Three-dimensional directional induced drilling and perimeter fracturing method of increasing permeability by visual cooperation with laser

Abstract

This invention discloses a three-dimensional directional induction method for fracturing and permeability enhancement around a borehole using vision-assisted laser technology, belonging to the field of coal seam decompression, permeability enhancement, and gas extraction promotion. The method includes the following steps: after drilling is completed underground, images of the coal seam inside the borehole are acquired using a laser beam induction head; the images of the fractured rock mass on the borehole wall are processed into grayscale; the coal and rock fractures are analyzed based on the grayscale data of the borehole images to determine the fragile points of the coal seam; the depth data of the coal and rock in the Z-direction of the image is acquired using a laser-assisted camera to obtain the point cloud data values ​​of the fragile points of the coal seam inside the borehole; a three-dimensional point cloud data model of the borehole inner wall is constructed based on the three-dimensional coordinates of the fragile points of the coal seam inside the borehole, and the laser breakage points and laser damage amount in the three-dimensional state are analyzed to perform three-dimensional directional and quantitative fracturing. This invention utilizes the synergy of visual scanning and laser technology to achieve three-dimensional directional induction of fracturing around the borehole, achieving directional and quantitative fracturing of the coal seam, thereby decompressing the surrounding area and achieving permeability enhancement.

Description

Technical Field

[0001] This invention belongs to the field of coal seam decompression, permeability enhancement, and gas extraction technology, specifically relating to a three-dimensional directional induced fracturing and permeability enhancement method for borehole periphery using vision-assisted laser. Background Technology

[0002] At present, most mines in my country have gradually entered the stage of deep mining. In the deep areas of the mine, there are more complex geological conditions, which leads to greater potential gas disasters. The key to controlling gas disasters is to ensure efficient gas extraction.

[0003] Research and analysis revealed that the limiting factor for gas extraction is the low permeability of the coal seam. However, current technologies and equipment are still based on traditional treatment methods and are limited by geological conditions, making it impossible to quantitatively induce fracturing and increase permeability. Furthermore, these methods require a significant investment of manpower and resources, and the existing equipment is bulky and difficult to operate in the limited space of the roadway. Existing technologies and equipment for treating collapsed boreholes mostly involve secondary repair after the borehole collapses, which is time-consuming and labor-intensive.

[0004] Furthermore, while the current demand for coal is enormous, the low permeability of coal seams in most Chinese mines makes gas extraction difficult. Gas control is an essential measure to reduce gas content before coal seam mining. Previous hydraulic methods for gas extraction, while providing some pressure relief, have limited effectiveness due to geological conditions and unknown borehole conditions. The degree of fracturing and whether the fracturing is in the expected location are uncontrollable, leading to randomness and uncertainty, which significantly hinders the orderly progress of gas extraction.

[0005] To address the issue of quantitative fracturing and permeability enhancement due to geological conditions, various solutions have been proposed in existing technologies. However, several problems remain. For example, a laser-assisted rock-breaking device (CN115450646A) analyzes the hardness of coal using a three-dimensional scan before precise fracturing, with the laser damage output based on coal quality analysis. However, this device is only suitable for rocks with similar hardness and is not applicable to soft, easily collapsible coal seams around the borehole. Another example is a method for synergistic enhancement of gas extraction using hydraulic fracturing and laser-driven fracturing (CN113464194A), but it cannot directionally fracture coal seams and therefore lacks borehole collapse protection.

[0006] Therefore, considering the above problems, there is an urgent need to design a method for peri-hole fracturing and permeability enhancement that can achieve directional and quantitative fracturing of coal seams. Summary of the Invention

[0007] The purpose of this invention is to solve the current problem of not being able to quantitatively generate coal seam fractures and obtain geological conditions inside boreholes, as well as the problem that borehole collapse is a serious issue that affects normal mine production during drilling operations. This invention provides a three-dimensional directional induction method for fracturing and increasing permeability around the borehole using a vision-assisted laser. Before borehole collapse occurs, as the drill rod rotates, the combined use of machine vision and laser technology achieves three-dimensional directional fracturing around the borehole, resulting in directional and quantitative fracturing of the coal seam. This relieves pressure in the surrounding area, increasing permeability and preventing subsequent normal extraction without borehole collapse.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: a three-dimensional directional induced fracturing and penetration enhancement method for borehole periphery using vision-coordinated laser, comprising the following steps:

[0009] S0. Deploy coal seam image acquisition devices inside the borehole:

[0010] After drilling is completed in the well, a drill rod with a probe is sent into the borehole opening using a drilling fracturing and permeability enhancement treatment device. The drill rod with the probe consists of an inner rod, an outer wall, a slag collection funnel at the front end of the drill rod, and a laser beam induction head that integrates a laser, a spherical camera, and a supplementary light device. The laser beam induction head is connected to the supplementary light device aperture, the laser beam port, and the spherical camera acquisition probe through a rotating area set on the posture rotation axis connection shaft.

