Coal mine gas drilling trajectory prediction method and system driven by measurement-while-drilling data

Abstract

The application discloses a coal mine gas drilling trajectory prediction method and system driven by measurement-while-drilling data, and the method comprises the following steps: S1, a coal mine gas drilling trajectory prediction model is constructed and trained; S2, the trained coal mine gas drilling trajectory prediction model is deployed on a drilling orifice explosion-proof computer; S3, data of a drilling engineering parameter measuring instrument, a drilling ultrasonic caliper measuring instrument and a drilling acoustic logging instrument are inputted, and the coal mine gas drilling trajectory prediction model is trained again in combination with a drilling data calculation model; and S4, after the data of the drilling engineering parameter measuring instrument, the drilling ultrasonic caliper measuring instrument and the drilling acoustic logging instrument are processed, the processed data are taken as input parameters of the coal mine gas drilling trajectory prediction model, and the trajectory of the current drilling is predicted. The application can provide theoretical and technical support for improving drilling trajectory control precision.

Description

Technical Field

[0001] This invention relates to the field of coal mine gas drilling technology, and in particular to a method and system for predicting coal mine gas borehole trajectory driven by measurement-while-drilling data. Background Technology

[0002] my country is rich in coal resources, with approximately 5.57 trillion tons of coal buried at depths shallower than 2000 meters, accounting for about 95% of the country's total fossil energy. The resource endowment of "abundant coal, scarce oil, and limited gas" determines coal's crucial position in my country's energy consumption structure. Directional drilling technology in coal mines is an effective technique for efficient extraction of coalbed methane, advanced roof drainage, and grouting reinforcement of the floor's aquitard. It plays a significant role in coal mine gas extraction, water hazard prevention, and detection of hidden geological factors that cause disasters, and is of great importance for ensuring safe coal mine production, increasing the supply of clean energy, and reducing greenhouse gas emissions.

[0003] The actual trajectory of directional drilling serves as the baseline spatial data for gas extraction and geological anomaly detection, holding an extremely important position in coal mining. However, my country's coal resources are distributed in diverse ways, with complex and variable geological conditions. Coalfields are characterized by well-developed folds and faults, and the coal seams and roof and floor strata exhibit strong heterogeneity (for example, the compressive strength of the roof and floor strata varies from 9.3 to 108.1 MPa in Fengyang Coal Mine), significant thickness variations (for example, the coal seam thickness ranges from 1.26 to 7.41 m in Xinwei Coal Mine), and dramatic dip angle changes (for example, the dip angle of the coal seam ranges from 25° to 80° in Nantong Mining Area). This results in complex directional drilling trajectories, frequent trajectory adjustments, and excessive friction between the drill bit and borehole walls, making it extremely difficult to adjust the tool face angle of the bottom drill bit assembly. Summary of the Invention

[0004] The purpose of this invention is to overcome the current problem of borehole trajectory control in coal mine gas drainage. It proposes a method and system for predicting coal mine gas borehole trajectory driven by measurement-while-drilling data, providing theoretical and technical support for improving the accuracy of borehole trajectory control.

[0005] This invention is achieved using the following technical solution: a method for predicting coal mine gas borehole trajectories driven by measurement-while-drilling data, comprising the following steps:

[0006] S1: Construct a coal mine gas borehole trajectory prediction model and train it;

[0007] S2: Deploy the trained coal mine gas borehole trajectory prediction model on the explosion-proof computer at the borehole opening;

[0008] S3: Input the data from the drilling engineering parameter measuring instrument, the drilling ultrasonic caliper measuring instrument, and the drilling acoustic logging instrument, and combine the data from the drilling data calculation model to retrain the coal mine gas borehole trajectory prediction model;

[0009] S4: After processing the data from the drilling engineering parameter measuring instrument, the drilling ultrasonic caliper measuring instrument, and the drilling acoustic logging instrument, use them as input parameters for the coal mine gas borehole trajectory prediction model to predict the trajectory of the current borehole.

[0010] Furthermore, step S1 includes the following sub-steps:

[0011] S11: Construct a coal mine gas borehole trajectory prediction model driven by drilling measurement data. This model is an LSTM model with an encoder-decoder architecture.

