A directional drilling rig remote control system and method based on a twin model

Abstract

The application discloses a kind of based on twin model's directional drilling machine remote control system and method, it is related to the field of directional drilling machine remote control;The remote control system is connected with directional drilling machine physical real machine, and includes: by constructing module, the twin model for simulating the directional drilling machine physical real machine and drilling face environment is constructed in virtual environment;Through data acquisition module, the attitude data of directional drilling machine physical real machine and drilling face environment information are collected;Then database analysis module is analyzed and stored to the attitude data and drilling face environment information;Remote control module controls the action of directional drilling machine virtual prototype and directional drilling machine physical real machine to keep consistent according to the attitude data and drilling face environment information after analysis;The application is remotely controlled to directional drilling machine physical real machine by twin model, and the control precision of directional drilling machine physical real machine is improved.

Description

Technical Field

[0001] This invention relates to the field of remote control of directional drilling rigs, and in particular to a remote control system and method for directional drilling rigs based on a twin model. Background Technology

[0002] With the development of the geological exploration and mining industries, the requirements for directional drilling rigs in drilling operations such as gas drainage and geological exploration are constantly increasing. Currently, directional drilling rigs used in coal mining are generally mechanically driven and hydraulically controlled, but their operation methods are generally limited. Furthermore, due to their large size, directional drilling rigs frequently collide with the working face or other equipment, resulting in poor adaptability. In addition, the high difficulty of drilling operations means that the control precision of current directional drilling rigs cannot meet the needs of coal mining. Moreover, underground drilling operations are still mainly operated manually, with workers making control decisions based on on-site conditions. Due to the complex on-site environment and limited worker time, control strategies derived from manual analysis of on-site data are insufficient and lack timeliness, further reducing the control precision of directional drilling rigs. Summary of the Invention

[0003] The purpose of this invention is to provide a remote control system and method for directional drilling rigs based on twin models, which can improve the control accuracy of the physical machine of the directional drilling rig.

[0004] To achieve the above objectives, the present invention provides the following solution:

[0005] A remote control system for a directional drilling rig based on a twin model, connected to the physical directional drilling rig, the control system comprising:

[0006] The construction module is used to build a twin model in a virtual environment for simulating the physical machine of the directional drilling rig and the drilling face environment in which the physical machine of the directional drilling rig is located. The twin model includes a virtual prototype of the directional drilling rig that simulates the physical machine of the directional drilling rig, and a virtual model of the drilling face that simulates the drilling face environment.

[0007] The data acquisition module is used to collect attitude data of the physical directional drilling rig and environmental information of the drilling face.

[0008] The database parsing module, connected to the data acquisition module, is used to parse and store the attitude data and drilling face environmental information;

[0009] The remote control module, connected to the database parsing module, is used to control the virtual prototype of the directional drilling rig to maintain consistent movements with the physical prototype of the directional drilling rig in the drilling face environment, based on the parsed attitude data and drilling face environment information.

[0010] Optionally, the attitude data includes: position coordinate parameters and three-dimensional attitude angle parameters of the physical machine of the directional drilling rig, oil pressure parameters, oil flow rate parameters, oil temperature parameters, and point cloud data of the drilling face; the drilling face environmental information includes: gas concentration parameters and spectral images of the drilling face.

[0011] The data acquisition module includes:

[0012] Inertial navigation is used to collect the position coordinate parameters and three-dimensional attitude angle parameters of the physical directional drilling rig.

[0013] Pressure sensors are used to collect oil pressure parameters of the physical directional drilling rig during the drilling process;

[0014] A flow sensor is used to collect the oil flow parameters of the physical directional drilling rig during the drilling process;

[0015] Temperature sensor, used to collect oil temperature parameters of the physical directional drilling rig;

[0016] LiDAR is used to collect point cloud data of the drilling face;

[0017] A gas sensor is used to collect gas concentration parameters at the drilling face.

[0018] A multispectral camera is used to acquire spectral images of the drilling face.

[0019] Optionally, the remote control module includes:

[0020] The control submodule is used to send control commands to control the virtual prototype of the directional drilling rig and the physical prototype of the directional drilling rig to operate simultaneously;

[0021] The display submodule, connected to the database parsing module, is used to visually display the drilling process of the physical directional drilling rig, as well as the parsed attitude data and drilling face environment information.

