Deep ore body information stratum bionic self-navigation perspective exploration system based on digital twinning

Abstract

The application discloses a deep ore body information stratum bionic self-navigation perspective exploration system based on digital twinning, which comprises a stratum bionic self-navigation perspective exploration system subsystem, wherein the stratum bionic self-navigation perspective exploration system subsystem comprises a stratum bionic self-navigation exploration system, a multifunctional continuous cable pipe, a continuous cable pipe ground storage device and a digital twinning type data intelligent regulation and control system. The application realizes information collection, analysis, judgment, decision-making and real-time health tracking and optimal adjustment of the exploration system through the ground digital twinning type data intelligent regulation and control system; the cloud transmission remote command brain system is used for storing, comparing and analyzing massive data, comprehensively judging and deeply learning to realize intelligent decision-making, so that precise ore body delineation and intelligent implementation of the exploration scheme are realized. The application embodies green, efficient, low-cost and intelligent elements and provides technical support for meeting the needs of human beings for earth exploration.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of deep earth ore body exploration on land, sea, polar region and the like, and particularly relates to a deep ore body information stratum self-navigation perspective exploration system based on digital twinning. BACKGROUND

[0002] Exploration technology is one of the common key technologies for understanding deep earth ore body information and resource development and utilization. Traditional methods all adopt the sequence and steps of ground detection, drilling sampling, logging, and interpretation and evaluation to obtain and interpret stratum information. However, due to the long distance and large interference of ground detection underground, the detection accuracy is low, the drilling rig "long arm jurisdiction" type driving leads to low drilling sampling efficiency, the logging data is seriously lagging, the real-time performance is poor, and there is a lack of information exchange means between steps, which leads to low exploration efficiency and poor quality, and the like, which cannot meet the urgent needs of current human beings for earth exploration.

[0003] When soil animals dig holes, all functional organs of the body also enter the hole and cooperate with each other at the same time, so as to synchronously realize the complete and complex process of visual, taste and olfactory detection, auditory and tactile perception, limb soil excavation, analysis and judgment decision and physical examination of the brain center, which is not only efficient and energy-saving, but also accurate and intelligent, and is worthy of human beings to learn.

[0004] At present, based on the traditional drilling rig and drill rod architecture, although certain progress has been made in logging while drilling, geosteering and rotary steering and the like, the problem of complex force between the drilling tool and the well wall caused by the circumferential constraint of the single drill bit and the radial constraint of the rigid drill rod to the stratum by the "long arm jurisdiction" has not been fundamentally solved, which makes the well wall and the in-hole environment harsh and extremely unstable, and further forces various sensing and detection instruments to be unable to enter the stratum for accurate detection and real-time transmission while drilling. At the same time, since a large amount of data is the in-hole drilling tool parameters and underground ore body information indirectly obtained from the ground detection equipment, the support role of the current big data, cloud computing, deep learning and artificial intelligence and the like is small, which cannot carry out comparison and analysis, judgment, decision and accurate delineation of the ore body, and cannot design and implement the optimal exploration scheme. This will cause a waste of a large amount of manpower, material resources, time and cost in underground exploration. SUMMARY

[0005] In view of the deficiencies of the prior art, the present application provides a deep ore body information stratum bionic self-navigation perspective exploration system based on digital twinning, which realizes zero-torque environment through a double-bit self-balancing mechanism, provides stable operating conditions with zero torque for the exploration system, realizes scene reproduction and health examination of the underground exploration system and optimal adjustment of the system by using virtual-actual interaction digital twinning means, and realizes accurate delineation of the underground ore body and optimal design and implementation of the exploration scheme by using a cloud transmission remote command brain system.

[0006] The deep ore body information stratum bionic self-navigation perspective exploration system based on digital twinning includes a stratum bionic self-navigation perspective exploration system subsystem;

[0007] The stratum bionic self-navigation perspective exploration system subsystem includes a stratum bionic self-navigation exploration system, a multifunctional continuous cable pipe, a continuous cable pipe ground storage device, and a digital twin type data intelligent control system.

