A jet intelligent deviation correction control system and method for a deep hole drilling machine

Abstract

The present application belongs to the field of underground engineering drilling, and provides a jet flow intelligent deviation correction control system and method for a deep hole drilling machine. The jet flow intelligent deviation correction control system comprises a drill bit sensing module, a deviation correction decision module and an angle adjustment module. The drill bit sensing module is used to obtain the reaction force received by each part of the drill bit rock breaking section in real time, obtain a drilling force-time curve, and then match the corresponding relationship between the drilling force at different times and the drill bit rock breaking section position. The deviation correction decision module is used to calculate a drilling deflection factor, and then judge whether the drill bit has a deflection trend according to the comparison result of the drilling deflection factor and a deflection threshold. The angle adjustment module is used to adjust the exit angle of the water jet flow beam according to the drill bit deflection trend judgment result until the drill bit has no deflection trend, and finally realize long-distance collimation drilling along the predetermined direction. The system can intelligently control the drilling deviation in real time according to the intensity difference, solve the problem of drilling deflection of the deep hole drilling machine, and improve the long-distance drilling precision.

Description

Technical Field

[0001] This invention belongs to the field of underground engineering drilling, and particularly relates to a jet intelligent deviation correction control system and method for deep hole drilling rigs. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Because the geological environment along the borehole is uneven, with complex environments such as composite strata and alternating strata, the rock strength of the rock breaking section of the drill bit varies greatly during deep hole drilling. This affects the uniformity of the force on the drill bit and makes it easy for it to deviate. Ultimately, the cumulative deviation can lead to excessive borehole inclination or even deviate from the planned drilling trajectory.

[0004] The inventors discovered that the current technical solution is to solve the problem of deviating from the predetermined drilling trajectory by returning to the correction hole and filling the deviation hole. However, the above construction procedures are complicated and cumbersome, and they greatly affect the progress of the project and increase the construction cost. Summary of the Invention

[0005] To address the technical problems mentioned above, this invention provides a jet intelligent correction control system and method for deep hole drilling rigs. This system can acquire the rock strength uniformity of the rock breaking section of the drill bit in real time and perform intelligent control to correct the drilling deviation in real time based on the strength difference. This is essential for solving the drilling deviation problem of deep hole drilling rigs, improving the accuracy of long-distance drilling, and ensuring efficient and safe operation of deep hole construction.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] The first aspect of the present invention provides a jet intelligent deviation correction control system for deep hole drilling rigs.

[0008] A jet intelligent deviation correction control system for deep hole drilling rigs includes: a drill bit sensing module, a deviation correction decision module, and an angle adjustment module;

[0009] The drill bit sensing module is used to acquire the reaction force of each part of the drill bit rock breaking section in real time, obtain the drilling force-time curve, and then match the correspondence between the drilling force and the position of the drill bit rock breaking section at different times.

[0010] The deviation correction decision module is used to obtain the maximum and minimum drilling force during one revolution of the drill bit based on the drilling force-time curve, calculate the drilling deflection factor, and then determine whether the drill bit has a deflection trend based on the comparison result between the drilling deflection factor and the deflection threshold.

[0011] The angle adjustment module is used to adjust the exit angle of the water jet according to the drill bit deflection trend judgment result output by the correction decision module until the drill bit has no deflection trend, and finally realize long-distance collimated drilling along the predetermined direction.

[0012] In one implementation, the drill bit sensing module includes several force sensors arranged circumferentially around the drill bit, used to measure the drilling pressure values ​​at various parts of the drill bit's rock-breaking section in real time, compare the magnitudes of the drilling pressure values ​​measured after the drill bit rotates one revolution, filter out the maximum and minimum drilling pressure values, and determine the drill bit rock-breaking section positions corresponding to the maximum and minimum drilling pressure values ​​based on the drilling force-time curve.

[0013] As one implementation method, in the deviation correction decision module, the process of determining whether the drill bit has a deviation trend is as follows:

[0014] The difference between the maximum and minimum drilling pressure is taken as the deflection factor;

[0015] The drill bit deflection factor is compared with a preset deflection threshold. If the former is less than or equal to the latter, it is determined that the drill bit does not have a deflection trend.