[0011] S1. Acquire images of the fractured rock mass in the borehole wall and perform grayscale processing:

[0012] When the drill rod with the probe is sent into the borehole, a high-resolution digital image of the fractured rock mass of the borehole wall is acquired by the probe through a spherical camera during the journey. The image is then processed into grayscale to obtain a borehole grayscale image from 0 to 120°. By merging and stitching together three images that are rotated and overlapped by about 10° respectively, a 360° grayscale image of the inner wall of the coal and rock of the borehole is obtained.

[0013] The spherical camera acquires the position coordinates of the probe inside the borehole as (X, Y, Z).

[0014] X=X0+dcosθcosφ, Y=Y0+dcosθsinφ, Z=Z0+dsinθ,

[0015] Where (X0,Y0,Z0) represents the starting position of the borehole, d represents the distance between the camera and the starting position, θ represents the pitch angle of the camera, and φ represents the horizontal angle of the camera.

[0016] S2. Analyze coal and rock fractures and determine the fragile points of the coal seam based on the grayscale data of the borehole images:

[0017] Canny edge detection is performed on the image after grayscale processing in step S1. Morphological processing is performed to connect adjacent cracks, find all connected regions on the image, delete non-crack noise areas, extract the skeleton of each connected region, and obtain the length and width data of each crack segment. The center point of the crack is found using the obtained length and width data. The crack is extended outward from the center point with a 5cm mark. The mark point and the center point are the fragile points of the coal seam. During this process, the two-dimensional coordinates x and y values ​​of the inner wall of the coal and rock are obtained.

[0018] S3. Obtain depth data of coal and rock in the Z-direction from the image using a laser-assisted camera:

[0019] Based on the coal and rock fracture analysis in step S2, the laser triangulation method is adopted. The depth analysis is performed using a monocular camera and laser. At this time, the output beam of the laser beam port is a line laser. The camera is on the left and the line laser is on the right. The line laser projects line structured light onto the coal and rock wall. The spherical camera collects the image of the line laser captured by the probe and calculates the depth value of the pixel points on the laser line, thereby obtaining the depth information of the object and obtaining the point cloud data value of the fragile points of the coal seam in the borehole.

[0020] The three-dimensional coordinates of the fragile point in the coal seam inside the borehole are (X_m, Y_m, Z_m).

[0021] X_m=X+mcos(θ_m)cos(φ_m),Y_m=Y+mcos(θ_m)sin(φ_m),

[0022] Z_m = Z + msin(θ_m),

[0023] Where (X,Y,Z) are the position coordinates of the spherical camera acquisition probe inside the borehole, m represents the distance between the fragile point and the camera, and θ_m and φ_m represent the pitch angle and horizontal angle of the fragile point of the coal seam relative to the spherical camera acquisition probe.

[0024] S4. Construct a three-dimensional point cloud data model of the borehole inner wall based on the three-dimensional coordinates of the fragile points of the coal seam inside the borehole.

[0025] Based on the three-dimensional coordinates of the fragile coal seam points inside the borehole obtained in step S3, the data is stored using the matplptlib library in Python to generate a three-dimensional point cloud data model of the borehole inner wall. The formula for the three-dimensional point cloud data of the borehole inner wall is: PointCloud={(X_m,Y_m,Z_m)};

[0026] S5. Obtain laser breakage points and laser damage amount based on the three-dimensional point cloud data model of the borehole inner wall:

[0027] Based on the discriminant model DCNN, a three-dimensional point cloud data model of the borehole inner wall is used to perform triaxial analysis on low-level, middle-level, and high-level features to identify fracture boundary boxes. The three-dimensional point cloud of the structural surface is segmented to obtain the dip, dip angle, aperture, location, shape, and size of the coal and rock mass. The obtained geometric parameters are input into a small-scale fracture network model to analyze the laser breaking points and laser damage in the three-dimensional state for three-dimensional directional quantitative fracturing.

[0028] In step S1, the specific process of image fusion and stitching includes:

[0029] Sa1. Rotate the pose by 120° to move the original initial pose position to the first end position to achieve a 120° pose adjustment. Take a second picture to obtain the borehole image of the surrounding coal and rock mass and perform grayscale processing.