[0022] Optionally, the virtual prototype of the directional drilling rig and the virtual model of the drilling face are established at a 1:1 scale based on the physical prototype of the directional drilling rig and the drilling face.

[0023] To achieve the above objectives, the present invention also provides the following solution:

[0024] A method for remote control of a directional drilling rig based on a twin model, connected to the physical directional drilling rig, the method comprising:

[0025] A twin model is constructed in a virtual environment to simulate the physical machine of the directional drilling rig and the drilling face environment in which the physical machine of the directional drilling rig is located. The twin model includes a virtual prototype of the directional drilling rig that simulates the physical machine of the directional drilling rig and a virtual model of the drilling face that simulates the drilling face environment.

[0026] Collect attitude data of the physical directional drilling rig and environmental information of the drilling face;

[0027] The attitude data and drilling face environment information are parsed and stored;

[0028] Based on the analyzed attitude data and drilling face environment information, the virtual prototype of the directional drilling rig is controlled to maintain consistent motion with the physical prototype of the directional drilling rig in the drilling face environment.

[0029] Optionally, the attitude data of the physical directional drilling rig and the environmental information of the drilling face are collected, including at least one of the following: position coordinate parameters and three-dimensional attitude angle parameters of the physical directional drilling rig, oil pressure parameters, oil flow rate parameters, oil temperature parameters, point cloud data of the drilling face, gas concentration parameters of the drilling face, and spectral images of the drilling face.

[0030] Optionally, a twin model is constructed in a virtual environment to simulate the physical directional drilling rig and the drilling face environment in which the physical directional drilling rig is located, including:

[0031] Obtain the actual dimensions of the physical prototype of the directional drilling rig and the drilling face; the physical prototype of the directional drilling rig includes the vehicle body and other components;

[0032] A 3D basic model of the physical directional drilling rig and the drilling face was created at a 1:1 scale using SolidWorks software and exported as a .STL file.

[0033] The .STL format file was textured and rendered using 3ds Max software, and then exported as a .FBX format file.

[0034] Using Unity3D software, the vehicle body and other components of the directional drilling rig physical model in the .FBX format file are bound together with a parent-child relationship to establish a high-low level motion relationship; the vehicle body is the parent object, and the other components are the child objects.

[0035] The motion relationship between the parent and child objects is linked in the Unity3D software using C# scripts, and a virtual-real interactive interface is established.

[0036] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0037] This invention provides a remote control system and method for directional drilling rigs based on a twin model. Connected to a physical directional drilling rig, the remote control system constructs a twin model in a virtual environment using a construction module. This twin model simulates the physical directional drilling rig and the drilling face environment in which it operates. The twin model includes a virtual prototype of the directional drilling rig simulating the physical rig and a virtual model of the drilling face simulating the drilling face environment. A data acquisition module collects attitude data of the physical directional drilling rig and drilling face environment information. A database parsing module connected to the data acquisition module parses and stores the attitude data and drilling face environment information. A remote control module connected to the database parsing module controls the virtual prototype of the directional drilling rig in the drilling face virtual model to maintain consistent actions with the physical directional drilling rig in the drilling face environment, based on the parsed attitude data and drilling face environment information. This remote control system improves the control accuracy of the physical directional drilling rig by remotely controlling it. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a schematic diagram of the structure of the remote control system for directional drilling rigs based on a twin model according to the present invention;

[0040] Figure 2 This is a schematic diagram of the process of the remote control system for directional drilling rigs based on twin models according to the present invention;

[0041] Figure 3 This is a flowchart illustrating the remote control method for directional drilling rigs based on twin models according to the present invention.

[0042] Figure 4 A flowchart illustrating the method for constructing a twin model;

[0043] Figure 5 A flowchart illustrating the process of building a twin model. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] The purpose of this invention is to provide a remote control system and method for directional drilling rigs based on a twin model, which can improve the control accuracy of directional drilling rigs. Compared with the prior art, the remote control system and method for directional drilling rigs can also improve the operating efficiency of directional drilling rigs, reduce the workload of operators, and reduce the probability of accidents caused by the working environment.

[0046] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0047] The present invention relates to a remote control system for directional drilling rigs based on a twin model, which is connected to the physical directional drilling rig. The control system includes a construction module, a data acquisition module, a database parsing module, and a remote control module.