[0016] If the former is greater than the latter, it is judged that the drill bit has a tendency to deflect towards the side with weaker rock strength.

[0017] As one implementation method, in the angle adjustment module, the process of adjusting the deflection angle of the water jet nozzle in the water jet system is as follows:

[0018] When it is determined that there is no tendency for the drill bit to deflect, the water jet is ejected along the center of the drill bit to assist the drill bit in drilling quickly;

[0019] When it is determined that the drill bit tends to deflect towards the side with weaker rock strength, the water jet injection angle is adjusted to the position corresponding to the maximum drilling pressure measured on the drill bit cross-section, and water jet cutting is performed to weaken the rock strength at that position.

[0020] As one implementation method, in the drill bit sensing module, the process of matching the drilling force and the position of the drill bit rock-breaking section at different times using the drilling force-time curve is as follows:

[0021] The initial drilling position of the drill bit is marked by arranging an absolute encoder on the drill pipe;

[0022] During the real-time drilling process, the position of the rock-breaking section of the drill bit corresponding to the drilling pressure is obtained in real time.

[0023] A second aspect of the present invention provides a jet intelligent deviation control method for deep hole drilling rigs.

[0024] A jet intelligent deviation correction control method for deep hole drilling rigs includes:

[0025] The reaction forces at various parts of the rock-breaking section of the drill bit are acquired in real time to obtain the drilling force-time curve, and then the correspondence between drilling force and the position of the rock-breaking section of the drill bit at different times is matched.

[0026] Based on the drilling force-time curve, the maximum and minimum drilling force during one revolution of the drill bit are obtained, the drilling deflection factor is calculated, and the drill bit deflection trend is determined by comparing the drilling deflection factor with the deflection threshold.

[0027] Based on the results of the drill bit deflection trend judgment, the exit angle of the water jet is adjusted until the drill bit has no deflection trend, and finally long-distance straight drilling along the predetermined direction is achieved.

[0028] As one implementation method, the process of determining whether the drill bit has a deflection tendency is as follows:

[0029] The difference between the maximum and minimum drilling pressure is taken as the deflection factor;

[0030] The drill bit deflection factor is compared with a preset deflection threshold. If the former is less than or equal to the latter, it is determined that the drill bit does not have a deflection trend.

[0031] If the former is greater than the latter, it is judged that the drill bit has a tendency to deflect towards the side with weaker rock strength.

[0032] As one implementation method, the process of adjusting the deflection angle of the water jet nozzle in the water jet system is as follows:

[0033] When it is determined that there is no tendency for the drill bit to deflect, the water jet is ejected along the center of the drill bit to assist the drill bit in drilling quickly;

[0034] When it is determined that the drill bit tends to deflect towards the side with weaker rock strength, the water jet injection angle is adjusted to the position corresponding to the maximum drilling pressure measured on the drill bit cross-section, and water jet cutting is performed to weaken the rock strength at that position.

[0035] As one implementation method, the process of matching drilling force and drill bit rock-breaking section position at different times using drilling force-time curves is as follows:

[0036] The initial drilling position of the drill bit is marked by arranging an absolute encoder on the drill pipe;

[0037] During the real-time drilling process, the position of the rock-breaking section of the drill bit corresponding to the drilling pressure is obtained in real time.

[0038] A third aspect of the present invention provides a computer-readable storage medium.

[0039] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the jet intelligent deviation control method for deep hole drilling rigs as described above.

[0040] The beneficial effects of this invention are:

[0041] (1) The water jet-assisted deviation correction intelligent control system of the present invention obtains the drilling force at each position of the rock breaking section of the drill bit in real time through the drill bit sensing module, and judges whether the rock strength of the rock breaking section of the drill bit is uniform by comparison and decision, and then infers whether the drill bit has a tendency to deflect; at the same time, the water jet angle adjustment module adjusts the water jet exit angle in real time to reduce the difference in rock strength of the rock breaking section of the drill bit, and ensures that the drill bit drills stably in the predetermined direction, so as to achieve the purpose of real-time deviation correction.