[0030] Sa2, adjust the pose by 120° again, take three photos to obtain borehole images of the surrounding coal and rock mass and perform grayscale processing;

[0031] Sa3 uses a wide-angle camera with a shooting range greater than 120°. The three images have an overlap of about 10°. Feature matching analysis is performed on the three grayscale images to calculate the transformation structure between the images. Based on mathematical relationships, the inherent mathematical laws are found to realize image mapping. The feature points of the three images are aligned under the APAP algorithm, and then the overlapping parts are removed by image segmentation. Then, the splicing seam is selected. Finally, the images are fused and stitched based on the multi-band bleing strategy to obtain the grayscale data map of the coal and rock inner wall of the borehole in 360°.

[0032] In step S2, the specific process of performing grayscale processing and analysis on the image includes:

[0033] Sb1: Select a pixel as the center pixel, and select the adjacent pixels within the range around the center pixel as the neighboring pixels;

[0034] Sb2. Based on the grayscale relationship, compare the grayscale value of each neighboring pixel with the grayscale value of the center pixel, and represent the result as a binary code.

[0035] Sb3. Connect the binary codes in clockwise or counterclockwise order to form a binary LBP code;

[0036] Sb4. Statistically analyze the LBP encoding of all pixels in the entire image and calculate the frequency of occurrence of different LBP modes. Different coal texture features are distinguished based on the magnitude of the feature frequency.

[0037] In step S3, when calculating the depth information of the object, it is necessary to unify the three coordinate systems: the world coordinate system, the pixel coordinate system, and the coal and rock coordinate system. The world real distance and tilt angle between the laser and the spherical camera acquisition probe are measured according to the world coordinate system. The relationship equation is listed in combination with the focal length f and resolution of the spherical camera acquisition probe itself. The pixel coordinate system is the pixel value coordinate system of the borehole image. The pixel difference of the laser beam on the image is solved to obtain the real depth value of the coal and rock.

[0038] In step S5, the method for determining the laser break point and the laser damage amount is as follows: when there is a planar crack in the borehole, the trace displayed on the image is elliptical, and the shape on the plane is a sine curve, represented as y(x)=y0-Asin(2 / Dx+Θ), where D is the borehole diameter, y0 is the initial position of the sine curve, A is the amplitude, and Θ is the phase.

[0039] The conversion relationships between dip, inclination angle, and opening are as follows: when 0° < Θ < 90°, α = Θ + 270°; when 90° < Θ < 360°, α = Θ - 90°; d = k(i max -i min ) / cosβ, where β=arctan2A / D, i min with i max These represent the maximum and minimum offset positions of the center position of the sine curve on the fracture trace image;

[0040] Based on the α-failure point angle and d-failure point depth, the data is input to the laser control unit to achieve three-dimensional directional quantitative fracturing of the inner wall of the coal and rock.

[0041] In step S0, the laser beam induction head includes a pose rotation axis connecting shaft and a rotation area rotatably connected thereon, and is connected to the inner rod of the drill rod through the pose rotation axis connecting shaft; a laser beam base, a supplementary light source base, and a spherical camera base are evenly arranged along the circumferential direction on the rotation area. The laser beam base is connected to the laser beam port through a laser beam telescopic rod, the supplementary light source base is connected to the supplementary light source aperture through the supplementary light source telescopic rod, and a supplementary light source dust cover is provided outside the supplementary light source aperture. The spherical camera base is connected to the spherical camera acquisition probe in sequence through the spherical camera telescopic rod, the spherical camera protective shell, and the spherical camera fixing thread.

[0042] The beneficial effects of this invention are:

[0043] 1) The method of this invention utilizes machine vision technology in conjunction with laser technology with strong destructive power to construct a three-dimensional model of the inside of the extraction borehole, obtain point cloud data around the borehole, analyze geological condition parameters, and perform three-dimensional fixed-point destruction on the borehole. This three-dimensional directional induction of fractures around the borehole allows the surrounding area to be depressurized and achieves the purpose of increasing permeability. This achieves the purpose of analyzing geological parameters of the borehole inner wall and inducing fractures in a directional and quantitative manner.

[0044] 2) During the process of this invention, the soft and broken area can be destroyed by laser in advance to avoid subsequent hole collapse. This achieves pre-collapse and pressure relief of the broken area, improves drilling conditions, and enables better extraction.