[0008] The stratum bionic self-navigation exploration system includes a stratum bionic self-navigation exploration system trunk and a stratum bionic self-navigation exploration system perception.

[0009] The stratum bionic self-navigation exploration system perception includes a stratum perspective seismic source, a seismic wave receiving array, a logging bin, and a ore body fine exploration seismic source.

[0010] The seismic wave receiving array is used to receive reflected waves generated by the stratum perspective seismic source and the ore body fine exploration seismic source, and to analyze and describe the characteristics of the surrounding ore body.

[0011] The logging bin is used to place various logging instruments and sensors for obtaining stratum ore body lithology.

[0012] The ore body fine exploration seismic source is used to generate seismic waves through mechanical vibration, and transmit them to the stratum in front of the borehole bottom end through the self-balancing double drill bit in the stratum bionic self-navigation exploration system trunk.

[0013] In the stratum bionic self-navigation exploration system, there are also health tracking internal perception elements for measuring the relative displacement and rotation speed of the self-balancing double drill bit, drilling pressure, temperature, and cavity internal pressure, and external perception elements for measuring the self-navigation trajectory, borehole internal pressure, stratum pressure, and stratum temperature.

[0014] The multifunctional continuous cable pipe is used to establish a channel for drilling fluid circulation, system self-cooling, electric energy transmission, and information intercommunication and interaction between the underground stratum bionic self-navigation exploration system and the continuous cable pipe ground storage device and the digital twin type data intelligent control system.

[0015] The continuous cable pipe ground storage device is used to orderly store and release the multifunctional continuous cable pipe, and to put and take the stratum bionic self-navigation exploration system in and out of the underground borehole.

[0016] The digital twin type data intelligent control system includes a self-navigation system shape and posture perception parameter acquisition and control system, a stratum ore body characteristic real-time analysis system, a borehole wall seismic stratum fine perspective detection and interpretation judgment system, a borehole wall topography judgment and decision system, a virtual-real twinning self-navigation exploration system health diagnosis and optimal adjustment and scene reproduction system.

[0017] The self-propelled system form posture perception parameter acquisition and regulation system is used for acquiring data sensed by internal perception elements reflecting posture information and external perception elements reflecting environment information arranged in the stratum bionic self-propelled exploration system, and automatically dynamically adjusting posture parameters of the stratum bionic self-propelled exploration system according to the data information;

[0018] The stratum ore body characteristic real-time analysis system is used for acquiring stratum perspective seismic source reflected seismic waves detected by a seismic wave receiving array and related data detected by a logging bin, and real-time analyzing the data, extracting useful data, and providing a main basis for posture dynamic regulation of the stratum bionic self-propelled exploration system;

[0019] The borehole wall seismic stratum fine perspective detection and interpretation judgment system is used for acquiring stratum perspective seismic source reflected seismic wave related data detected by a seismic wave receiving array, real-time analyzing the data, extracting useful data, acquiring stratum ore body characteristic parameters, obtaining a fine structure of an ore body around the exploration system, and performing perspective interpretation and ore body judgment through an internal algorithm module;

[0020] The borehole wall appearance judgment and decision system is used for acquiring image data obtained by a borehole wall stratum appearance scanning mechanism in a trunk of the stratum bionic self-propelled exploration system, automatically identifying and judging the acquired image data, and making a decision on whether to need strengthening of a borehole wall strengthening mechanism in the trunk of the stratum bionic self-propelled exploration system according to the judgment;

[0021] The virtual-real twin self-propelled exploration system health diagnosis and optimal adjustment and scene reproduction system is used for intercommunication of parameters of a virtual scene and a real environment, real-time diagnosis of health states of each part of the stratum bionic self-propelled exploration system, and timely adjustment of a posture to achieve an optimal state, and realizes scene reproduction of underground self-propelled drilling.