[0042] (2) The water jet-assisted correction intelligent control system of the present invention can adjust the water jet exit angle and change the drilling direction of the drill bit according to the set drilling direction. This intelligent control system can realize the function of directional drilling without other auxiliary means. It has a simple structure, is easy to operate, and is highly practical for engineering applications. The present invention solves the key problem of borehole deviation caused by uneven geological environment during long-distance drilling, and provides a practical solution for borehole correction and directional drilling of deep hole drilling rigs.

[0043] (3) This invention integrates high-pressure water jet with mechanical drill bit to perform water jet-assisted drill bit coupling rock breaking, which greatly improves the overall drilling efficiency. At the same time, after the water jet cuts and weakens the rock in front, the mechanical drill bit cuts and breaks the rock, the rock strength is greatly reduced, the force on the drill bit cutting teeth is improved, the wear is greatly reduced, and the time for raising and lowering the drill bit to replace the drill bit is reduced, which has high economic and engineering benefits.

[0044] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0045] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0046] Figure 1 This is a schematic diagram of the logic flow of the deep-hole water jet deviation correction control method according to an embodiment of the present invention;

[0047] Figure 2 This is a schematic diagram of the deep-hole water jet deviation correction control logic structure according to an embodiment of the present invention;

[0048] Figure 3This is a schematic diagram of the overall structure of the deep-hole water jet deviation correction control system according to an embodiment of the present invention;

[0049] Figure 4 This is a schematic diagram of the feeding mechanism structure according to an embodiment of the present invention;

[0050] Figure 5 This is a schematic diagram of the loading and unloading rod mechanism according to an embodiment of the present invention;

[0051] Figure 6 This is a schematic diagram of the drill bit structure according to an embodiment of the present invention;

[0052] Figure 7 This is a schematic diagram of water jet-assisted directional drilling according to an embodiment of the present invention.

[0053] The components are: 1. Tracked chassis, 2. Drill rig frame, 3. Lifting mechanism, 4. Feed frame, 5. Power mechanism, 6. Power head, 7. Unlatcher, 8. Clamp, 9. Drill rod, 10. Drill bit, 11. High-pressure pump set, 12. High-pressure water pipe, 13. Transport trolley, 14. Rod loading box, 15. Borehole wall, 16. Water jet angle adjustment device, 17. Water jet nozzle; 101. Drill bit body, 102. Cutting teeth, 103. Water outlet. Detailed Implementation

[0054] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0055] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0056] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0057] Reference Figure 1 and Figure 2 In one or more embodiments, the jet intelligent deviation correction control system for deep hole drilling rigs specifically includes the following modules: a drill bit sensing module, a deviation correction decision module, and an angle adjustment module.

[0058] In this embodiment, the drill bit sensing module is used to acquire the reaction force of each part of the drill bit rock breaking section in real time, obtain the drilling force-time curve, and then match the correspondence between drilling force and drill bit rock breaking section position at different times.

[0059] In practical implementation, the drill bit sensing module includes several force sensors arranged circumferentially around the drill bit, used to measure the drilling pressure value F at various parts of the drill bit's rock-breaking section in real time. i By comparing the drilling pressure values ​​measured after one revolution of the drill bit, the maximum and minimum drilling pressure values ​​are selected and defined as F. max and F min The drilling force-time curve is used to determine the rock-breaking section positions of the drill bit corresponding to the maximum and minimum drilling pressure values. The measured F... max The rock strength is greatest at the corresponding cross-sectional location, and the measured F min The rock strength is lowest at the corresponding cross-section location.

[0060] The drilling rig's power head 6 is servo-controlled, and an absolute encoder is installed on the drill rod 9. After marking the initial drilling position of the drill bit 10, the drilling pressure F measured by the sensor can be obtained in real time. i The corresponding rock-breaking section position of the drill bit achieves the drilling pressure value F. i It corresponds in real time to the position of the rock breaking section of the drill bit.

[0061] In the specific implementation process, the deviation decision module is used to obtain the maximum and minimum values ​​of drilling force during the process of the drill bit rotating one revolution based on the drilling force-time curve, calculate the drilling deflection factor, and then determine whether the drill bit has a deflection trend based on the comparison result of the drilling deflection factor and the deflection threshold.