[0045] 3) The method of this invention designs a three-dimensional pose rotation axis integrating laser, spherical camera, and supplementary light, which is suitable for analyzing various drilling conditions. The pose rotation axis achieves the function of rotating independently during the drill rod rotation and advancement. Hole enlargement and cavity creation first use the camera and supplementary light to analyze and find the first breakage point. The pose is adjusted so that the laser is directed to the first breakage point for breakage. At this time, the pose rotation axis is constantly rotating, realizing the emission of laser beams from point to line to destroy the coal seam. Combined with the drill rod movement, it also realizes laser destruction from line to surface. The destruction area is large and the pressure relief area is large, which greatly promotes gas extraction. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the laser beam-guided crack induction method of the present invention;

[0047] Figure 2 for Figure 1 Schematic diagram of the structure of the laser beam induction head;

[0048] Figure 3 for Figure 1 Schematic diagram of the internal structure of the slag discharge funnel and probe;

[0049] Figure 4 This is a structural diagram of the drilling crack-inducing and permeability-enhancing treatment device for advancing the drill rod in the method of the present invention.

[0050] In the diagram, 1-equipment support, 2-drill rod delivery pump, 3-delivery device control console, 4-control rod, 5-drill rod delivery port, 6-outer wall of the device, 7-drill rod with probe, 8-drill rod upward delivery platform, 9-drill rod number display platform, 10-probe analysis and data display area, 11-connecting drill rod, 12-connecting drill rod delivery platform, 13-position rotation axis connecting shaft, 14-position rotation axis rotation area, 15-laser beam base, 16-compensator base, 17-compensator telescopic rod, 18-compensator 19-Dust cover for supplementary lighting device; 20-Laser beam telescopic rod; 21-Laser beam port; 22-Spherical camera base; 23-Spherical camera telescopic rod; 24-Spherical camera protective shell; 25-Spherical camera fixing thread; 26-Spherical camera acquisition probe; 27-Inner rod of drill rod; 28-Outer wall of drill rod; 29-Coal seam surrounding the borehole; 30-Fissure zone after coal seam damage; 31-Coal slag collection funnel; 32-Integral pose rotation axis; 33-Output laser beam; 34-Coal slag falling after damage. Detailed Implementation

[0051] The present invention will be further explained and described below with reference to the accompanying drawings and specific embodiments.

[0052] Example: Figure 1-4 As shown, this invention provides a three-dimensional directional induced fracturing and penetration enhancement method for borehole perimeter using vision-assisted laser, comprising the following steps:

[0053] S0. Deploy coal seam image acquisition devices inside the borehole:

[0054] After drilling is completed in the well, the drill rod 7 with a probe is sent into the borehole opening using the drilling fracturing and permeability enhancement treatment device. The drill rod 7 with the probe is composed of the inner rod 27, the outer wall 28, the slag collection funnel 31 located at the front end of the drill rod, and the laser beam induction head 32 which integrates laser, spherical camera and supplementary light instrument. The laser beam induction head 32 is connected to the supplementary light instrument aperture 18, the laser beam port 21 and the spherical camera acquisition probe 26 respectively through the rotation area 14 set on the posture rotation axis connecting shaft 13.

[0055] The laser beam induction head 32 includes a pose rotation axis connecting shaft 13 and a rotation area 14 rotatably connected thereto, and is connected to the drill rod inner rod 27 via the pose rotation axis connecting shaft 13; a laser beam base 15, a supplementary light device base 16 and a spherical camera base 22 are evenly arranged along the circumferential direction on the rotation area 14. The laser beam base 15 is connected to the laser beam port 21 via a laser beam telescopic rod 20. The supplementary light device base 16 is connected to the supplementary light device aperture 18 via a supplementary light device telescopic rod 17, and a supplementary light device dust cover 19 is provided outside the supplementary light device aperture 18. The spherical camera base 22 is connected to the spherical camera acquisition probe 26 in sequence via a spherical camera telescopic rod 23, a spherical camera protective shell 24 and a spherical camera fixing thread 25.

[0056] S1. Acquire images of the fractured rock mass in the borehole wall and perform grayscale processing:

[0057] When the drill rod 7 with the probe is sent into the borehole, the high-resolution digital image of the fractured rock mass of the borehole wall is acquired by the probe 26 through the ball camera during the journey. The image is then processed into grayscale to obtain a borehole grayscale image of 0 to 120°. By merging and stitching together three images that are rotated and overlapped by about 10° respectively, a 360° grayscale image of the inner wall of the coal and rock of the borehole is obtained.

[0058] The spherical camera acquires the position coordinates of probe 26 within the borehole as (X, Y, Z).

[0059] X=X0+dcosθcosφ, Y=Y0+dcosθsinφ, Z=Z0+dsinθ,

[0060] Where (X0,Y0,Z0) represents the starting position of the borehole, d represents the distance between the camera and the starting position, θ represents the pitch angle of the camera, and φ represents the horizontal angle of the camera.