[0022] The beneficial effects of the present application are as follows:

[0023] 1. The self-balancing double drill bit mechanism in the stratum bionic self-propelled exploration system provides a zero-torque environment for the stratum bionic self-propelled exploration system, and provides continuous, stable and normal zero-torque working conditions for all elements arranged in the exploration system;

[0024] 2. The multifunctional continuous cable pipe provides an electric, signal channel, cooling circulation channel of the overall system and a drilling cuttings discharge channel for all electrical components in the exploration system;

[0025] 3. The digital twin type data intelligent regulation system on the ground realizes collection, analysis, judgment, decision making on underground exploration system operation parameters and obtained deep ore body parameters and other information, and real-time health tracking and optimal adjustment of the exploration system;

[0026] 4. The cloud transmission remote command brain system stores, compares and analyzes the massive data obtained from the underground, comprehensively judges, realizes intelligent decision-making through deep learning and thinking, and thus realizes accurate ore body delineation and intelligent implementation of exploration plan;

[0027] 5. The whole process of stratum ore body exploration embodies green, energy-saving, efficient, low-cost and intelligent elements, and provides a complete set of system and technology to meet the urgent needs of human exploration of the earth and exploration of extraterrestrial planets. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is the overall framework and logic diagram of the present application.

[0029] Figure 2 It is the structural diagram of the present application.

[0030] Figure 3 It is the structural diagram of the stratum bionic self-navigation exploration system.

[0031] Figure 4 It is the structural diagram of the digital twin data intelligent regulation system.

[0032] Figure 5 It is the structural diagram of the cloud transmission remote command brain system.

[0033] In the figure: 1-stratum bionic self-navigation exploration system; 2-multifunctional continuous cable pipe; 3-continuous cable pipe ground storage device; 4-digital twin data intelligent regulation system; 5-cloud transmission remote command brain system; 101-self-balancing double drill bit; 102-stratum perspective seismic source; 103-self-navigation active steering mechanism; 104-double drill bit self-balancing driving mechanism; 105-pressure transmission and torsion isolation mechanism; 106-self-navigation follow-up steering mechanism; 107-seismic wave receiving array; 108-measurement and recording bin; 109-ore body fine exploration seismic source; 1010-formation shape scanning mechanism; 1011-exploration system self-navigation mechanism; 1012-formation strengthening mechanism; 1013-anti-sticking and anti-sticking mechanism; 401-self-navigation system form and posture sensing parameter acquisition and regulation system; 402-stratum ore body characteristic real-time analysis system; 403-formation seismic stratum fine perspective detection and interpretation judgment system; 404-formation shape judgment and decision-making system; 405-virtual-real twin self-navigation exploration system health diagnosis and optimization adjustment and scene reproduction system; 501-database cloud storage module; 502-comparison and analysis module; 503-comprehensive judgment module; 504-deep learning algorithm module; 505-comprehensive information fusion and intelligent decision-making module; 506-regional multi-well intermingled resource block perspective and accurate delineation module; 507-resource distribution and intelligent exploration plan module. DETAILED DESCRIPTION

[0034] Referring to the drawings, the deep ore body information stratum bionic self-propelled perspective exploration system based on digital twinning includes a stratum bionic self-propelled perspective exploration system subsystem;

[0035] The stratum bionic self-propelled perspective exploration system subsystem includes a stratum bionic self-propelled exploration system 1, a multifunctional continuous cable pipe 2, a continuous cable pipe ground storage device 3, and a digital twinning type data intelligent control system 4.

[0036] The stratum bionic self-propelled exploration system 1 includes a stratum bionic self-propelled exploration system trunk and a stratum bionic self-propelled exploration system perception.

[0037] The stratum bionic self-propelled exploration system trunk includes a self-balancing double drill bit 101, a pressure transmission and torque isolation mechanism 103, a self-propelled active direction changing mechanism 104, a double drill bit self-balancing driving mechanism 105, a self-propelled follow-up direction changing mechanism 106, a borehole wall stratum topography scanning mechanism 1010, an exploration system self-propelled mechanism 1011, a borehole wall strengthening mechanism 1012, and an anti-sticking and anti-stuck mechanism 1013.