[0012] S12: Monte Carlo random deactivation is used to simulate the uncertainty of the model;

[0013] S13: The LSTM model is trained and validated by using the drill bit lateral force and rotation angle of the drilled borehole, the formation anisotropy index and borehole angle parameters, and the drill string annular space clearance parameters of the drilled borehole as input samples and the dip angle and azimuth of the borehole measurement points as output results.

[0014] Furthermore, step S2 includes the following sub-steps:

[0015] S21: Deploy the trained coal mine gas borehole trajectory prediction model driven by drilling measurement data on the borehole opening coal mine explosion-proof computer.

[0016] S22: Communication is achieved through the communication module at the orifice and the coal mine directional drilling cable drill pipe in the borehole with the drilling engineering parameter measuring instrument, the drilling ultrasonic caliper measuring instrument, and the drilling acoustic logging instrument.

[0017] Furthermore, step S3 includes the following sub-steps:

[0018] S31: Input the data measured by the drilling parameter measuring instrument, and calculate the spatial trajectory and build-up rate between borehole measuring points; drill bit rotation angle, lateral force and tool face angle; and average and variance of acceleration.

[0019] S32: Input the data measured by the ultrasonic caliper while drilling and calculate the width of the annular space between the drill string and the borehole wall;

[0020] S33: Input the data measured by the logging-while-drilling sonic logging tool, and calculate the formation drillability anisotropy index and its angle with the borehole;

[0021] S34: Input the drill bit's rotation angle, lateral force, tool face angle, average and variance of acceleration, the width of the gap between the drill bit and the borehole wall, and the anisotropy index of the formation's drillability and its angle with the borehole as variables into the coal mine gas borehole trajectory prediction model. Based on the calculated spatial trajectory between borehole measuring points and the build-up rate, retrain the coal mine gas borehole trajectory prediction model.

[0022] Furthermore, step S31 includes the following sub-steps:

[0023] S311: Input the borehole inclination and azimuth measurement data measured by the drilling engineering parameter measuring instrument, and use the spatial curvature method, cylindrical spiral method and spline curve method to calculate the spatial trajectory and build-up rate between borehole measuring points;

[0024] S312: Input the axial force, torque, orthogonal bending moment, and tool face angle data measured by the drilling engineering parameter measuring instrument. Use the generalized longitudinal and transverse bending beam model of the drilling tool below the drilling engineering parameter measuring instrument or the three-dimensional finite element model of the drilling tool below the drilling engineering parameter measuring instrument to calculate the drill bit rotation angle, lateral force, and tool face angle.

[0025] S313: Input the acceleration data measured by the Drilling Engineering Parameter Measurement Instrument, and calculate the average value and variance of the triaxial acceleration sensor data of the Drilling Engineering Parameter Measurement Instrument.

[0026] Furthermore, step S32 specifically involves: calculating the flight time of the ultrasonic in the annular space based on the ultrasonic data generated and received by the ultrasonic caliper while drilling; and calculating the gap width between the drill string and the borehole wall at different azimuth angles based on the annular space inversion model for directional boreholes in coal mines.

[0027] Furthermore, step S4 specifically involves using data from the drilling engineering parameter measuring instrument, the drilling ultrasonic caliper measuring instrument, and the drilling acoustic logging tool, or the given design engineering parameters, as input parameters for predicting the coal mine gas borehole trajectory, and repeating step S3 to predict the dip angle and azimuth of the current borehole.

[0028] The coal mine gas borehole trajectory prediction system driven by drilling measurement data includes a drilling measurement instrument in the borehole, a borehole transmission drill pipe, and a borehole calculation system. The drilling measurement instrument in the borehole includes a drilling engineering parameter measuring instrument (004), a drilling ultrasonic caliper measuring instrument (005), and a drilling sonic logging tool (006). The borehole transmission drill pipe is a multi-connected coal mine directional drilling overview drill pipe (007). The borehole calculation system consists of a coal mine underground explosion-proof computer (008) and a communication module (009). The measurement data from the drilling engineering parameter measuring instrument (004), the drilling ultrasonic caliper measuring instrument (005), and the drilling sonic logging tool (006) are transmitted to the coal mine underground explosion-proof computer (008) through the coal mine directional drilling cable drill pipe (007) to complete the processing of the drilling measurement data and the borehole trajectory prediction calculation.