[0061] The specific process of image fusion and stitching includes:

[0062] Sa1. Rotate the pose by 120° to move the original initial pose position to the first end position to achieve a 120° pose adjustment. Take a second picture to obtain the borehole image of the surrounding coal and rock mass and perform grayscale processing.

[0063] Sa2, adjust the pose by 120° again, take three photos to obtain borehole images of the surrounding coal and rock mass and perform grayscale processing;

[0064] Sa3 uses a wide-angle camera with a shooting range greater than 120°. The three images have an overlap of about 10°. Feature matching analysis is performed on the three grayscale images to calculate the transformation structure between the images. Based on mathematical relationships, the inherent mathematical laws are found to realize image mapping. The feature points of the three images are aligned under the APAP algorithm, and then the overlapping parts are removed by image segmentation. Then, the splicing seam is selected. Finally, the images are fused and stitched based on the multi-band bleing strategy to obtain the grayscale data map of the coal and rock inner wall of the borehole in 360°.

[0065] S2. Analyze coal and rock fractures and determine the fragile points of the coal seam based on the grayscale data of the borehole images:

[0066] Canny edge detection is performed on the image after grayscale processing in step S1. Morphological processing is performed to connect adjacent cracks, find all connected regions on the image, delete non-crack noise areas, extract the skeleton of each connected region, and obtain the length and width data of each crack segment. The center point of the crack is found using the obtained length and width data. The crack is extended outward from the center point with a 5cm mark. The mark point and the center point are the fragile points of the coal seam. During this process, the two-dimensional coordinates x and y values ​​of the inner wall of the coal and rock are obtained.

[0067] The specific process of image grayscale processing and analysis includes:

[0068] Sb1: Select a pixel as the center pixel, and select the adjacent pixels within the range around the center pixel as the neighboring pixels;

[0069] Sb2. Based on the grayscale relationship, compare the grayscale value of each neighboring pixel with the grayscale value of the center pixel, and represent the result as a binary code.

[0070] Sb3. Connect the binary codes in clockwise or counterclockwise order to form a binary LBP code;

[0071] Sb4. Statistically analyze the LBP encoding of all pixels in the entire image and calculate the frequency of occurrence of different LBP modes. Different coal texture features are distinguished based on the magnitude of the feature frequency.

[0072] S3. Obtain depth data of coal and rock in the Z-direction from the image using a laser-assisted camera:

[0073] Based on the coal and rock fracture analysis in step S2, the laser triangulation method is adopted, and the depth analysis is performed using a monocular camera plus laser. At this time, the output beam of the laser beam port 21 is a line laser. The left side is the camera and the right side is the line laser. The line laser hits the coal and rock wall with line structured light. The spherical camera collects the image of the line laser captured by the probe 26 and calculates the depth value of the pixel point on the laser line, thereby obtaining the depth information of the object and obtaining the point cloud data value of the fragile point of the coal seam in the borehole.

[0074] The three-dimensional coordinates of the fragile point in the coal seam inside the borehole are (X_m, Y_m, Z_m).

[0075] X_m=X+mcos(θ_m)cos(φ_m),Y_m=Y+mcos(θ_m)sin(φ_m),

[0076] Z_m = Z + msin(θ_m),

[0077] Where (X,Y,Z) are the position coordinates of the spherical camera acquisition probe 26 inside the borehole, m represents the distance between the fragile point and the camera, and θ_m and φ_m represent the pitch angle and horizontal angle of the fragile point of the coal seam relative to the spherical camera acquisition probe 26.

[0078] When calculating the depth information of an object, it is necessary to unify the three coordinate systems: the world coordinate system, the pixel coordinate system, and the coal and rock coordinate system. The world coordinate system is used to measure the real distance and tilt angle between the laser and the spherical camera acquisition probe 26. The relationship equation is then established by combining the focal length f and resolution of the spherical camera acquisition probe 26 itself. The pixel coordinate system is the pixel value coordinate system of the borehole image. The pixel difference of the laser beam on the image is solved to obtain the real depth value of the coal and rock.

[0079] S4. Construct a three-dimensional point cloud data model of the borehole inner wall based on the three-dimensional coordinates of the fragile points of the coal seam inside the borehole.

[0080] Based on the three-dimensional coordinates of the fragile coal seam points inside the borehole obtained in step S3, the data is stored using the matplptlib library in Python to generate a three-dimensional point cloud data model of the borehole inner wall. The formula for the three-dimensional point cloud data of the borehole inner wall is: PointCloud={(X_m,Y_m,Z_m)}.