[0048] The construction module is used to build a twin model in a virtual environment for simulating the physical machine of the directional drilling rig and the drilling face environment in which the physical machine of the directional drilling rig is located; the twin model includes a virtual prototype of the directional drilling rig that simulates the physical machine of the directional drilling rig and a virtual model of the drilling face that simulates the drilling face environment.

[0049] The data acquisition module is used to collect the attitude data of the physical directional drilling rig and the environmental information of the drilling face.

[0050] The database parsing module is connected to the data acquisition module; the database parsing module is used to parse and store the attitude data and drilling face environmental information.

[0051] The remote control module is connected to the database parsing module; the remote control module is used to control the virtual prototype of the directional drilling rig to maintain consistent movements with the physical prototype of the directional drilling rig in the drilling face environment based on the parsed attitude data and drilling face environment information.

[0052] Optionally, the physical prototype of the directional drilling rig is used for coal mine gas extraction, geological exploration, and other work.

[0053] Specifically, after the virtual prototype of the directional drilling rig and the virtual model of the drilling face are constructed, the data acquisition module collects the initial attitude data of the physical directional drilling rig and the initial environmental information of the drilling face. The database parsing module parses the initial attitude data and initial environmental information, and the remote control module controls the initial pose of the virtual prototype of the directional drilling rig in the virtual model of the drilling face to be consistent with the initial pose of the physical directional drilling rig in the drilling face environment, based on the parsed initial attitude data and initial environmental information.

[0054] Optionally, the attitude data includes: the position coordinate parameters and three-dimensional attitude angle parameters of the physical directional drilling rig, oil pressure parameters, oil flow rate parameters, oil temperature parameters, and point cloud data of the drilling face. The drilling face environmental information includes: gas concentration parameters and spectral images of the drilling face.

[0055] Accordingly, the data acquisition module includes inertial navigation, pressure sensor, flow sensor, temperature sensor, lidar, gas sensor and multispectral camera.

[0056] The inertial navigation system is used to collect the position coordinate parameters and three-dimensional attitude angle parameters of the physical directional drilling rig.

[0057] The pressure sensor is used to collect the oil pressure parameters of the physical directional drilling rig during the drilling process.

[0058] The flow sensor is used to collect the oil flow parameters of the physical directional drilling rig during the drilling process.

[0059] The temperature sensor is used to collect the oil temperature parameters of the physical directional drilling rig.

[0060] The lidar is used to collect point cloud data of the drilling face.

[0061] The gas sensor is used to collect the gas concentration parameters of the drilling face.

[0062] The multispectral camera is used to acquire spectral images of the drilling face.

[0063] Figure 1 This is a schematic diagram of the remote control system for directional drilling rigs based on a twin model, as described in this invention. A specific embodiment is shown below (see [link]). Figure 1The data acquisition module is used to collect real-time attitude data of the physical directional drilling rig and environmental information of the drilling face. Attitude data of the physical directional drilling rig is collected in real time by installing an inertial navigation system on the physical rig. Pressure sensors, flow sensors, and temperature sensors can also be installed on the physical directional drilling rig to monitor its operating status. Simultaneously, a lidar sensor is installed on the physical directional drilling rig to detect obstacles in front of it. Gas sensors and multispectral cameras are installed on the physical directional drilling rig to collect real-time environmental information of the drilling face.

[0064] Specifically, the database parsing module uses Kalman filtering to eliminate errors based on the position coordinates and three-dimensional attitude angle parameters of the physical directional drilling rig collected by inertial navigation, and then parses the data to obtain the three-dimensional position coordinates and three-dimensional attitude angle parameters of the physical directional drilling rig.

[0065] The pressure acquisition unit in the pressure sensor acquires the oil pressure signal during the physical drilling operation of the directional drilling rig. The pressure signal is converted into a digital signal by the A / D conversion module in the pressure sensor. The pressure sensor processes the digital signal to obtain the oil pressure parameters. The database parsing module analyzes the oil pressure parameters to obtain the oil pressure data during the physical drilling process of the directional drilling rig.