[0029] A computer program product includes a computer program that, when executed by a processor, implements the aforementioned method for predicting coal mine gas borehole trajectories driven by measurement-while-drilling data.

[0030] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for predicting coal mine gas borehole trajectories driven by measurement-while-drilling data.

[0031] The beneficial effects of this invention are as follows: By installing a drilling-while-drilling measurement instrument in a coal mine gas sampling borehole, the invention transmits real-time data during drilling to an explosion-proof computer at the borehole opening, predicting the borehole dip angle, azimuth, and build-up rate of the current strata and construction parameters, thus providing certain theoretical and technical references for high-precision control of gas sampling boreholes. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art 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 the structures shown in these drawings without creative effort.

[0033] Figure 1 This is a flowchart of the present invention;

[0034] Figure 2 Process for constructing a prediction model for coal mine gas borehole trajectories;

[0035] Figure 3 A flowchart for calculating the drill bit's rotation angle and lateral force;

[0036] Figure 4 Flowchart for predicting the trajectory of coal mine gas boreholes;

[0037] Figure 5 This is a schematic diagram of the system structure of the present invention;

[0038] In the diagram: 004-Drilling Engineering Parameter Measurement Instrument, 005-Drilling Ultrasonic Diameter Measurement Instrument, 006-Drilling Acoustic Logging Tool, 007-Coal Mine Directional Drilling Overview Drill Pipe, 008-Coal Mine Underground Explosion-proof Computer, 009-Communication Module. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0040] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0041] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0042] Example 1

[0043] See Figures 1 to 4 The method for predicting coal mine gas borehole trajectories driven by measurement-while-drilling data includes the following steps:

[0044] Step 1: Build a coal mine gas borehole trajectory prediction model driven by drilling measurement data. This model is an LSTM model with an encoder-decoder architecture. Then, given the probability, Monte Carlo random dropout (MC-dropout) is used to simulate the uncertainty of the model. Finally, the LSTM model is trained and validated using the drill bit lateral force and rotation angle, formation anisotropy index and borehole angle parameters, and drill string annular space clearance parameters of other boreholes measured during drilling as input samples, and the dip angle and azimuth of the borehole measurement points as output results.

[0045] Step two involves deploying the trained coal mine gas borehole trajectory prediction model, driven by the measurement-while-drilling data, onto a coal mine explosion-proof computer near the borehole opening. Then, the model communicates with the engineering parameter measuring instrument, ultrasonic caliper measuring instrument, and acoustic logging instrument via the communication module at the borehole opening and the coal mine directional drilling cable drill rod in the borehole.

[0046] Step 3: Input the borehole inclination and azimuth measurement data obtained from the drilling engineering parameter measuring instrument. Based on calculation module 1, use the spatial curvature method, cylindrical spiral method, and spline curve method to calculate the spatial trajectory, tool face angle, and total angle change rate between borehole measuring points.

[0047] Step four involves inputting the drill string assembly parameters and the axial force, torque, orthogonal bending moment, and tool face angle data measured by the drilling engineering parameter measuring instrument. Based on calculation module 2, the drill bit rotation angle and lateral force are calculated using either the generalized longitudinal and transverse bending beam model of the drill string below the drilling engineering parameter measuring instrument or the three-dimensional finite element model of the drill string below the drilling engineering parameter measuring instrument. Specifically, in step four, firstly, assuming the borehole is a straight line and a spatial circular arc, the bending moment values ​​in the principal normal direction and secondary normal direction of the borehole are calculated based on the measured gravity tool face angle and the angle between the tool face and the orthogonal bending moment direction of the drilling engineering parameter measuring instrument.

[0048] M mn =M x cosθ xn +M y cosθyn ;

[0049] M mb =M x cosθ xb +M y cosθ yb In the formula: M mn The bending moment is projected onto the principal normal direction of the borehole using a drilling parameter measurement instrument; M mb The bending moment is projected onto the normal direction of the borehole joint using a drilling parameter measurement instrument; M x The bending moment along the X-axis of the drilling parameter measuring instrument is determined based on the orientation of the measuring system installation; M y The bending moment along the Y-axis of the drilling parameter measuring instrument is determined based on the orientation of the measuring system installation; θ xn θ is the angle between the X-axis of the drilling parameter measuring instrument and the principal normal direction of the borehole; yn θ is the angle between the Y-axis of the drilling parameter measuring instrument and the principal normal direction of the borehole; xb θ is the angle between the X-axis of the drilling parameter measuring instrument and the direction of the borehole joint normal; yb The angle between the Y-axis of the drilling parameter measuring instrument and the direction of the borehole sub-normal.

