A method for intelligent positioning and cutting of a sleeve based on trajectory measurement

Abstract

The application discloses a casing intelligent positioning and cutting method based on trajectory measurement, measures a ground horizontal long borehole opening position, obtains an initial position Z i (x0, y0, z0) of the horizontal long borehole, installs a borehole trajectory measuring instrument on a drilling machine, records trajectory information of each horizontal long borehole during horizontal long borehole construction, draws a trajectory L i (x, y, z) of each horizontal long borehole according to the initial position Z i (x0, y0, z0) of the horizontal long borehole and the trajectory information obtained in step two, installs a positioning node device on a hydraulic support behind an underground coal mining machine, only needs to put the trajectory data of the underground hydraulic support and the trajectory data of the ground borehole into a unified coordinate system for management and calculation, and can realize accurate positioning of a slurry outlet, adopts multiple hydraulic support position information to calculate and design a plane, improves the accuracy of slurry outlet position calculation, avoids systematic errors caused by individual hydraulic support position information errors, and solves the technical problem that the existing casing positioning and cutting method cannot accurately position the slurry outlet and cannot be applied to different working conditions.

Description

Technical Field

[0001] This invention belongs to the field of coal mine technology development and relates to an intelligent positioning and cutting system, specifically a casing intelligent positioning and cutting method based on trajectory measurement. Background Technology

[0002] The on-demand filling ecological mining method based on horizontal long boreholes with casing in the coal seam roof can achieve high-efficiency and low-cost real-time filling of coal mine goafs, minimizing the possibility of severe ecological damage caused by high-intensity mining. It is a new type of ecological mining technology. This mining method requires real-time monitoring of the casing position in the goaf and ensuring that the slurry outlet of the casing is always exposed in the goaf. For weak immediate roof strata, the casing can collapse in time as the mining face advances, and the casing remains exposed in the goaf. However, for hard immediate roof strata such as fine sandstone and medium sandstone, which are not easy to collapse, the casing needs to be positioned first, and then exposed by means of air guns, hydraulic cutting, etc., to ensure the smooth progress of the filling work.

[0003] To achieve intelligent positioning and cutting, existing technologies often require the addition of new sensors to determine and calculate the casing exposure status and the designed location of the slurry outlet. This increases both the hardware cost and the software complexity of the system, thereby raising the cost and difficulty of system construction and maintenance.

[0004] Currently, there is no casing positioning and cutting system or method based on trajectory measurement that does not require additional hardware equipment and is applicable to both weak direct roof strata and hard, non-collapsible direct roof strata, thus ensuring the smooth progress of ecological mining projects that can be carried out as mining progresses and replenished simultaneously. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to provide a casing intelligent positioning and cutting method based on trajectory measurement, thereby solving the technical problem that existing casing positioning and cutting methods cannot accurately locate the slurry outlet and are therefore unsuitable for different working conditions.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] A method for intelligent positioning and cutting of sleeves based on trajectory measurement includes the following steps:

[0008] Step 1: Measure the opening position of the horizontal long borehole on the ground to obtain the initial position Z of the horizontal long borehole. i (x0,y0,z0);

[0009] Step 2: Install a borehole trajectory measuring instrument on the drilling rig and record the trajectory information of each horizontal long borehole during the construction process.

[0010] The trajectory information includes tilt angle, azimuth angle, and tool facing angle;

[0011] Step 3, based on the initial position Z of the horizontal long borehole i Using (x0, y0, z0) and the trajectory information obtained in step two, draw the trajectory L of each horizontal long borehole. i (x,y,z);

[0012] Where i≤n, i is the serial number of the horizontal long borehole, and n is the total number of horizontal long boreholes;

[0013] Step 4: Install a positioning node device on the hydraulic support behind the underground coal mining machine. As the underground coal mining machine operates in real time, the positioning node device measures the actual three-dimensional position information of the hydraulic support in real time and transmits it to the ground control center in real time.

[0014] The actual three-dimensional position information includes the movement speed V. mt and real-time location D m (x,y,z,t);

[0015] Where m≤M, m is the serial number of the hydraulic support in the longwall face, and M is the total number of hydraulic supports in the longwall face;

[0016] Step 5: The ground control center checks the image information measured by the monitoring system behind the hydraulic support at the corresponding location based on the actual three-dimensional position information of the hydraulic support to determine whether the casing is exposed in the image.