[0062] Specifically, in the deviation correction decision module, the process of determining whether the drill bit has a deviation trend is as follows:

[0063] The difference between the maximum and minimum drilling pressure is taken as the deflection factor, denoted as ΔF, i.e., ΔF = F. max -F min ;

[0064] The drill bit deflection factor is compared with a preset deflection threshold. If the former is less than or equal to the latter, it is determined that the drill bit does not have a deflection trend.

[0065] If the former is greater than the latter, it is judged that the drill bit has a tendency to deflect towards the side with weaker rock strength.

[0066] Specifically, the deflection factor ΔF of drill bit 10 is compared with the pre-set deflection threshold ΔF0. If ΔF≤ΔF0, it is determined that the rock strength of the rock breaking section of the drill bit is relatively uniform and there is no tendency to deflect.

[0067] If ΔF>ΔF0, the drilling force of drill bit 10 at different cutting positions differs significantly. This indicates that there is a significant difference in rock strength at the rock breaking section of the drill bit. In this case, drilling is very likely to cause drill bit 10 to drill faster in the position of weak rock strength and slower in the position of high rock strength, with a tendency to deviate towards the side of weaker rock strength.

[0068] In the specific implementation process, the angle adjustment module is used to adjust the exit angle of the water jet according to the drill bit deflection trend judgment result output by the correction decision module until the drill bit has no deflection trend, and finally realize long-distance collimated drilling along the predetermined direction.

[0069] In the angle adjustment module, the process of adjusting the deflection angle of the water jet nozzle in the water jet system is as follows:

[0070] When it is determined that there is no tendency for the drill bit to deflect, the water jet is ejected along the center of the drill bit to assist the drill bit in drilling quickly;

[0071] When it is determined that the drill bit tends to deflect towards the side with weaker rock strength, the water jet injection angle is adjusted to the position corresponding to the maximum drilling pressure measured on the drill bit cross-section, and water jet cutting is performed to weaken the rock strength at that position.

[0072] Under the cutting and rock-breaking action of water jets, the strong parts of the rock are gradually weakened, and the drilling force F measured in this part is corresponding to this. max It begins to gradually decrease. As the drilling pressure decreases, two scenarios may occur:

[0073] First, when ΔF gradually decreases until it decreases to ΔF≤ΔF0, it indicates that the rock strength at that location has been weakened to the expected effect, and there is no longer a possibility that the large difference in rock strength at the drill bit breaking section will cause the drill bit to deflect. At this time, the water jet angle adjustment module 16 is used to adjust the water jet spray angle to spray out along the center of the drill bit 10.

[0074] Second is F max Reduce to less than another drilling pressure value F n At this time, F n The maximum drilling force becomes F when the drill bit rotates 10 revolutions, and the location with the greatest rock strength also becomes F. n The corresponding drill bit rock-breaking section position is then used to adjust the water jet injection angle to the drill bit section by adjusting the water jet angle adjustment module 16 to measure F. n At the corresponding location, the rock strength at that location is weakened. As the drill bit 10 continues to drill, the intelligent control system repeats the above cycle of measurement → judgment → angle adjustment → measurement to achieve long-distance straight drilling along the predetermined direction.

[0075] according to Figure 2The drill bit sensing module, deviation correction decision module, and angle adjustment module are all connected to the processor, which is also connected to the display. The display shows the drilling rig's operating parameters, working videos, and drilling data, allowing operators to view information and set parameters manually.

[0076] Taking a deep-hole water jet-assisted drilling rig as an example, the following explanation will be provided.

[0077] like Figure 3 The waterjet drilling rig, as an example, includes a mechanical system and a waterjet system. The mechanical system consists of a tracked chassis 1, a drilling rig frame 2, a lifting mechanism 3, a feed frame 4, a power mechanism 5, a power head 6, a shackler 7, and a clamp 8; the waterjet system consists of a high-pressure pump set 11, a high-pressure water supply pipe 12, a transport trolley 13, a waterjet angle adjustment device 16, and a waterjet nozzle 17.