[0050] The average value of the orthogonal bending moment data of the drill string measured by the Drilling Engineering Parameter Measurement Instrument is used as the boundary condition. Substituting this value into the generalized longitudinal and transverse bending beam model of the drill string under the Drilling Engineering Parameter Measurement Instrument, the boundary conditions of the Drilling Engineering Parameter Measurement Instrument are as follows:

[0051] M n =M mn ;

[0052] M b =M mb ;

[0053] θ n =0;

[0054] θ b =0;

[0055]

[0056] Where: M n M is the bending moment in the principal normal plane of the borehole trajectory; b θ is the bending moment in the normal plane of the borehole trajectory pair; n θ is the angle of rotation in the principal normal plane of the borehole trajectory; n Δ is the rotation angle of the normal plane of the borehole trajectory pair; n The deflection of the drilling parameter measuring instrument in the principal normal plane of the borehole; Δ b This refers to the deflection of the drilling parameter measuring instrument in the normal plane of the borehole pair.

[0057] Based on the generalized longitudinal and transverse bending beam model of the drilling tool using the drilling engineering parameter measurement instrument in Module 2, the rotation angle and lateral force of the drill bit are calculated. Specifically, in step four, firstly, assuming the borehole is a straight line, a spatial circular arc, a cylindrical helix, or a three-dimensional spline curve, based on the three-dimensional finite element model of the drilling tool using the drilling engineering parameter measurement instrument, the drilling tool is simplified into a spatial straight beam element. The beam element nodes have 6 degrees of freedom in the borehole moving coordinate system.

[0058] x = [u t ,v n ,w b ,θ t ,θ n ,θ b ] T In the formula: x represents the nodal displacement of the drill bit finite element model; u t v represents the displacement of the node along the borehole tangent. n w represents the displacement of the node along the principal normal direction of the borehole. b θ represents the displacement of the node in the direction of the borehole joint normal; t θ is the angle of rotation of the node around the tangent of the borehole. n θ is the rotation angle of the node about the principal normal direction of the borehole. b The angle of rotation of the borehole around the secondary normal direction of the borehole.

[0059] A three-dimensional finite element model of the drilling tool below the drilling parameters measurement instrument was established, and the equilibrium equations were calculated as follows:

[0060] [K]x = [F]; where: [K] is the stiffness matrix of the drill bit; [F] is the external load of the nodes of the finite element model of the drill bit.

[0061] The contact between the three-dimensional finite element model of the drilling tool and the borehole wall in the drilling parameter measurement instrument is calculated using the virtual spring method. The formula for calculating the contact force between the contact point and the borehole wall is as follows:

[0062] F c =kΔ,Δ>Δ c ;

[0063] F c =0,Δ≤Δ c ;

[0064] In the formula: k is the stiffness of the virtual spring on the borehole wall, which is a large number; Δ is the distance between the node of the three-dimensional finite element model of the drilling tool below the drilling engineering parameter measuring instrument and the borehole wall; F c The normal contact force between the nodes of the drilling tool and the borehole wall in the three-dimensional finite element model below the drilling parameters measurement instrument; Δ c This refers to the width of the annular space between the drill bit and the borehole wall.

[0065] The initial configuration of the spatial beam element in the three-dimensional finite element model of the drill string is a straight line, with the only boundary condition being the borehole wall constraint. Using the Newton-Raphson method and the virtual spring method, the configuration of the drill string is constrained within the borehole space. The deformation and stress of the initial configuration are calculated, iterating until the L2 norm of the contact force is less than the set residual. Based on the applied drilling pressure and torque from the drilling engineering parameter measuring instrument and the drill bit boundary conditions, the lateral force and rotation angle of the drill bit are calculated, iterating until the L2 norm of the contact force is less than the set residual.