[0081] S5. Obtain laser breakage points and laser damage amount based on the three-dimensional point cloud data model of the borehole inner wall:

[0082] Based on the discriminant model DCNN, a three-dimensional point cloud data model of the borehole inner wall is used to perform triaxial analysis on low-level, middle-level, and high-level features to identify fracture boundary boxes. The three-dimensional point cloud of the structural surface is segmented to obtain the dip, dip angle, aperture, location, shape, and size of the coal and rock mass. The obtained geometric parameters are input into a small-scale fracture network model to analyze the laser breaking points and laser damage in the three-dimensional state for three-dimensional directional quantitative fracturing.

[0083] The method for determining the laser break point and the laser damage amount is as follows: When there is a planar crack in the borehole, the trace displayed on the image is elliptical, and the plane is a sine curve, represented as y(x)=y0-Asin(2 / D x+Θ), where D is the borehole diameter, y0 is the initial position of the sine curve, A is the amplitude, and Θ is the phase.

[0084] The conversion relationships between dip, inclination angle, and opening are as follows: when 0° < Θ < 90°, α = Θ + 270°; when 90° < Θ < 360°, α = Θ - 90°; d = k(i max -i min ) / cosβ, where β=arctan2A / D, i min with i max These represent the maximum and minimum offset positions of the center position of the sine curve on the fracture trace image;

[0085] Based on the α-failure point angle and d-failure point depth, the data is input to the laser control unit to achieve three-dimensional directional quantitative fracturing of the inner wall of the coal and rock.

[0086] The process of using the above method to perform fracturing and permeability enhancement in boreholes is as follows:

[0087] 1) After the well is completed, move the drilling fracturing and permeability enhancement treatment device to the vicinity of the wellhead, fix the equipment support 1 firmly, start the machine, and display the real-time probe and drill rod data on the drill rod number display panel 9 and the probe analysis data display area 10. Start the control console and simultaneously control and operate the delivery device control console 3 and control rod 4 to send the probe 7 with the probe into the wellhead.

[0088] When a connecting rod is needed, the control drill rod lifting conveyor 8 transports the connecting drill rod 11 to the section of the drill rod 7 with the probe rod and connects it; when there is insufficient drill rod remaining in the section of the connecting drill rod 11, the connecting drill rod conveyor 12 is opened and the spare drill rod is sent into the section of the connecting drill rod 11 through the drill rod conveyor pump 2.

[0089] 2) When the drill rod 7 with the probe enters the borehole, the induction head starts to work. During the journey, the spherical camera acquisition probe 26 extends through the spherical camera telescopic rod 23 under the support of the spherical camera base 22. By rotating the spherical camera fixing thread 25, the angle of the spherical camera acquisition probe 26 can be adjusted at any time to ensure 360° no dead angle. The telescopic length can be adjusted by the spherical camera telescopic rod 23 to instantly acquire images inside the hole and generate pictures and videos, which are simultaneously transmitted to the device control console display.

[0090] During the journey, the spherical camera's protective shell 24 protects the spherical camera's acquisition probe 26, enabling it to adapt to complex and ever-changing situations.

[0091] 3) During the movement of the drill rod 7 with the probe, once a suspected fragile area is scanned, a warning message will be transmitted to the display, indicating a suspected fragile area. The control console will issue a command to activate the supplementary lighting device. The supplementary lighting device aperture 18 will turn on the auxiliary light. The extension height of the supplementary lighting device aperture 18 can be adjusted by adjusting the extension rod 17 of the supplementary lighting device to adjust the lighting and thus the brightness of the screen. After confirmation, the part that is determined to be a fragile area will be processed and destroyed by laser induction.

[0092] The dust cover 19 of the supplementary light device is used to prevent dust in the drill hole from blocking the light from the aperture, and the base 16 of the supplementary light device is used to support the supplementary light device and serves as a support.

[0093] 4) The part that is determined to be fragile will be highlighted by the visual feedback of the spherical camera acquisition probe 26, and the induction laser will be activated. The laser beam port 21 will be extended and repositioned with the assistance of the laser beam telescopic rod 20. After being adjusted to the fragile area, the laser beam base 15 supports the laser beam port 21 to emit laser to the fragile area to destroy it.

[0094] 5) After the drill rod 7 with the probe moves to the hole-making location, supported by the spherical camera base 22, the spherical camera acquisition probe 26 extends through the spherical camera telescopic rod 23 and rotates the spherical camera fixing thread 25 to observe the cave conditions and transmit the generated visual image information to the control console display; then the laser induction device is activated, and the laser beam port 21 emits an induction laser to impact the work site to create a hole.