[0066] The flow acquisition unit in the flow sensor acquires the flow rate signal of the oil during drilling. The flow rate signal is converted into a digital signal by the A / D conversion module in the flow sensor. The flow sensor processes the digital signal to obtain the oil flow rate parameters. The database parsing module analyzes the oil flow rate parameters to obtain the oil flow rate data during the actual drilling process of the directional drilling rig.

[0067] The temperature sensor collects oil temperature parameters, and the database parsing module performs parsing and processing based on the oil temperature parameters to obtain oil temperature data during the physical drilling process of the directional drilling rig.

[0068] The lidar acquires point cloud data of the drilling face. The database parsing module processes this point cloud data to obtain the distance information between the physical directional drilling rig and the drilling face. The database parsing module's processing of the point cloud data includes filtering out discrete points and noise, and extracting and registering point cloud data features.

[0069] The gas concentration acquisition unit in the gas sensor acquires the gas concentration signal at the drilling face, and the signal conditioning circuit of the gas sensor processes and converts the gas concentration signal. After processing and converting the gas concentration signal, the gas sensor obtains the gas concentration parameters of the drilling face. The database parsing module performs parsing processing based on the gas concentration parameters of the drilling face to obtain the gas concentration data of the drilling face.

[0070] The multispectral camera acquires spectral images of the drilling face at different times. The database parsing module analyzes and processes these spectral images to obtain information about the surrounding environment of the drilling face.

[0071] Preferably, the remote control module includes a control submodule and a display submodule.

[0072] The control submodule is used to send control commands to control the virtual prototype of the directional drilling rig and the physical prototype of the directional drilling rig to operate simultaneously.

[0073] The display submodule is connected to the database parsing module and is used to visually display the drilling process of the physical directional drilling rig, as well as the parsed attitude data and drilling face environment information.

[0074] like Figure 1 As shown, the database parsing module processes the collected attitude data of the physical directional drilling rig and the drilling face environment information, and then displays the parsed attitude data of the physical directional drilling rig and the drilling face environment information in a visual manner through the display submodule of the remote control module, so as to monitor the operating status of the physical directional drilling rig and the condition of the drilling face in real time.

[0075] Furthermore, the parsed attitude data and drilling face environment information displayed by the display submodule include the three-dimensional position coordinates and three-dimensional attitude angle parameters of the physical directional drilling rig, the oil pressure data, oil flow data, and oil temperature data during the drilling process of the physical directional drilling rig, the distance data between the physical directional drilling rig and the drilling face, and the gas concentration data and image information of the drilling face.

[0076] Figure 2This is a flowchart illustrating the remote control system for a directional drilling rig based on a twin model, as described in this invention. The operator makes decisions based on the drilling process and attitude data of the physical directional drilling rig displayed by the display submodule, along with information about the drilling face environment. Control commands are then sent through the control submodule to control both the physical and virtual prototype directional drilling rigs to operate simultaneously. Simultaneously, the attitude data of the physical directional drilling rig after its actions, collected by the data acquisition module, is transmitted again to the database parsing module. The database parsing module processes this attitude data and sends it to the remote control module. The remote control module dynamically corrects the virtual prototype based on the processed attitude data, ensuring that the virtual prototype's actions in the virtual drilling face model are consistent with those of the physical directional drilling rig in the drilling face environment, thus achieving simultaneous virtual and real-world movement of the physical and virtual directional drilling rigs.

[0077] More specifically, the data acquisition module transmits the initial attitude data of the physical directional drilling rig and the initial environmental information of the drilling face to the virtual prototype of the directional drilling rig in the data-driven virtual environment of the remote control module. This ensures that the initial posture of the physical directional drilling rig and the virtual prototype are consistent. The initial attitude data of the physical directional drilling rig and the initial environmental information of the drilling face are displayed in real time in the display submodule to facilitate control decisions by the operators. Then, the operators send control commands through the control submodule to drive the virtual prototype of the directional drilling rig in the virtual environment to perform corresponding actions and to control the movement of the physical directional drilling rig. During the movement of the physical directional drilling rig at the drilling face, the data acquisition module collects the attitude data of the physical directional drilling rig and the environmental information of the drilling face in real time, transmits it to the database module for parsing and processing, and then uploads it back to the remote control module. This dynamically corrects the posture of the virtual prototype of the directional drilling rig, forming a digital twin with closed-loop feedback control, which improves control accuracy and operational efficiency, and reduces the workload of the operators.