[0038] The stratum bionic self-propelled exploration system perception includes a stratum perspective seismic source 102, a seismic wave receiving array 107, a logging bin 108, and a ore body fine exploration seismic source 109.

[0039] The self-balancing double drill bit 101 breaks rocks to form a hole through mutual reverse rotation, removes the circumferential constraint of the stratum on the rotation of the drill bit, and the counter-torque generated by the rock breaking of the two drill bits cancels each other out, making it possible to provide a non-rotation and torque-free environment for the upper part of the exploration system.

[0040] The stratum perspective seismic source 102 generates seismic waves through mechanical vibration, which are transmitted to the stratum at the front end of the borehole bottom through the self-balancing double drill bit 101, and the seismic waves propagate forward and outward in the stratum.

[0041] The pressure transmission and torque isolation mechanism 103 is connected between the stratum perspective seismic source 102 and the self-propelled active direction changing mechanism 104, realizes smooth transition of the lower part of the exploration system to rotation and the upper part to non-rotation, and forms a non-rotation and torque-free environment for the upper part of the exploration system.

[0042] The self-propelled active direction changing mechanism 104 is used to change the direction of motion according to the stratum conditions according to the instructions of the digital twinning type data intelligent control system 4, and plays a role similar to a biological joint in the exploration system. When self-propelled direction changing is needed, the mechanism can realize autonomous and accurate direction changing according to the execution command.

[0043] The double drill bit self-balancing driving mechanism 105 is connected with the self-propelled active direction changing mechanism 104 and drives the self-balancing double drill bit 101 to rotate, and its main role is to provide the self-balancing double drill bit 101 with rotation power in the opposite direction.

[0044] The self-propelled follow-up variable direction mechanism 106 is used to passively change the navigation trajectory in the stratum, and also plays a similar role of biological joints in the exploration system. The self-propelled follow-up variable direction mechanism 106 is arranged on the trunk of the stratum-bionic self-propelled exploration system in a relatively uniform manner with the self-propelled active variable direction mechanism 104 to ensure that the entire exploration system can form a small turning radius in the stratum, but it cannot autonomously change direction;

[0045] The seismic wave receiving array 107 is used to receive reflected waves generated by the stratum perspective source 102 and the ore body fine exploration source 109, and is used to analyze and describe the characteristics of the surrounding ore body, and belongs to the external information sensing part of the exploration system;

[0046] The logging bin 108 is used to place various logging instruments and sensors for obtaining the lithology of the stratum and the ore body;

[0047] The ore body fine exploration source 109 is used to generate seismic waves through mechanical vibration, and transmit the seismic waves to the front end of the stratum at the bottom of the borehole through the self-balancing double drill bit 101, and the seismic waves propagate forward and outward in the stratum;

[0048] The well wall stratum topography scanning mechanism 1010 is used for real-time graphical scanning of the topography of the well wall stratum and automatic judgment of the stability of the well wall, which is the main basis for the subsequent well wall strengthening mechanism 1012 to strengthen the well wall;

[0049] The exploration system self-propelled mechanism 1011 is used to drive the entire exploration system to advance forward, and provides pressure to the self-balancing double drill bit rock breaking and hole forming;

[0050] The well wall strengthening mechanism 1012 is used to quickly strengthen the unstable stratum position according to the imaging judgment obtained by the well wall stratum topography scanning mechanism 1010;

[0051] The anti-sticking and anti-blocking mechanism 1013 is used to effectively remove the sticking and blocking when the exploration system encounters sticking and blocking during navigation in the stratum;

[0052] The stratum-bionic self-propelled exploration system 1 also has self-balancing double drill bit relative displacement and rotation speed, drilling pressure, temperature, and cavity internal pressure health tracking internal sensing elements, and self-propelled trajectory, borehole internal pressure, stratum pressure, and stratum temperature external sensing elements;

[0053] The multifunctional continuous cable pipe 2 is used to establish a channel for drilling fluid circulation, system self-cooling, electric energy transmission, and information interconnection between the stratum-bionic self-propelled exploration system 1 in the underground stratum and the continuous cable pipe ground storage device 3 and the digital twin type data intelligent control system 4;