[0017] If the casing is exposed, the cutting position of the casing is calculated using the displacement of the hydraulic support, the cutting device configured on the hydraulic support is activated, and the casing is cut according to the calculated cutting position.

[0018] If the casing is not exposed, the ground control center will set the trajectory L of the horizontal long borehole. i (x,y,z) and the hydraulic support position D m (x,y,z,t) are unified into the same coordinate system, and the position of the slurry outlet is calculated;

[0019] Step six: In the horizontal directional long borehole, a cutting operation is performed at each grout outlet position calculated in step five to cut the direct roof rock layer into the goaf.

[0020] This invention also includes the following technical features:

[0021] The actual three-dimensional position information of the hydraulic support is transmitted to the ground control center in real time via wireless or wired means.

[0022] The positioning node device includes a three-axis laser gyroscope and a three-axis accelerometer assembly.

[0023] Step five, specifically calculating the location of the slurry outlet, includes the following steps:

[0024] Step Q1: Record the positions of the m hydraulic supports at time t1: D1(x1,y1,z1,t1), D2(x2,y2,z2,t1), ..., D m (xm,ym,zm,t1), plane S1 is obtained by fitting a least squares model;

[0025] Step Q2, similarly, yields a plane S2 with coordinates of m points at time t2;

[0026] Step Q3: Determine whether plane S1 and plane S2 are parallel. If so, design plane S, which is parallel to both plane S1 and plane S2 and is equidistant from both plane S1 and plane S2. If not, take the angle bisector of plane S1 and plane S2 as plane S.

[0027] Step Q4: Determine the trajectory L of plane S and the horizontal long borehole. i The intersection point T of (x,y,z) i1 , will T i1 As the location of the slurry outlet of the horizontal long borehole i at time t2;

[0028] Step Q5, and so on, can be used to obtain the slurry outlet position of the horizontal long borehole i at times t3, t4, t5, ... until the project is completed.

[0029] The cutting operation is performed at each slurry outlet position calculated in step five using either an air cannon or hydraulic cutting method.

[0030] Compared with the prior art, the beneficial technical effects of this invention are:

[0031] (I) This invention only requires putting the downhole hydraulic support trajectory data and the surface borehole trajectory data into a unified coordinate system for management and calculation, which can achieve precise positioning of the slurry outlet; by using multiple hydraulic support position information calculation design planes, the accuracy of slurry outlet position calculation is effectively improved, avoiding system errors caused by individual hydraulic support position information errors, and solving the technical problem that the existing casing positioning and cutting method cannot accurately locate the slurry outlet and is not applicable to different working conditions.

[0032] (II) Since the mining and filling technology requires the formation of a long horizontal borehole 2 meters above the top plate of the working face to be mined after the ground is drilled, the drilling rig itself must be equipped with a borehole trajectory measuring instrument to complete the long borehole construction; and the monitoring system behind the hydraulic support and the transmission module of the actual three-dimensional position information of the hydraulic support are also standard configurations for mining and filling construction; in addition, there is no need to add new sensors to judge and calculate the casing exposure status and the design position of the slurry outlet, so as to achieve intelligent positioning and cutting. In this way, on the one hand, it avoids increasing the hardware cost of the system, and on the other hand, it avoids increasing the complexity of the system software, reducing the cost and difficulty of system construction and maintenance. Attached Figure Description

[0033] Figure 1 This is a flowchart of the judgment process for step five of the present invention;

[0034] Figure 2 This is a schematic diagram of a long borehole in the well.

[0035] The specific content of the present invention will be further explained in detail below with reference to the embodiments. Detailed Implementation

[0036] It should be noted that, unless otherwise specified, all components in this invention are those known in the art.

[0037] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments. All equivalent modifications made based on the technical solutions of this application fall within the protection scope of the present invention.

[0038] This invention provides a method for intelligent positioning and cutting of sleeves based on trajectory measurement, which specifically includes the following steps:

[0039] Step 1: Measure the opening position of the horizontal long borehole on the ground to obtain the initial position Z of the horizontal long borehole. i (x0,y0,z0);

[0040] Step 2: Install a borehole trajectory measuring instrument on the drilling rig and record the trajectory information of each horizontal long borehole during the construction process.