[0078] Optionally, the virtual prototype of the directional drilling rig and the virtual model of the drilling face are established at a 1:1 scale based on the physical prototype of the directional drilling rig and the drilling face to realistically reflect the drilling work scenario.

[0079] Figure 3 This is a flowchart illustrating the remote control method for directional drilling rigs based on a twin model according to the present invention. The remote control method for directional drilling rigs based on a twin model according to the present invention includes:

[0080] Step S01: Construct a twin model in a virtual environment to simulate the physical machine of the directional drilling rig and the drilling face environment in which the physical machine of the directional drilling rig is located. The twin model includes a virtual prototype of the directional drilling rig that simulates the physical machine of the directional drilling rig, and a virtual model of the drilling face that simulates the drilling face environment.

[0081] Step S02: Collect attitude data of the physical directional drilling rig and environmental information of the drilling face.

[0082] Step S03: Analyze the attitude data and drilling face environment information.

[0083] Step S04: Based on the parsed attitude data and drilling face environment information, control the virtual prototype of the directional drilling rig to maintain consistent movements with the physical prototype of the directional drilling rig in the drilling face environment.

[0084] Specifically, in step S02, the attitude data of the physical directional drilling rig and the environmental information of the drilling face are collected, including at least one of the following: position coordinate parameters and three-dimensional attitude angle parameters of the physical directional drilling rig, oil pressure parameters, oil flow rate parameters, oil temperature parameters, point cloud data of the drilling face, gas concentration parameters of the drilling face, and spectral image of the drilling face.

[0085] Figure 4 This is a flowchart illustrating the method for constructing a twin model. In step S01, a twin model is constructed in a virtual environment to simulate the physical directional drilling rig and the drilling face environment in which the physical directional drilling rig is located. Specifically, this includes:

[0086] Step S011: Obtain the actual dimensions of the physical prototype of the directional drilling rig and the drilling face; the physical prototype of the directional drilling rig includes the vehicle body and other components.

[0087] Step S012: Using SolidWorks software, create a 1:1 scale three-dimensional basic model of the physical machine of the directional drilling rig and the drilling face, and export it as a .STL format file.

[0088] Step S013: Render the textures in the .STL format file using 3ds Max software and export it as a .FBX format file.

[0089] Step S014: Using Unity3D software, bind the vehicle body and other components of the directional drilling rig physical machine in the .FBX format file to establish a parent-child relationship and create a high-low level motion relationship; the vehicle body is the parent object, and the other components are the child objects.

[0090] Step S015: Use a C# script to link the motion relationship between the parent and child objects in the Unity3D software and establish a virtual-real interactive interface.

[0091] Figure 5 This is a flowchart illustrating the process of constructing a twin model. The physical prototype of the directional drilling rig, the drilling face, and the virtual prototype and virtual model of the drilling face are twin models of each other. Based on the actual dimensions of the physical prototype and the drilling face, a 1:1 scale 3D base model of the physical prototype and the drilling face environment is created in SolidWorks software. This model is then saved as an .STL file and imported into 3ds Max software. The material editor is used to render textures on the 3D base models of the physical prototype and the drilling face. After texture rendering, the format is converted and exported as an .FBX file. This .FBX file is then imported into Unity3D software, where parent-child relationships are established between the 3D base models of the physical prototype and the drilling face. The vehicle body of the directional drilling rig is regarded as the parent object, and the other parts are regarded as child objects. A high-low level motion relationship is established, and dynamic programming is performed by adding C# scripts to link the motion relationship between the parent object and the child objects. Finally, a virtual-real interactive interface is built in this scene.

[0092] During the physical movement of the directional drilling rig, the lidar acquires point cloud data of the drilling face in real time. The database parsing module processes this point cloud data, and the virtual model of the drilling face is reconstructed in real time based on the processed point cloud data, maintaining consistency with the drilling face. This completes the establishment of the virtual prototype of the directional drilling rig and the virtual model of the drilling face.