[0066] Step 5: Based on the spontaneously transmitted and received ultrasonic data from the ultrasonic caliper while drilling, the flight time of the ultrasound in the annular space is calculated using calculation module 3. Based on the annular space inversion model for directional holes in coal mines, the gap width between the drill string and the borehole wall at different azimuth angles is calculated. Specifically, one or two or more spontaneously transmitted and received ultrasonic probes are installed circumferentially to the ultrasonic caliper while drilling to collect the flight time of the ultrasonic excitation and reception echoes from the borehole wall. Based on the propagation velocity and flight time of the ultrasound in the annular space, the distance between the spontaneously transmitted and received probes on the outer shell of the ultrasonic caliper and the borehole wall is calculated. Based on the gravity tool face angle, the instrument outer diameter, and the installation position of the ultrasonic probes, the equivalent diameter of the borehole is calculated using the following formula:

[0067] R 2 =(L1+r) 2 +(E+r) 2 +2(L1+r)(E+r)cosθ1;

[0068] R 2 =(L2+r) 2 +(E+r) 2 +2(L2+r)(E+r)cosθ2 ...

[0070] R 2 =(L n +r) 2 +(E+r) 2 +2(L n +r)(E+r)cosθ n ;

[0071] in:

[0072] E = R - (r + r′);

[0073] In the formula: n is the number of self-propelled probes or the number of measurements; E is the eccentricity distance of the ultrasonic caliper while drilling; R is the equivalent diameter of the borehole; r is the radius from the center of the ultrasonic caliper while drilling to the probe's emitting surface; L iLet be the annular space clearance measured by the i-th time using the self-starting probe with the outer casing; r′ be the difference between the distance from the emission plane of the self-starting probe with the outer casing and the axis of the ultrasonic caliper while drilling, and the outer diameter of the ultrasonic caliper while drilling; θ be the angle between the emission path of the self-starting probe with the outer casing and the gravity tool face. The number of self-starting probes with the outer casing can be one, two, or more. If there is only one self-starting probe with the outer casing, the annular space clearance at different azimuths can be measured using a rotating drill string. Based on the above parameters, the equivalent diameter of the coal mine gas borehole is obtained by fitting using the least squares method. Based on the fitted equivalent diameter of the coal mine gas borehole, the drill string-hole wall clearance width at different azimuth angles is calculated.

[0074] Step 6: Calculate the average value and variance of the triaxial accelerometer data from the drilling engineering parameter measuring instrument using calculation module 5.

[0075] Step 7: Based on the measurement data from the logging-while-drilling sonic logging tool, the formation drillability anisotropy index and its angle with the borehole are inverted through the calculation module 4.

[0076] Step 8: Based on the measurement data from the borehole-while-drilling instrument and combined with the algorithms from Steps 4 to 7, calculate the drill bit lateral force and rotation angle, formation anisotropy index and borehole angle parameters, and drill string annular space clearance of the drilled borehole. Input these as variables into the LSTM model of the coal mine gas borehole trajectory prediction model driven by the measurement data from Step 1. Based on the measured data and combined with the algorithm from Step 3, calculate the dip azimuth, tool face angle, and build-up rate of the drilled borehole, and retrain the LSTM model of the coal mine gas borehole trajectory prediction model driven by the measurement data from Step 1.

[0077] Step nine: Using data from the current well section measurements obtained via the drilling engineering parameter measuring instrument, drilling ultrasonic caliper measuring instrument, and drilling sonic logging tool as input parameters, or given design engineering parameters, and combining the algorithms from steps four to seven, a coal mine gas borehole trajectory prediction model driven by the drilling measurement data is used to predict the dip angle and azimuth of the current borehole. Specifically, the time interval between adjacent measurements is selected, or a given time period is selected based on the magnitude of changes in engineering parameters. The drill bit lateral force and rotation angle, formation anisotropy index and borehole angle parameters, and drill string annular clearance of the drilled borehole are used as input data. The coal mine gas borehole trajectory prediction model driven by the drilling measurement data outputs the predicted dip angle, azimuth, and tool face data. The coal mine gas borehole trajectory prediction model evaluates the distance between the training set and the validation set through the learned embedding layer, estimates the inherent noise of the model using the validation set, and provides the reliability of the prediction results. This ensures that the learned embedding layer provides useful features for prediction and verifies the ability of the embedding layer to capture abnormal inputs. The coal mine gas borehole trajectory prediction model continuously optimizes and updates the parameters of the LSTM model based on drilled data, and trains and predicts the coal mine gas borehole trajectory in real time during drilling.