[0078] The tracked chassis 1, located at the bottom of the drilling rig, is the device for the rig's movement, travel, and rotation. The drilling rig frame 2 is the main frame of the drilling rig, used to withstand the reaction force during drilling and connecting the various components of the rig. The lifting mechanism 3 is connected to the drilling rig frame 2 at the lower end and to the feed frame 4 at the upper end. It consists of a hinged support rod and a lifting cylinder, which, through the combined action of the lifting cylinder and the support rod, allows for the adjustment of the drilling height and angle. The power mechanism 5 provides power for the rig's movement and drilling operations. The power head 6, unhooking device 7, and clamping device 8 are all arranged on the feed frame 4. Figure 4 As shown, the power head 6 provides rotational power to the drill rod 9, driving the drill bit 10 to cut and break the rock. The unscrewer 7 and the clamp 8 cooperate with the power head 6 to achieve automatic loading and unloading of the drill rod 9. The drill rod 9 is placed in the rod loading box 14, as shown. Figure 5 As shown, the rod box 14 can hold several drill rods 9 at a time, supporting long-distance drilling and rod splicing.

[0079] Drill bit 10 structure as follows Figure 6 As shown, it includes a drill bit body 101, cutting teeth 102, and a water outlet 103. A circular water outlet 103 is formed at the center of the drill bit body 101 as the outlet for water jet ejection. The size of the water outlet 103 is sufficient to support the adjustment of the water jet angle to eject water to the rock-breaking section of the drill bit 10.

[0080] like Figure 3 and Figure 7As shown, the high-pressure pump unit 11 is placed on the transport trolley 13 and can move with the drilling rig. The high-pressure pump unit 11 consists of a water storage tank, a booster pump, an electric motor, and a cooling fan. Under the action of the electric motor and the booster pump, the water in the water storage tank is pressurized to form a high-pressure water jet, which is transmitted to the water jet nozzle 17 through the high-pressure water pipe 12. The water jet is ejected from the water jet nozzle 17 and impacts the rock in front of it through the water outlet hole 103 in the center of the drill bit 10. The high-pressure pump unit 11 adopts an existing mature structure. The water jet nozzle 17 can be adjusted by the water jet angle adjustment device 16 to achieve the water jet being ejected to the full rock-breaking section of the drill bit 10.

[0081] The following examples and control system correction logic are used in conjunction with implementation details. Figure 1 This section introduces the workflow of the water jet-assisted deviation correction intelligent control system:

[0082] Step 1: The drilling rig is moved to the construction site under the drive of the power mechanism 5. The intelligent control system is turned on, the drill bit 10 is adjusted to the drilling position through the lifting mechanism 3, and the water jet high-pressure pump group 11 is turned on to carry out rapid drilling with the water jet assisted drill bit 10.

[0083] Step 2: The drill bit sensing module arranges several force sensors around the drill bit 10 to measure the drilling pressure value Fi at various parts of the rock-breaking section of the drill bit 10 in real time, and compares it with the value of each F measured after the drill bit 10 rotates one revolution. i The values ​​are compared, and the maximum and minimum values ​​are selected, each defined as F. max and F min Simultaneously, F is determined based on the drilling force-time curve. max The corresponding position of the drill bit breaking the rock section;

[0084] Step 3: Take the difference between the maximum and minimum drilling pressure values ​​as the deflection factor, denoted as ΔF, i.e., ΔF = F. max -F min Compare the drill bit deflection factor ΔF with the preset deflection threshold ΔF0;

[0085] Step 4: The correction decision module compares the magnitudes of ΔF and ΔF0 to determine whether ΔF≤ΔF0 is satisfied. If ΔF≤ΔF0, the water jet angle adjustment module 16 does not adjust the angle of the water jet nozzle 17, and the water jet exits along the water outlet 103 at the center of the drill bit 10 to assist the drill bit in rapid drilling. If ΔF≤ΔF0 is not satisfied, i.e., ΔF>ΔF0, the water jet angle adjustment module 17 adjusts the water jet spray angle to the value of F measured at the drill bit cross-section. max At the corresponding location, water jet cutting is performed to weaken the rock strength at that location.

[0086] Step 5: When ΔF≤ΔF0 is not satisfied, after adjusting the weakened rock strength in Step 4, repeat Steps 2 to 4 to achieve real-time correction.