[0054] The continuous cable pipe ground storage device 3 is used to orderly store and release the multifunctional continuous cable pipe 2, and to put and take the stratum-bionic self-propelled exploration system 1 in and out of the underground borehole;

[0055] The digital twin type data intelligent regulation system 4 comprises a self-navigation system form and posture perception parameter acquisition and regulation system 401, a stratum ore body characteristic real-time analysis system 402, a well wall seismic stratum fine perspective detection and interpretation judgment system 403, a well wall appearance judgment and decision system 404, a virtual-real twin self-navigation exploration system health diagnosis and optimal adjustment and scene reproduction system 405;

[0056] The self-navigation system form and posture perception parameter acquisition and regulation system 401 is used for acquiring perception data of internal perception elements reflecting posture information and external perception elements reflecting environmental information arranged in the stratum bionic self-navigation exploration system 1, and automatically and dynamically adjusting posture parameters of the stratum bionic self-navigation exploration system 1 according to data information therein, so that the stratum bionic self-navigation exploration system 1 always runs smoothly and efficiently in the best posture state.

[0057] The stratum ore body characteristic real-time analysis system 402 is used for acquiring seismic waves reflected by the stratum perspective seismic source 102 detected by the seismic wave receiving array 107 and relevant data detected by the logging bin 108, and real-time analyzing the data, extracting useful data, and providing a main basis for dynamic regulation of the posture of the stratum bionic self-navigation exploration system 1.

[0058] The well wall seismic stratum fine perspective detection and interpretation judgment system 403 is used for acquiring seismic wave related data reflected by the ore body fine exploration seismic source 109 detected by the seismic wave receiving array 107, and real-time analyzing the data, extracting useful data, acquiring stratum ore body characteristic parameters, obtaining a fine structure of the ore body around the exploration system, and performing perspective interpretation and ore body judgment through a built-in algorithm module.

[0059] The well wall appearance judgment and decision system 404 is used for acquiring image data obtained by the well wall stratum appearance scanning mechanism 1010, automatically recognizing and judging the acquired image data, and making a decision on whether the well wall needs to be strengthened by the well wall strengthening mechanism 1012 according to the judgment.

[0060] The virtual-real twin self-navigation exploration system health diagnosis and optimal adjustment and scene reproduction system 405 is used for intercommunication of parameters of virtual scenes and real environments, real-time diagnosis of health states of each part of the stratum bionic self-navigation exploration system 1, timely adjustment of postures to achieve an optimal state, and realization of scene reproduction of underground self-navigation drilling.

[0061] Further, the stratum bionic self-navigation perspective exploration system subsystems are multiple.

[0062] Further, the cloud transmission remote command brain system 5 is used for storing, comparative analysis, comprehensive judgment, deep learning of data obtained by all ongoing stratum bionic self-navigation perspective exploration system subsystems in the same block, plays a role of a brain center, and makes intelligent decisions for each ongoing stratum bionic self-navigation perspective exploration system subsystem and progressive and accurate delineation of underground ore bodies in the same block, and can also issue the best implementation scheme for the upcoming exploration task.

[0063] Further, the cloud transmission remote command brain system 5 comprises a database cloud storage module 501, a comparative analysis module 502, a comprehensive judgment module 503, a deep learning algorithm module 504, a comprehensive information fusion and intelligent decision module 505, and a regional multi-well intermingled resource block perspective and accurate delineation module 506.

[0064] The database cloud storage module 501, also called a library disk storage module, is used for storing all data from stratum bionic self-navigation perspective exploration system subsystems.

[0065] The comparative analysis module 502 is used for comparing and analyzing original processed useful data and newly-stored unprocessed data from the database cloud storage module 501, and lays a foundation for the cloud transmission remote command brain system 5 to make correct judgments.