[0041] The trajectory information includes tilt angle, azimuth angle, and tool facing angle;

[0042] Step 3, based on the initial position Z of the horizontal long borehole i Using (x0, y0, z0) and the trajectory information obtained in step two, draw the trajectory L of each horizontal long borehole. i (x,y,z);

[0043] Where i≤n, i is the serial number of the horizontal long borehole, and n is the total number of horizontal long boreholes;

[0044] Step 4: Install a positioning node device on the hydraulic support behind the underground coal mining machine. As the underground coal mining machine operates in real time, the positioning node device measures the actual three-dimensional position information of the hydraulic support in real time and transmits it to the ground control center in real time.

[0045] Actual three-dimensional position information includes movement speed V mt and real-time location D m (x,y,z,t);

[0046] Where m≤M, m is the serial number of the hydraulic support in the longwall face, and M is the total number of hydraulic supports in the longwall face;

[0047] Step 5: The ground control center checks the image information measured by the monitoring system behind the hydraulic support at the corresponding location based on the actual three-dimensional position information of the hydraulic support to determine whether the casing is exposed in the image.

[0048] If the casing is exposed, the cutting position of the casing is calculated using the displacement of the hydraulic support, the cutting device configured on the hydraulic support is activated, and the casing is cut according to the calculated cutting position.

[0049] If the casing is not exposed, the ground control center will set the trajectory L of the horizontal long borehole. i (x,y,z) and the hydraulic support position D m (x,y,z,t) are unified into the same coordinate system, and the position of the slurry outlet is calculated;

[0050] Step six: In the horizontal directional long borehole, a cutting operation is performed at each grout outlet position calculated in step five to cut the direct roof rock layer into the goaf.

[0051] In the above technical solutions, the complexity of casing positioning and cutting varies greatly depending on the roof strata conditions. When the roof strata can collapse in time to ensure casing exposure, positioning and cutting can be completed underground using sensors and cutting devices configured on hydraulic supports. However, when encountering hard coal seams where the casing cannot be exposed, comprehensive calculations using data from multiple sensors in the borehole and hydraulic supports are required, and the cutting device must enter from a long borehole on the surface to reach the predetermined position before completing the cutting. Since the mining-as-you-go technology requires forming a long horizontal borehole 2 meters above the roof of the working face to be mined after drilling on the surface, the drilling rig itself is equipped with a borehole trajectory measuring instrument to complete the long borehole construction; and the monitoring system behind the hydraulic support is also a standard configuration for mining-as-you-go construction; therefore, the casing positioning system based on trajectory measurement only requires adding a positioning node device to the hydraulic support to complete the entire hardware system setup. Thus, this invention has the characteristic of being easy to implement.

[0052] The above solution only requires managing and calculating the downhole hydraulic support trajectory data and the surface borehole trajectory data in a unified coordinate system to achieve precise positioning of the slurry outlet. By using multiple hydraulic support position information to calculate the design plane, the accuracy of the slurry outlet position calculation is effectively improved, avoiding system errors caused by errors in the position information of individual hydraulic supports. This solves the technical problem that the existing casing positioning and cutting method cannot accurately locate the slurry outlet and is therefore not applicable to different working conditions.

[0053] Furthermore, there is no need to add new sensors to judge and calculate the casing exposure status and slurry outlet design position, thereby achieving intelligent positioning and cutting. This avoids increasing the hardware cost of the system and the complexity of the system software, reducing the cost and difficulty of system construction and maintenance.

[0054] Specifically, the actual three-dimensional position information of the hydraulic support is transmitted to the ground control center in real time via wireless or wired means.

[0055] Specifically, the positioning node device includes a three-axis laser gyroscope and a three-axis accelerometer assembly.

[0056] In the above, the three-axis laser gyroscope and the three-axis accelerometer assembly measure the three angular velocities and three linear acceleration components of the hydraulic support relative to the inertial coordinate system, respectively. After coordinate transformation, the acceleration information of the positioning device along the navigation coordinate system can be obtained, and the speed, attitude and heading of the positioning device can be calculated.

