seam detection data was collected from the target mining area to obtain a coal seam detection dataset; Based on the coal seam detection dataset, a vector state is constructed to generate a coal seam cross-sectional vector map. Based on the coal seam cross-sectional vector diagram, each distributed coal seam is obtained; Multi-index calculations were performed on each of the distributed coal seams to obtain the coal seam hardness index, coal seam divergence index, and coal seam stability index for each coal seam in the layered coal seam. Based on the coal seam hardness index, coal seam divergence index and coal seam stability index, drilling stress analysis was performed to obtain the first hidden danger coefficient; Based on the first risk factor, output a path switching command; The path switching command is sent to the drilling trajectory control system for command parsing and outputs the first parsing angle. The drilling trajectory control system is embedded in the screw drill bit device. The first switching angle is output based on the first analytical angle, wherein the first switching angle is the change angle between the real-time horizontal angle of the drill bit in the screw drilling device and the first analytical angle; The first switching angle is used to control the angle of the drill bit of the screw drilling device; The formula for calculating the first hazard factor is as follows: Where, γ t This represents the first hazard coefficient at real-time drilling time t; ε1, ε2, ε3 are the weights corresponding to the coal seam hardness index, coal seam divergence index, and coal seam stability index, respectively; f(x t ,y t, z t (This refers to the calculation based on the coal seam hardness index x at a real-time drilling time t.) t Coal seam divergence index y t Coal seam stability index z t The real-time stress limit is given by F(A,B,C), which is the maximum limit value of the device's load under the conditions of drill bit rotation centrifugal force A, stabilizer connection force B, and drill rod bending rectangular variable force C, i.e., the first stress limit value.

2. The method as described in claim 1, characterized in that, The method further includes: Based on the coal seam detection dataset, the coal seam distribution characteristics are determined; Based on the coal seam distribution characteristics, a preset drilling path is determined, and the preset drilling path is input into the drilling trajectory control system. Determine whether the path switching command has been received. If the path switching command has been received, control the angle of the drill bit of the screw drill device.

3. The method as described in claim 1, characterized in that, The method further includes: Obtain the geometric component information of the screw drill assembly, including drill bit information, stabilizer information, and drill pipe information; Obtain the component connection structure of the screw drill bit device, wherein the connection structure includes a drill bit-stabilizer connection structure, a stabilizer-drill rod connection structure, and a drill bit-drill rod connection structure; Based on the geometric component information and the constituent connection structure, the drilling force constraint condition analysis is performed to generate the first constraint condition; The first constraint condition is embedded into the drilling trajectory control system for drilling constraint.

4. The method as described in claim 3, characterized in that, Based on the geometric component information and the constituent connection structure, a drilling force constraint analysis is performed to generate the first constraint condition, including: The geometric component information and the constituent connection structure are used as input information and input into the force constraint analysis model. The force constraint analysis model includes multiple force analysis indicators, including drill bit rotation centrifugal force, stabilizer connection force and drill rod bending rectangular variable force. Based on the centrifugal force of the drill bit rotation, the force on the stabilizer connection, and the rectangular force of the drill rod bending, a force limiting analysis is performed, and a first force limit value is output. The first constraint condition is generated based on the first force limit.

5. The method as described in claim 4, characterized in that, The method of embedding the first constraint condition into the drilling trajectory control system for drilling constraints further includes: Based on the coal seam hardness index, coal seam divergence index and coal seam stability index, drilling stress analysis is performed to obtain real-time stress limits; The first constraint is embedded into the drilling trajectory control system. The first force limit in the first constraint is used as a judgment condition to perform a force hazard analysis on the real-time force limit and output the first hazard coefficient.

6. The method as described in claim 1, characterized in that, The method further includes outputting the first switching angle based on the first resolution angle: Using the first analytical angle, a azimuth extension vector is generated, wherein the azimuth extension vector includes two extension dimensions: decreasing azimuth and increasing azimuth. The first analytical angle is adjusted based on the azimuth extension vector to obtain the first analytical angle interval; The first switching angle interval is output based on the first analytical angle interval.

7. An intelligent trajectory control system for near-horizontal directional drilling in coal mines, characterized in that, The system is used to perform the method according to any one of claims 1 to 6, the system is communicatively connected to a screw drill bit assembly, and the system comprises: A detection data acquisition module is used to acquire coal seam detection data in the target mining area to obtain a coal seam detection dataset. The vector state construction module is used to construct vector states based on the coal seam detection dataset and generate a coal seam cross-sectional vector map. A coal seam distribution output module is used to obtain each distributed coal seam based on the coal seam cross-sectional vector diagram; A multi-index calculation module is used to perform multi-index calculations on each distributed coal seam to obtain the coal seam hardness index, coal seam divergence index and coal seam stability index of each coal seam in the layered coal seam. The stress hazard analysis module is used to perform drilling stress analysis based on the coal seam hardness index, coal seam divergence index and coal seam stability index to obtain the first hazard coefficient. A path switching module is used to output a path switching command based on the first hazard coefficient. The instruction parsing module is used to send the path switching instruction to the drilling trajectory control system for instruction parsing and output a first parsing angle. The drilling trajectory control system is embedded in the screw drill bit device. A switching angle output module is used to output a first switching angle based on the first analytical angle, wherein the first switching angle is the change angle between the real-time horizontal angle of the drill bit in the screw drilling device and the first analytical angle; An angle control module is used to control the angle of the drill bit of the screw drill bit device at the first switching angle.

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