[0066] The comprehensive judgment module 503 adopts artificial intelligence algorithms such as an ant colony algorithm, a fuzzy algorithm, a dynamic programming algorithm, a beam search algorithm, a branch and bound algorithm, a machine vision algorithm, and a prediction algorithm, and is used for comprehensively analyzing and judging data processed by the comparative analysis module 502 according to successful experience information, and providing a basis for the brain system to make correct decisions.

[0067] The deep learning algorithm module 504 is used for learning and thinking of process data, environment data, control data, and result data stored in the database cloud storage module 501 through massive training and appropriate simulation learning means, and obtaining excellent conclusions different from existing experience and integrating the conclusions into the comprehensive information fusion and intelligent decision module 505.

[0068] The comprehensive information fusion and intelligent decision module 505 is used for comparative analysis, comprehensive judgment, and deep learning of new data information continuously stored in the database cloud storage module 501, and lays a foundation for the intelligence of decisions through fusion of the information, and makes correct decisions in the shortest time.

[0069] The regional multi-well resource block perspective and precise delineation module 506 is used for calibrating and interpreting the stratum ore body characteristic parameter data obtained by the stratum biomimetic self-navigation perspective exploration system subsystem, merging and interpreting the multi-well data, and precisely delineating the underground ore body in a visible form to realize the microscopic perspective of the underground ore body.

[0070] Further, the resource distribution and intelligent exploration scheme module 507 is used for comparing with the physical property parameters of different resources, precisely calibrating the specific resource distribution or multiple resource distributions in the block, and formulating the best exploration scheme of the resources in the adjacent block according to the structural characteristics of the stratum biomimetic self-navigation exploration system.

[0071] Further, the drilling speed, drilling fluid flow pressure and tripping and other requirements in the digital twin type data intelligent regulation and control system 4 are the main basis for the operation parameters of the continuous cable pipe ground storage device 3.

[0072] The nerve group here refers to the data transmission cable and wireless signal transmission element.