[0057] Specifically, step five, calculating the location of the slurry outlet, includes the following steps:

[0058] Step Q1: Record the positions of the m hydraulic supports at time t1: D1(x1,y1,z1,t1), D2(x2,y2,z2,t1), ..., D m (xm,ym,zm,t1), plane S1 is obtained by fitting a least squares model;

[0059] Step Q2, similarly, yields a plane S2 with coordinates of m points at time t2;

[0060] Step Q3: Determine whether plane S1 and plane S2 are parallel. If so, design plane S, which is parallel to both plane S1 and plane S2 and is equidistant from both plane S1 and plane S2. If not, take the angle bisector of plane S1 and plane S2 as plane S.

[0061] Step Q4: Determine the trajectory L of plane S and the horizontal long borehole. i The intersection point T of (x,y,z) i1 , will T i1 As the location of the slurry outlet of the horizontal long borehole i at time t2;

[0062] Step Q5, and so on, can be used to obtain the slurry outlet position of the horizontal long borehole i at times t3, t4, t5, ... until the project is completed.

[0063] Specifically, an air cannon or hydraulic cutting method is used to perform a cutting operation at each slurry outlet position calculated in step five.

Claims

1. A method for intelligent positioning and cutting of sleeves based on trajectory measurement, characterized in that, Specifically, it includes the following steps: Step 1: Measure the location of the horizontal long borehole on the ground to obtain the initial position of the horizontal long borehole. ; Step 2: Install a borehole trajectory measuring instrument on the drilling rig and record the trajectory information of each horizontal long borehole during the construction process. The trajectory information includes tilt angle, azimuth angle, and tool facing angle; Step 3: Based on the initial position of the horizontal long borehole Using the trajectory information obtained in step two, draw the trajectory of each horizontal long borehole. ; in, , This refers to the serial number of the horizontal long borehole. This represents the total number of horizontal long boreholes. Step 4: Install a positioning node device on the hydraulic support behind the underground coal mining machine. As the underground coal mining machine operates in real time, the positioning node device measures the actual three-dimensional position information of the hydraulic support in real time. And transmit it to the ground control center in real time; The actual three-dimensional position information includes movement speed. and real-time location ; in , This refers to the serial number of the hydraulic support for the longwall mining face. This represents the total number of hydraulic supports at the longwall face. Step 5: The ground control center checks the image information measured by the monitoring system behind the hydraulic support at the corresponding location based on the actual three-dimensional position information of the hydraulic support to determine whether the casing is exposed in the image. If the casing is exposed, the cutting position of the casing is calculated using the displacement of the hydraulic support, the cutting device configured on the hydraulic support is activated, and the casing is cut according to the calculated cutting position. If the casing is not exposed, the ground control center will track the horizontal long borehole. and the position of hydraulic support Unify to the same coordinate system and calculate the position of the slurry outlet; The specific method for calculating the location of the slurry outlet is as follows: Step Q1: Record the positions of the m hydraulic supports at time t1. , … The plane is obtained by fitting a least squares model. ; Step Q2, similarly, yields a plane containing the coordinates of m points at time t2. ; Step Q3, determine the plane and plane Are they parallel? If so, design plane S, which is parallel to plane... and plane All parallel and to the plane and plane If the distances are equal, then take the plane. and plane The angle bisector is taken as plane S; Step Q4: Determine the trajectory of plane S and the horizontal long borehole. intersection ,Will As the horizontal long borehole at time t2 The location of the slurry outlet; Step Q5, and so on, can be used to obtain the horizontal long boreholes at times t3, t4, t5, ... The location of the slurry outlet, until the project is completed; Step six: In the horizontal directional long borehole, a cutting operation is performed at each grout outlet position calculated in step five to cut the direct roof rock layer into the goaf.

2. The intelligent positioning and cutting method for sleeves based on trajectory measurement as described in claim 1, characterized in that, The actual three-dimensional position information of the hydraulic support is transmitted to the ground control center in real time via wireless or wired means.

3. The intelligent positioning and cutting method for sleeves based on trajectory measurement as described in claim 1, characterized in that, The positioning node device includes a three-axis laser gyroscope and a three-axis accelerometer assembly.

4. The intelligent positioning and cutting method for sleeves based on trajectory measurement as described in claim 1, characterized in that, The cutting operation is performed at each slurry outlet position calculated in step five using either an air cannon or hydraulic cutting method.

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