[0093] According to the above embodiments, the beneficial effects of the present invention are as follows: The present invention's remote control system for directional drilling rigs based on a twin model constructs a virtual prototype of the directional drilling rig and a virtual model of the drilling face with the same appearance proportions as the physical directional drilling rig and the drilling face based on digital twin technology, visually presenting the drilling process of the physical directional drilling rig. The data acquisition module transmits the acquired attitude data of the physical directional drilling rig and the drilling face environment information to the remote control module to drive the virtual prototype of the directional drilling rig, ensuring that the actions of the virtual prototype and the physical directional drilling rig are consistent. The display submodule in the remote control module displays the attitude data of the physical directional drilling rig and the drilling face environment information in real time, providing reliable data support for operators to make reasonable control decisions. The present invention can also send control commands through the control submodule in the remote control module to control the simultaneous action of the physical directional drilling rig and the virtual prototype. Meanwhile, the attitude data of the physical directional drilling rig and the environmental information of the drilling face are also transmitted again to the remote control module through the data acquisition module to dynamically correct the position and attitude of the virtual prototype of the directional drilling rig, forming a digital twin with closed-loop feedback control. This realizes the remote control of the directional drilling rig, improves the control accuracy and operation efficiency of the physical directional drilling rig, and reduces the danger of operation and the workload of the operators.

[0094] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section.

[0095] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A directional drilling rig remote control system based on twin model, connected with a physical rig, characterized in that, The control system comprises: a construction module for constructing a twin model for simulating the directional drilling machine physical prototype and the drilling working surface environment where the directional drilling machine physical prototype is located in the virtual environment, the twin model comprising a directional drilling machine virtual prototype for simulating the directional drilling machine physical prototype and a drilling working surface virtual model for simulating the drilling working surface environment; a data acquisition module for acquiring attitude data of the directional drilling machine physical prototype and drilling working surface environment information; the data acquisition module is further configured to transmit the acquired attitude data of the directional drilling machine physical prototype after action to the database analysis module again; a database analysis module connected with the data acquisition module, configured to analyze and store the attitude data and the drilling working surface environment information; the database analysis module is further configured to analyze and process the attitude data of the directional drilling machine physical prototype after action and send to the remote control module; a remote control module connected with the database analysis module, configured to control the directional drilling machine virtual prototype to act in the drilling working surface virtual model in accordance with the analyzed attitude data and the drilling working surface environment information, so as to keep consistent with the action of the directional drilling machine physical prototype in the drilling working surface environment; a control submodule in the remote control module is configured to send control instructions to control the directional drilling machine physical prototype and the directional drilling machine virtual prototype to act simultaneously according to a decision; the decision is made by an operator according to the drilling process of the directional drilling machine physical prototype and its attitude data and drilling working surface environment information displayed by a display submodule in the remote control module; the control submodule in the remote control module is further configured to dynamically correct the directional drilling machine virtual prototype according to the analyzed and processed attitude data of the directional drilling machine physical prototype after action, so as to control the directional drilling machine virtual prototype to act in the drilling working surface virtual model in accordance with the action of the directional drilling machine physical prototype in the drilling working surface environment, and realize the same action of the directional drilling machine physical prototype and the directional drilling machine virtual prototype; the control instructions are sent by the operator using the control submodule in the remote control module; the control instructions are used to drive the directional drilling machine virtual prototype in the virtual environment to perform corresponding actions and control the directional drilling machine physical prototype to move; in the movement process of the directional drilling machine physical prototype on the drilling working surface, the data acquisition module acquires the attitude data of the directional drilling machine physical prototype and the drilling working surface environment information in real time, transmits them to the database module for analysis and processing, and then uploads them to the remote control module again to dynamically correct the pose of the directional drilling machine virtual prototype, thereby forming a digital twin body of closed-loop feedback control.

2. The twin model based directional driller remote control system of claim 1, wherein, The attitude data comprises position coordinate parameters and three-dimensional attitude angle parameters of the directional drilling machine physical prototype, oil pressure parameters, oil flow parameters, oil temperature parameters and point cloud data of the drilling working surface; the drilling working surface environment information comprises gas concentration parameters and spectral images of the drilling working surface; The data acquisition module comprises: an inertial navigation system for acquiring position coordinate parameters and three-dimensional attitude angle parameters of the directional drilling machine physical prototype; a pressure sensor for acquiring oil pressure parameters of the directional drilling machine physical prototype during drilling; A flow sensor is configured to collect oil flow parameters of the physical directional drilling machine during drilling; A temperature sensor is configured to collect oil temperature parameters of the physical directional drilling machine; A laser radar is configured to collect point cloud data of the drilling face; A gas sensor is configured to collect gas concentration parameters of the drilling face; A multi-spectrum camera is configured to collect spectral images of the drilling face.