[0087] In addition, the control system also has a directional drilling function. When reaching a designated position and needing to drill in a predetermined drilling direction, the water jet adjustment module 16 adjusts the water jet nozzle 17 to point in the opposite direction to the required drilling direction, weakening the rock strength. The rock strength is reduced at the location weakened by the water jet on the drill bit's rock-breaking section, making it easier for the drill bit's cutting teeth 102 to break the rock at that location. Therefore, this part of the drill bit's rock-breaking section drills faster. Figure 7 As shown, when the drill bit 10 needs to drill upwards, the water jet nozzle 17 points below the rock-breaking section of the drill bit to assist in breaking the rock below. Under the impact of the water jet, the strength of the rock below is weakened, and the drill bit 10 can drill more easily below the rock-breaking section. This makes the drill bit 10 drill faster below and slower above, thus achieving the purpose of upward deflection.

[0088] In one or more embodiments, the intelligent jet correction control method for deep hole drilling rigs specifically includes the following steps:

[0089] Step 1: Real-time acquisition of the reaction force at each part of the rock-breaking section of the drill bit to obtain the drilling force-time curve, and then matching the correspondence between drilling force and the position of the rock-breaking section of the drill bit at different times.

[0090] The process of matching drilling force and drill bit rock-breaking section position at different times using drilling force-time curves is as follows:

[0091] The initial drilling position of the drill bit is marked by arranging an absolute encoder on the drill pipe;

[0092] During the real-time drilling process, the position of the rock-breaking section of the drill bit corresponding to the drilling pressure is obtained in real time.

[0093] Step 2: Based on the drilling force-time curve, obtain the maximum and minimum drilling force during one revolution of the drill bit, calculate the drilling deflection factor, and then determine whether the drill bit has a deflection trend based on the comparison between the drilling deflection factor and the deflection threshold.

[0094] The process of determining whether the drill bit has a deflection trend in step 2 is as follows:

[0095] Step 2.1: Take the difference between the maximum and minimum drilling pressure as the deflection factor;

[0096] Step 2.2: Compare the drill bit deflection factor with the preset deflection threshold:

[0097] If the former is less than or equal to the latter, it is determined that the drill bit does not have a tendency to deflect.

[0098] If the former is greater than the latter, it is judged that the drill bit has a tendency to deflect towards the side with weaker rock strength.

[0099] Step 3: Based on the results of the drill bit deflection trend judgment, adjust the exit angle of the water jet until the drill bit has no deflection trend, and finally achieve long-distance collimated drilling along the predetermined direction.

[0100] In the specific implementation process, the process of adjusting the deflection angle of the water jet nozzle in the water jet system is as follows:

[0101] When it is determined that there is no tendency for the drill bit to deflect, the water jet is ejected along the center of the drill bit to assist the drill bit in drilling quickly;

[0102] When it is determined that the drill bit tends to deflect towards the side with weaker rock strength, the water jet injection angle is adjusted to the position corresponding to the maximum drilling pressure measured on the drill bit cross-section, and water jet cutting is performed to weaken the rock strength at that position.

[0103] In one or more embodiments, a computer-readable storage medium is also provided, having stored thereon a computer program that, when executed by a processor, implements the steps of the jet intelligent deviation correction control method for deep hole drilling rigs as described above.

[0104] In one or more embodiments, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the jet intelligent deviation correction control method for deep hole drilling rigs as described above.

[0105] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0106] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A jet intelligent deviation correction control system for deep hole drilling rigs, characterized in that, include: Drill bit sensing module, deviation correction decision module, and angle adjustment module; The drill bit sensing module is used to acquire the reaction force of each part of the drill bit rock breaking section in real time, obtain the drilling force-time curve, and then match the correspondence between the drilling force and the position of the drill bit rock breaking section at different times. The deviation correction decision module is used to obtain the maximum and minimum drilling force during one revolution of the drill bit based on the drilling force-time curve, calculate the drilling deflection factor, and then determine whether the drill bit has a deflection trend based on the comparison result of the drilling deflection factor and the deflection threshold. The process is as follows: The difference between the maximum and minimum drilling pressure is taken as the deflection factor; The drill bit deflection factor is compared with a preset deflection threshold. If the former is less than or equal to the latter, it is determined that the drill bit does not have a deflection trend. If the former is greater than the latter, it is judged that the drill bit has a tendency to deflect towards the side with weaker rock strength; The angle adjustment module is used to adjust the exit angle of the water jet according to the drill bit deflection trend judgment result output by the correction decision module until the drill bit has no deflection trend, and finally realize long-distance collimated drilling along the predetermined direction.