Claims

1. A deep ore body information stratum bionic self-navigation perspective exploration system based on digital twinning, characterized in that: The stratum biomimetic self-propelled perspective exploration system subsystem includes a stratum biomimetic self-propelled exploration system (1), a multifunctional continuous cable pipe (2), a continuous cable pipe ground storage device (3), and a digital twin type data intelligent control system (4). The stratum biomimetic self-propelled exploration system (1) includes a stratum biomimetic self-propelled exploration system trunk and a stratum biomimetic self-propelled exploration system perception. The stratum biomimetic self-propelled exploration system perception includes a stratum perspective seismic source (102), a seismic wave receiving array (107), a logging bin (108), and a ore body fine exploration seismic source (109). The seismic wave receiving array (107) is used to receive reflected waves generated by the stratum perspective seismic source (102) and the ore body fine exploration seismic source (109) to analyze and describe the characteristics of the surrounding ore body. The logging bin (108) is used to place various logging instruments and sensors for obtaining stratum ore body lithology. The ore body fine exploration seismic source (109) is used to generate seismic waves through mechanical vibration and transmit them to the stratum in front of the borehole bottom end through the self-balancing double drill bit (101) in the stratum biomimetic self-propelled exploration system trunk. The stratum biomimetic self-propelled exploration system (1) also has health tracking internal perception elements for measuring the relative displacement and rotational speed of the self-balancing double drill bit (101), drilling pressure, temperature, and cavity internal pressure, and external perception elements for measuring the self-propelled trajectory, borehole internal pressure, stratum pressure, and stratum temperature. The multifunctional continuous cable pipe (2) is used to establish a channel for drilling fluid circulation, system self-cooling, electric energy transmission, and information intercommunication between the underground stratum biomimetic self-propelled exploration system (1) and the continuous cable pipe ground storage device (3) and the digital twin type data intelligent control system (4). The continuous cable pipe ground storage device (3) is used to orderly store and release the multifunctional continuous cable pipe (2) and put in and take out the stratum biomimetic self-propelled exploration system (1) into and out of the underground borehole. The digital twin type data intelligent control system (4) includes a self-propelled system shape and posture perception parameter acquisition and control system (401), a stratum ore body characteristic real-time analysis system (402), a borehole wall seismic stratum fine perspective detection and interpretation judgment system (403), a borehole wall topography judgment and decision system (404), and a virtual-real twin self-propelled exploration system health diagnosis and optimal adjustment and scene reproduction system (405). The self-propelled system shape and posture perception parameter acquisition and control system (401) is used to obtain perception data of internal perception elements reflecting the posture information of the stratum biomimetic self-propelled exploration system (1) and external perception elements reflecting the environmental information of the stratum biomimetic self-propelled exploration system (1), and automatically and dynamically adjust the posture parameters of the stratum biomimetic self-propelled exploration system (1) according to the data information. The stratum ore body characteristic real-time analysis system (402) is used to obtain the reflected seismic waves of the stratum perspective seismic source (102) detected by the seismic wave receiving array (107) and the relevant data detected by the logging bin (108), and real-time analyze the data to extract useful data, which provides the main basis for the dynamic adjustment of the posture of the stratum biomimetic self-propelled exploration system (1). ​ The well wall seismic stratum fine perspective detection and interpretation judgment system (403) is used for obtaining the seismic wave related data reflected by the ore body fine detection source (109) detected by the seismic wave receiving array (107), and analyzing the data in real time, extracting useful data, obtaining stratum ore body characteristic parameters, obtaining the fine structure of the ore body around the exploration system, and performing perspective interpretation and ore body judgment through the built-in algorithm module; The well wall appearance judgment and decision system (404) is used for obtaining the image data obtained by the well wall stratum appearance scanning mechanism (1010) in the trunk of the stratum bionic self-propelled exploration system, automatically identifying and judging the obtained image data, and making a decision on whether the well wall strengthening mechanism (1012) in the trunk of the stratum bionic self-propelled exploration system needs to be strengthened according to the judgment; The virtual-real twin self-propelled exploration system health diagnosis and optimization adjustment and scene reproduction system (405) is used for intercommunication of parameters between virtual scenes and real environments, real-time diagnosis of the health status of each part of the stratum bionic self-propelled exploration system (1), timely adjustment of the posture to achieve an optimal state, and realization of the scene reproduction of underground self-propelled drilling.

2. The digital-twin-based deep orebody information stratum self-navigating perspective exploration system according to claim 1, characterized in that: The trunk of the stratum bionic self-propelled exploration system comprises a self-balancing double drill head (101), a pressure transmission and torque isolation mechanism (103), a self-propelled active direction changing mechanism (104), a double drill head self-balancing driving mechanism (105), a self-propelled follow-up direction changing mechanism (106), a well wall stratum appearance scanning mechanism (1010), an exploration system self-propelled mechanism (1011), a well wall strengthening mechanism (1012), and an anti-sticking and sticking reduction mechanism (1013); The well wall stratum appearance scanning mechanism (1010) is used for real-time graphical scanning of the appearance of the well wall stratum and automatic judgment of the stability of the well wall, which is the main basis for the well wall strengthening mechanism (1012) to strengthen the well wall; The exploration system self-propelled mechanism (1011) is used for driving the entire exploration system to move forward and providing pressure for the self-balancing double drill head to break rocks and form a hole; The well wall strengthening mechanism (1012) is used for quick strengthening of unstable stratum positions according to the imaging and judgment obtained by the well wall stratum appearance scanning mechanism (1010); The anti-sticking and sticking reduction mechanism (1013) is used for effectively removing the sticking when the exploration system meets the sticking in the stratum; The self-balancing double drill head (101) breaks rocks and forms a hole through mutual reverse rotation, removes the circumferential constraint of the stratum on the rotation of the drill head, and the counter torques generated by the rock breaking of the two drill heads cancel each other out to provide a non-rotation and non-torque environment for the upper part of the exploration system; The stratum perspective seismic source (102) generates seismic waves through mechanical vibration and transmits the seismic waves to the stratum in front of the bottom of the drill hole through the self-balancing double drill head (101); The pressure transmission and torque isolation mechanism (103) is connected between the stratum perspective seismic source (102) and the self-propelled active direction changing mechanism (104), realizes smooth transition of the rotation of the lower part of the exploration system and the non-rotation of the upper part, and forms a non-rotation and non-torque environment for the upper part of the exploration system. The self-navigation active steering mechanism (104) is used to change the motion direction according to the stratum condition according to the instruction of the digital twin type data intelligent regulation and control system (4), and when the self-navigation steering is required, the mechanism can realize autonomous and accurate steering according to the execution command; The self-balancing driving mechanism (105) of the double drill bit is connected with the self-navigation active steering mechanism (104) and drives the self-balancing double drill bit (101) to rotate, and provides the rotary power in the opposite direction for the self-balancing double drill bit (101); The self-navigation follow-up steering mechanism (106) is used to passively change the navigation track in the stratum, and is arranged on the trunk of the stratum bionic self-navigation perspective exploration system in a uniform manner with the self-navigation active steering mechanism (104) to ensure that the whole exploration system can form a small turning radius in the stratum, but it cannot autonomously steer.