[0095] 6) During the journey, the guiding device can achieve angle conversion by adjusting the position rotation axis connecting shaft 13 and the position rotation axis rotation area 14; after the fragile area and the cavity location are processed, the coal slag 34 that falls after being damaged by the output laser beam 33 is collected by the coal slag collection funnel 31, and then discharged to the outside of the drill rod through the gap between the outer wall 28 and the inner wall 27 of the drill rod. After laser-induced damage, the coal wall forms a coal seam fracture zone 30. After completing a series of operations, the drill rod rotates and the entire drill rod and position rotation axis 32 slowly move out of the borehole.

[0096] This invention utilizes visual scanning to construct a three-dimensional model of the borehole interior, thereby quantitatively understanding the internal conditions of the borehole. Then, using laser technology with strong destructive power and controllable energy, cavity creation is performed to achieve uniform pressure relief in the extraction area.

[0097] The above description is only used to illustrate the technical solution of the present invention and is not intended to limit it. Any other modifications or equivalent substitutions made by those skilled in the art to the technical solution of the present invention, as long as they do not depart from the spirit and scope of the technical solution of the present invention, should be covered within the scope of the claims of the present invention.

Claims

1. A three-dimensional directional induced fracturing and penetration enhancement method for borehole perimeter using vision-assisted laser, characterized in that: Includes the following steps: S0. Deploy coal seam image acquisition devices inside the borehole: After drilling is completed in the well, a drill rod with a probe is sent into the borehole opening using a drilling fracturing and permeability enhancement treatment device. The drill rod with the probe consists of an inner rod, an outer wall, a slag collection funnel at the front end of the drill rod, and a laser beam induction head that integrates a laser, a spherical camera, and a supplementary light device. The laser beam induction head is connected to the supplementary light device aperture, the laser beam port, and the spherical camera acquisition probe through a rotation area set on the pose rotation axis connecting the laser beam induction head. S1. Acquire images of the fractured rock mass in the borehole wall and perform grayscale processing: When the drill rod with the probe is sent into the borehole, a high-resolution digital image of the fractured rock mass in the borehole wall is acquired by the probe through a spherical camera during the journey. The image is then processed into grayscale to obtain a borehole grayscale image from 0 to 120°. By merging and stitching together three images that are rotated and overlapped by about 10° respectively, a 360° grayscale image of the inner wall of the coal and rock in the borehole is obtained. The spherical camera acquires the position coordinates of the probe inside the borehole as (X, Y, Z). X=X0+dcosθcosφ, Y=Y0+dcosθsinφ, Z=Z0+dsinθ, Where (X0,Y0,Z0) represents the starting position of the borehole, d represents the distance between the spherical camera acquisition probe and the starting position, θ represents the pitch angle of the spherical camera acquisition probe, and φ represents the horizontal angle of the spherical camera acquisition probe. S2. Analyze coal and rock fractures and determine the fragile points of the coal seam based on the grayscale data of the borehole images: Canny edge detection is performed on the image after grayscale processing in step S1. Morphological processing is performed to connect adjacent cracks, find all connected regions on the image, delete non-crack noise areas, extract the skeleton of each connected region, obtain the length and width data of each crack segment, find the center point of the crack using the obtained length and width data, and extend outward from the center point with a 5cm mark. The mark point and the center point are the fragile points of the coal seam. During this process, the two-dimensional coordinates x and y values ​​of the inner wall of the coal and rock are obtained. S3. Obtain depth data of coal and rock in the Z-direction from the image using a laser-assisted camera: Based on the coal and rock fracture analysis in step S2, the laser triangulation method is adopted. The depth analysis is performed using a monocular camera plus laser. At this time, the output beam of the laser beam port is a line laser. The left side is the spherical camera acquisition probe, and the right side is the laser beam port. The laser beam port hits the coal and rock wall with line structured light. The spherical camera acquisition probe captures the line laser image and calculates the depth value of the pixel point on the laser line, thereby obtaining the depth information of the object and obtaining the point cloud data value of the fragile point of the coal seam in the borehole. The three-dimensional coordinates of the fragile point in the coal seam inside the borehole are (X_m, Y_m, Z_m). X_m=X+mcos(θ_m)cos(φ_m),Y_m=Y+mcos(θ_m)sin(φ_m), Z_m = Z + msin(θ_m), Where (X,Y,Z) are the position coordinates of the spherical camera acquisition probe inside the borehole, m represents the distance between the fragile point and the spherical camera acquisition probe, and θ_m and φ_m represent the pitch angle and horizontal angle of the fragile point of the coal seam relative to the spherical camera acquisition probe. S4. Construct a three-dimensional point cloud data model of the borehole inner wall based on the three-dimensional coordinates of the fragile points of the coal seam inside the borehole. Based on the three-dimensional coordinates of the fragile coal seam points inside the borehole obtained in step S3, the matplotlib library of Python is used to store them, generating a three-dimensional point cloud data model of the borehole inner wall. The formula for the three-dimensional point cloud data of the borehole inner wall is: PointCloud={(X_m,Y_m,Z_m)}. S5. Obtain laser breakage points and laser damage amount based on the three-dimensional point cloud data model of the borehole inner wall: Based on the discriminant model DCNN, a three-dimensional point cloud data model of the borehole inner wall is used to perform triaxial analysis on low-level, middle-level, and high-level features to identify fracture boundary boxes. The three-dimensional point cloud of the structural surface is segmented to obtain the dip, dip angle, aperture, location, shape, and size of the coal and rock mass. The obtained geometric parameters are input into a small-scale fracture network model to analyze the laser breaking points and laser damage in the three-dimensional state for three-dimensional directional quantitative fracturing.