[0078] Step 10: During the construction of a single coal mine gas sampling borehole, repeat steps 3 to 9. During the construction of multiple coal mine gas sampling boreholes, repeat steps 1 to 9.

[0079] See Figure 5 The present invention also provides a coal mine gas borehole trajectory prediction system driven by drilling measurement data to achieve the above method. The system mainly includes a drilling measurement instrument, a drilling transmission drill pipe, and a borehole calculation system. The drilling measurement instrument includes a drilling engineering parameter measuring instrument 004, a drilling ultrasonic caliper measuring instrument 005, and a drilling acoustic logging instrument 006. The drilling transmission drill pipe is a multi-connected coal mine directional drilling overview drill pipe 007. The borehole calculation system consists of a coal mine underground explosion-proof computer 008 and a communication module 009. The measurement data from the drilling engineering parameter measuring instrument 004, the drilling ultrasonic caliper measuring instrument 005, and the drilling acoustic logging instrument 006 are transmitted to the coal mine underground explosion-proof computer 008 through the coal mine directional drilling cable drill pipe 007 to complete the processing of the drilling measurement data and the borehole trajectory prediction calculation. Furthermore, the ultrasonic caliper 005 is provided with a groove along the axial direction, and a set of single-transmitter, single-receiver ultrasonic probes or self-transmitting and self-receiving ultrasonic probes at a known distance are installed. The propagation speed of ultrasonic waves in the borehole annulus is measured by the time recorded by the excitation and receiving circuit of the ultrasonic caliper 005.

[0080] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method for predicting coal mine gas borehole trajectories driven by measurement-while-drilling data.

[0081] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-described method for predicting coal mine gas borehole trajectories driven by measurement-while-drilling data.

[0082] Based on the above embodiments, the present invention has at least the following technical effects: The present invention installs a drilling measurement instrument in the coal mine gas sampling borehole and transmits the real-time data of the drilling to the explosion-proof computer at the borehole opening to predict the current strata and construction parameters such as borehole dip angle, tool face angle and build-up rate, providing certain theoretical and technical references for high-precision control of gas sampling boreholes.

[0083] For the foregoing embodiments, in order to simplify the description, they are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to this application.

[0084] The above embodiments describe the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Modifications and variations made by those skilled in the art without departing from the spirit and scope of the invention should be within the protection scope of the appended claims.

Claims

1. A method for coal mine gas drilling trajectory prediction driven by measurement-while-drilling data, characterized in that, Includes the following steps: S1: Construct and train a coal mine gas borehole trajectory prediction model; step S1 includes the following sub-steps: S11: Construct a coal mine gas borehole trajectory prediction model driven by drilling measurement data. This model is an LSTM model with an encoder-decoder architecture. S12: Monte Carlo random deactivation is used to simulate the uncertainty of the model; S13: The LSTM model is trained and validated by using the drill bit lateral force and rotation angle, formation anisotropy index and borehole angle parameters, and drill string annular space clearance parameters of other boreholes as input samples and the dip angle and azimuth of borehole measurement points as output results. S2: Deploy the trained coal mine gas borehole trajectory prediction model on the explosion-proof computer at the borehole opening; S3: Input data from the drilling engineering parameter measuring instrument, the drilling ultrasonic caliper measuring instrument, and the drilling sonic logging instrument, and combine the drilling data to calculate the model, then retrain the coal mine gas borehole trajectory prediction model; Step S3 includes the following sub-steps: S31: Input the data measured by the drilling parameter measuring instrument, and calculate the spatial trajectory and build-up rate between borehole measuring points; drill bit rotation angle, lateral force and tool face angle; and average and variance of acceleration. S32: Input the data measured by the ultrasonic caliper while drilling and calculate the width of the gap between the drill string and the borehole wall; S33: Input the data measured by the logging-while-drilling sonic logging tool, and calculate the formation drillability anisotropy index and its angle with the borehole; S34: Input the drill bit's rotation angle, lateral force, tool face angle, average and variance of acceleration, the width of the gap between the drill bit and the borehole wall, and the anisotropy index of the formation's drillability and its angle with the borehole as variables into the coal mine gas borehole trajectory prediction model. Based on the calculated spatial trajectory between borehole measuring points and the build-up rate, retrain the coal mine gas borehole trajectory prediction model. S4: After processing the data from the drilling engineering parameter measuring instrument, the drilling ultrasonic caliper measuring instrument, and the drilling acoustic logging instrument, use them as input parameters for the coal mine gas borehole trajectory prediction model to predict the trajectory of the current borehole.