3. The twin model based directional driller remote control system of claim 1, wherein, The remote control module comprises: A control submodule is configured to send control instructions to control the virtual directional drilling machine and the physical directional drilling machine to act simultaneously; A display submodule is connected with the database analysis module and is configured to visually display the drilling process of the physical directional drilling machine and the analyzed attitude data and drilling face environment information.

4. The twin model based directional driller remote control system of claim 1, wherein, The virtual directional drilling machine and the virtual drilling face model are established according to the physical directional drilling machine and the drilling face in a 1:1 ratio.

5. A directional drilling rig remote control method based on a twin model, connected with a directional drilling rig physical real machine, characterized in that, The directional drilling remote control method based on the twin model comprises: A twin model is constructed in a virtual environment to simulate the physical directional drilling machine and the drilling face environment where the physical directional drilling machine is located, the twin model comprising a virtual directional drilling machine simulating the physical directional drilling machine and a virtual drilling face model simulating the drilling face environment; Attitude data of the physical directional drilling machine and drilling face environment information are collected; The attitude data and the drilling face environment information are analyzed; According to the parsed attitude data and the drilling face environment information, the virtual prototype of the directional drilling rig is controlled to move in the virtual model of the drilling face in the same way as the physical directional drilling rig moves in the drilling face environment; the operator makes decisions according to the drilling process of the physical directional drilling rig, the attitude data and the drilling face environment information displayed by the display submodule of the remote control module, and sends control instructions to the control submodule of the remote control module to control the physical directional drilling rig and the virtual prototype of the directional drilling rig to move at the same time; meanwhile, the attitude data of the physical directional drilling rig after moving is collected by the data acquisition module and transmitted to the database analysis module again; the database analysis module analyzes and processes the attitude data of the physical directional drilling rig after moving and sends it to the remote control module; the remote control module dynamically corrects the virtual prototype of the directional drilling rig according to the analyzed and processed attitude data of the physical directional drilling rig after moving, controls the virtual prototype of the directional drilling rig to move in the virtual model of the drilling face in the same way as the physical directional drilling rig moves in the drilling face environment, and realizes the same movement of the physical directional drilling rig and the virtual prototype of the directional drilling rig; the operator sends control instructions through the control submodule to drive the virtual prototype of the directional drilling rig in the virtual environment to perform corresponding actions and control the physical directional drilling rig to move; during the movement of the physical directional drilling rig in the drilling face, the data acquisition module collects the attitude data of the physical directional drilling rig and the drilling face environment information in real time, transmits them to the database module for analysis and processing, and then uploads them to the remote control module again to dynamically correct the pose of the virtual prototype of the directional drilling rig, forming a digital twin of closed-loop feedback control.

6. The twin model based directional driller remote control method of claim 5, wherein, The attitude data of the physical directional drilling rig and the drilling face environment information are collected, including at least one of the position coordinate parameters and three-dimensional attitude angle parameters, oil pressure parameters, oil flow parameters, oil temperature parameters, point cloud data of the drilling face, gas concentration parameters of the drilling face, and spectral images of the drilling face.

7. The twin model based directional driller remote control method of claim 5, wherein, A twin model for simulating the physical directional drilling rig and the drilling face environment where the physical directional drilling rig is located is constructed in the virtual environment, including: The actual sizes of the physical directional drilling rig and the drilling face are obtained; the physical directional drilling rig includes a vehicle body and other components; A three-dimensional basic model of the physical directional drilling rig and the drilling face is established in a 1:1 scale by SolidWorks software and exported as an.STL format file; The.STL format file is rendered by 3dsMax software, and exported as an.FBX format file; The parent-child relationship of the vehicle body and other components of the physical directional drilling rig in the.FBX format file is bound by Unity3D software to establish a high-low level motion relationship; the vehicle body is the parent object, and the other components are the child objects; The motion relationship between the parent object and the child objects is linked by C# script in the Unity3D software, and a virtual-real interaction interface is established.

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