3. The digital-twin-based deep orebody information stratum self-navigating perspective exploration system according to claim 2, characterized in that: The stratum bionic self-navigation perspective exploration system subsystem is multiple.

4. The digital-twin-based deep orebody information stratum self-navigating perspective exploration system according to claim 3, characterized in that: The cloud transmission remote command brain system (5) is also included, which is used to store, compare and analyze, comprehensively judge, deeply learn the data obtained by all stratum bionic self-navigation perspective exploration system subsystems in the same block, and make intelligent decisions for each stratum bionic self-navigation perspective exploration system subsystem and progressively and accurately delineate the underground ore body in the same block, and can also issue the best implementation scheme for the upcoming exploration task.

5. The digital-twin-based deep orebody information stratum self-navigating perspective exploration system according to claim 4, characterized in that: The cloud transmission remote command brain system (5) includes a database cloud storage module (501), a comparison and analysis module (502), a comprehensive judgment module (503), a deep learning algorithm module (504), a comprehensive information fusion and intelligent decision module (505), and a regional multi-well resource block perspective and accurate delineation module (506); The database cloud storage module (501) is used to store all data from each stratum bionic self-navigation perspective exploration system subsystem; The comparison and analysis module (502) is used to compare and analyze the useful data processed from the database cloud storage module (501) and the new data in the warehouse, and lay a foundation for the cloud transmission remote command brain system (5) to make correct judgments; The comprehensive judgment module (503) adopts an artificial intelligence algorithm, and according to the experience information processed successfully, is used for comprehensive analysis and discrimination of the data processed by the comparison and analysis module (502), and provides a basis for the brain system to make correct decisions; The deep learning algorithm module (504) is used to learn and think the process data, environmental data, control data and result data stored in the database cloud storage module (501) by using a deep learning method through massive training and with appropriate simulation learning means, and obtain excellent conclusions different from existing experience and integrate them into the comprehensive information fusion and intelligent decision module (505); The comprehensive information fusion and intelligent decision module (505) is used to compare and analyze, comprehensively judge and deeply learn the new data information stored in the database cloud storage module (501); The regional multi-well mixed resource block perspective and accurate delineation module (506) is used for calibrating and interpreting the stratum ore body characteristic parameter data obtained by the stratum biomimetic self-navigation perspective exploration system subsystem, merging and interpreting the multi-well data, accurately delineating the underground ore body in a visible form, and realizing the microscopic perspective of the underground ore body.

6. The digital-twin-based deep orebody information stratum self-navigating perspective exploration system according to claim 5, characterized in that: The resource distribution and intelligent exploration scheme module (507) is also included, which is used for comparing with different resource physical parameters, accurately calibrating the specific resource distribution or the distribution of multiple resources in the block, and formulating the best exploration scheme of the resources in the adjacent block according to the structural characteristics of the stratum biomimetic self-navigation exploration system.

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