2. The method for three-dimensional directional induced fracturing and penetration enhancement around a borehole using vision-assisted laser as described in claim 1, characterized in that: In step S1, the specific process of image fusion and stitching includes: Sa1. Rotate the pose by 120° to move the original initial pose position to the first end position to achieve a 120° pose adjustment. Take a second picture to obtain the borehole image of the surrounding coal and rock mass and perform grayscale processing. Sa2, adjust the pose by 120° again, take three photos to obtain borehole images of the surrounding coal and rock mass and perform grayscale processing; Sa3 uses a wide-angle camera with a shooting range greater than 120°. The three images have an overlap of about 10°. Feature matching analysis is performed on the three grayscale images to calculate the transformation structure between the images. Based on mathematical relationships, the inherent mathematical laws are found to realize image mapping. The feature points of the three images are aligned under the APAP algorithm, and then the overlapping parts are removed by image segmentation. Then, the splicing seam is selected. Finally, the images are fused and stitched based on the multi-band bleing strategy to obtain the grayscale data map of the coal and rock inner wall of the borehole in 360°.

3. The method for three-dimensional directional induced fracturing and penetration enhancement around a borehole using vision-coordinated laser as described in claim 1, characterized in that: In step S2, the specific process of performing grayscale processing and analysis on the image includes: Sb1: Select a pixel as the center pixel, and select the adjacent pixels within the range around the center pixel as the neighboring pixels; Sb2. Based on the grayscale relationship, compare the grayscale value of each neighboring pixel with the grayscale value of the center pixel, and represent the result as a binary code. Sb3. Connect the binary codes in clockwise or counterclockwise order to form a binary LBP code; Sb4. Statistically analyze the LBP encoding of all pixels in the entire image and calculate the frequency of occurrence of different LBP modes. Different coal texture features are distinguished based on the magnitude of the feature frequency.

4. The method for three-dimensional directional induced fracturing and penetration enhancement around a borehole using vision-coordinated laser as described in claim 1, characterized in that: In step S3, when calculating the depth information of the object, it is necessary to unify the three coordinate systems: the world coordinate system, the pixel coordinate system, and the coal and rock coordinate system. The world real distance and tilt angle between the laser and the spherical camera acquisition probe are measured according to the world coordinate system. The relationship equation is listed in combination with the focal length f and resolution of the spherical camera acquisition probe itself. The pixel coordinate system is the pixel value coordinate system of the borehole image. The pixel difference of the laser beam on the image is solved to obtain the real depth value of the coal and rock.

5. The method for three-dimensional directional induced fracturing and penetration enhancement around a borehole using vision-coordinated laser as described in claim 1, characterized in that: In step S0, the laser beam induction head includes a pose rotation axis connecting shaft and a rotation area rotatably connected thereon, and is connected to the inner rod of the drill rod through the pose rotation axis connecting shaft; a laser beam base, a supplementary light source base, and a spherical camera base are evenly arranged along the circumferential direction on the rotation area. The laser beam base is connected to the laser beam port through a laser beam telescopic rod, the supplementary light source base is connected to the supplementary light source aperture through the supplementary light source telescopic rod, and a supplementary light source dust cover is provided outside the supplementary light source aperture. The spherical camera base is connected to the spherical camera acquisition probe in sequence through the spherical camera telescopic rod, the spherical camera protective shell, and the spherical camera fixing thread.

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