2. The intelligent jet correction control system for deep hole drilling rigs as described in claim 1, characterized in that, The drill bit sensing module includes several force sensors arranged around the drill bit to measure the drilling pressure values ​​at various parts of the drill bit's rock-breaking section in real time. By comparing the drilling pressure values ​​measured after the drill bit rotates one revolution, the maximum and minimum drilling pressure values ​​are selected, and the drill bit rock-breaking section positions corresponding to the maximum and minimum drilling pressure values ​​are determined based on the drilling force-time curve.

3. The intelligent jet correction control system for deep hole drilling rigs as described in claim 1, characterized in that, In the angle adjustment module, the process of adjusting the deflection angle of the water jet nozzle in the water jet system is as follows: When it is determined that there is no tendency for the drill bit to deflect, the water jet is ejected along the center of the drill bit to assist the drill bit in drilling quickly; When it is determined that the drill bit tends to deflect towards the side with weaker rock strength, the water jet injection angle is adjusted to the position corresponding to the maximum drilling pressure measured on the drill bit cross-section, and water jet cutting is performed to weaken the rock strength at that position.

4. The intelligent jet correction control system for deep hole drilling rigs as described in claim 1, characterized in that, In the drill bit sensing module, the process of matching the drilling force and the position of the drill bit rock-breaking section at different times using the drilling force-time curve is as follows: The initial drilling position of the drill bit is marked by arranging an absolute encoder on the drill pipe; During the real-time drilling process, the position of the rock-breaking section of the drill bit corresponding to the drilling pressure is obtained in real time.

5. A jet intelligent deviation correction control method for deep hole drilling rigs, characterized in that, include: The reaction forces at various parts of the rock-breaking section of the drill bit are acquired in real time to obtain the drilling force-time curve, and then the correspondence between drilling force and the position of the rock-breaking section of the drill bit at different times is matched. Based on the drilling force-time curve, the maximum and minimum drilling force during one revolution of the drill bit are obtained. The drilling deflection factor is calculated, and the presence of a deflection trend in the drill bit is determined by comparing the drilling deflection factor with the deflection threshold. The process is as follows: The difference between the maximum and minimum drilling pressure is taken as the deflection factor; The drill bit deflection factor is compared with a preset deflection threshold. If the former is less than or equal to the latter, it is determined that the drill bit does not have a deflection trend. If the former is greater than the latter, it is judged that the drill bit has a tendency to deflect towards the side with weaker rock strength; Based on the results of the drill bit deflection trend judgment, the exit angle of the water jet is adjusted until the drill bit has no deflection trend, and finally long-distance straight drilling along the predetermined direction is achieved.

6. The intelligent jet correction control method for deep hole drilling rigs as described in claim 5, characterized in that, The process of adjusting the deflection angle of the water jet nozzle in a water jet system is as follows: When it is determined that there is no tendency for the drill bit to deflect, the water jet is ejected along the center of the drill bit to assist the drill bit in drilling quickly; When it is determined that the drill bit tends to deflect towards the side with weaker rock strength, the water jet injection angle is adjusted to the position corresponding to the maximum drilling pressure measured on the drill bit cross-section, and water jet cutting is performed to weaken the rock strength at that position.

7. The intelligent jet correction control method for deep hole drilling rigs as described in claim 5, characterized in that, The process of matching drilling force and drill bit rock-breaking section position at different times using drilling force-time curves is as follows: The initial drilling position of the drill bit is marked by arranging an absolute encoder on the drill pipe; During the real-time drilling process, the position of the rock-breaking section of the drill bit corresponding to the drilling pressure is obtained in real time.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps in the jet intelligent correction control method for deep hole drilling rigs as described in any one of claims 5-7.

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