2. The measurement-while-drilling data-driven coal mine gas borehole trajectory prediction method of claim 1, wherein, Step S2 includes the following sub-steps: S21: Deploy the trained coal mine gas borehole trajectory prediction model driven by drilling measurement data on the borehole opening coal mine explosion-proof computer. S22: Communication is achieved through the communication module at the orifice and the coal mine directional drilling cable drill pipe in the borehole with the drilling engineering parameter measuring instrument, the drilling ultrasonic caliper measuring instrument, and the drilling acoustic logging instrument.

3. The MWD data driven coal mine gas borehole trajectory prediction method while drilling of claim 1, wherein, Step S31 includes the following sub-steps: S311: Input the borehole inclination and azimuth measurement data measured by the drilling engineering parameter measuring instrument, and use the spatial curvature method, cylindrical spiral method and spline curve method to calculate the spatial trajectory and build-up rate between borehole measuring points; S312: Input the axial force, torque, orthogonal bending moment, and tool face angle data measured by the drilling engineering parameter measuring instrument. Use the generalized longitudinal and transverse bending beam model of the drilling tool below the drilling engineering parameter measuring instrument or the three-dimensional finite element model of the drilling tool below the drilling engineering parameter measuring instrument to calculate the drill bit rotation angle, lateral force, and tool face angle. S313: Input the acceleration data measured by the Drilling Engineering Parameter Measurement Instrument, and calculate the average value and variance of the triaxial acceleration sensor data of the Drilling Engineering Parameter Measurement Instrument.

4. The method for predicting coal mine gas borehole trajectory driven by measurement-while-drilling data as described in claim 1, characterized in that, Step S32 specifically involves: calculating the flight time of the ultrasonic in the annular space based on the ultrasonic data generated and received by the ultrasonic caliper while drilling; and calculating the gap width between the drill string and the borehole wall at different azimuth angles based on the annular space inversion model for directional boreholes in coal mines.

5. The method for predicting coal mine gas borehole trajectory driven by measurement-while-drilling data as described in claim 1, characterized in that, Step S4 specifically involves using data from the drilling engineering parameter measuring instrument, the drilling ultrasonic caliper measuring instrument, and the drilling acoustic logging tool, or the given design engineering parameters, as input parameters for predicting the trajectory of a coal mine gas borehole. Step S3 is then repeated to predict the dip angle and azimuth of the current borehole.

6. A coal mine gas borehole trajectory prediction system driven by measurement-while-drilling data, used to implement the coal mine gas borehole trajectory prediction method driven by measurement-while-drilling data as described in any one of claims 1 to 5, characterized in that, The system includes a downhole measurement-while-drilling instrument, a downhole transmission drill pipe, and a borehole calculation system. The downhole measurement-while-drilling instrument includes a downhole engineering parameter measuring instrument (004), a downhole ultrasonic caliper measuring instrument (005), and a downhole acoustic logging instrument (006). The downhole transmission drill pipe is a multi-connected coal mine directional drilling overview drill pipe (007). The borehole calculation system is a coal mine underground explosion-proof computer (008) and a communication module (009). The measurement data from the downhole engineering parameter measuring instrument (004), the downhole ultrasonic caliper measuring instrument (005), and the downhole acoustic logging instrument (006) are transmitted to the coal mine underground explosion-proof computer (008) through the coal mine directional drilling cable drill pipe (007) to complete the processing of downhole measurement data and borehole trajectory prediction calculation.

7. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the coal mine gas borehole trajectory prediction method driven by drilling measurement data as described in any one of claims 1 to 5.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the coal mine gas borehole trajectory prediction method driven by drilling measurement data as described in any one of claims 1 to 5.

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