Modular Drilling Rig and Method for Rapid Detection of Rock Mass Strength Parameters

Abstract

The present invention discloses a modular drill rig and method for quickly detecting rock mass strength parameters, which relates to the technical field of geotechnical engineering investigation, and includes: a continuous drilling subsystem for drilling the on-site surrounding rock; a hydraulic loading subsystem for providing drilling power to the continuous drilling subsystem; an autonomous positioning subsystem for controlling the continuous drilling subsystem to drill at different angles and different heights; a remote control monitoring subsystem for collecting parameters while drilling. After correcting the parameters while drilling according to the defined bit wear degree coefficient, a prediction model of rock mass hardness while drilling is used to obtain a predicted value of rock mass hardness. It realizes on-site surrounding rock drilling in all-round and high-low position modes under different geological conditions, and at the same time, it monitors and analyzes the parameters while drilling in real time, and realizes the prediction of the accurate value of rock mass hardness under in-situ conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of geotechnical engineering investigation, and particularly to a modular drill rig and method for quickly detecting rock mass strength parameters. Background Art

[0002] During the process of tunnel excavation and roadway construction, blasting construction such as drill and blast method and mine blasting is often required. Among them, the rock hardness, as an important index reflecting the hardness, drillability and blasting difficulty of rock strata, is particularly important for roadway and tunnel blasting construction.

[0003] At present, the testing methods for rock hardness mainly include rock cuttings logging for rock hardness identification, hardness testers, etc. Among them, rock cuttings logging for rock hardness identification not only takes a lot of time, manpower and funds, but also depends on the quality of logging data. Hardness testers often require processes such as sampling and testing, have requirements for the rock mass after sampling, and it is difficult to obtain timely feedback of data. Therefore, there is currently a lack of a device for quickly detecting the hardness of rock masses in underground engineering and a fast and effective in-situ testing method for the hardness of surrounding rocks in underground engineering. Summary of the Invention

[0004] In order to solve the above problems, the present invention proposes a modular drill rig and method for quickly detecting rock mass strength parameters, which can realize on-site surrounding rock drilling in all directions and high and low position modes under different geological conditions, and at the same time, monitor and analyze the parameters while drilling in real time, and realize the prediction of the accurate value of rock hardness under in-situ conditions.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] In a first aspect, the present invention provides a modular drill rig for quickly detecting rock mass strength parameters, including:

[0007] A continuous drilling subsystem for drilling the on-site surrounding rock;

[0008] A hydraulic loading subsystem for providing drilling power to the continuous drilling subsystem;

[0009] An autonomous positioning subsystem for controlling the continuous drilling subsystem to drill at different angles and different heights;

[0010] A remote control monitoring subsystem for collecting parameters while drilling. After correcting the parameters while drilling according to the defined bit wear degree coefficient, a rock hardness prediction model while drilling is used to obtain a rock hardness prediction value. Among them, the rock hardness prediction model while drilling is: by constructing the relationship between the parameters while drilling and the specific energy of rock fragmentation, and by fitting the relationship between the specific energy of rock fragmentation and rock hardness, a rock hardness prediction model while drilling based on the parameters while drilling is constructed.

[0011] As an alternative implementation, the autonomous positioning subsystem controls the drill pipes of the continuous drilling subsystem to perform omnidirectional drilling and high-low position hole opening, so as to realize the surrounding rock drilling at different angles and different height positions.

[0012] As an alternative implementation, in the remote monitoring subsystem, by performing a mechanical analysis on the rock mass drilling process, the relationship between the drilling parameters and the rock mass fragmentation specific energy is established:

[0013] ;

[0014] In the formula, δ is the rock mass fragmentation specific energy, that is, the energy required to cut and break a unit volume of rock mass; V is the advancing speed; N is the rotary speed; M is the rotary torque; F is the advancing force; R is the bit radius; L is the main cutting edge length of the bit cutting edge; l is the secondary cutting edge length of the bit cutting edge; μ is the friction coefficient between the bit and the rock at the bottom of the hole.

[0015] As an alternative implementation, the construction process of the rock mass hardness prediction model while drilling includes: by performing the Proctor hardness test on the rock mass sample to obtain the Proctor hardness value of the rock mass, by performing a regression analysis on the rock mass fragmentation specific energy and the rock mass hardness, fitting the relationship between the rock mass fragmentation specific energy and the rock mass hardness, and combining the relationship between the drilling parameters and the rock mass fragmentation specific energy, establishing the rock mass hardness prediction model while drilling: ; In the formula, f is the rock mass hardness, α and β are the fitting coefficient and the fitting constant respectively.

[0016] As an alternative implementation, the bit wear degree coefficient is: by establishing the relationship between the bit working life and the rock mass hardness, and defining the bit wear degree coefficient according to the bit working life:

[0017] ; ;

[0018] In the formula, W is the bit working life when drilling a rock mass with a certain hardness, W 0 is the standard service life of the bit, k is the parameter related to the bit life, ε is the bit wear degree coefficient, f is the rock mass hardness.

[0019] As an alternative embodiment, the drilling parameters are corrected based on the bit wear degree coefficient, and the correction models for each drilling parameter are as follows:

[0020] ;

[0021] ;

[0022] ;

[0023] ;

[0024] wherein, V is the propulsion speed; N is the rotation speed; M is the rotation torque; F is the propulsion force, ε is the bit wear degree coefficient; is the corrected value of the propulsion speed, is the correction model of the propulsion speed; is the corrected value of the rotation speed, is the correction model of the rotation speed; is the corrected value of the propulsion force, is the correction model of the propulsion force; is the corrected value of the rotation torque, is the correction model of the rotation torque; a 1 and b 1 are respectively the fitting coefficient and the fitting constant between the weight-on-bit increment caused by bit wear and the bit wear degree coefficient, a 2 and b 2 are respectively the fitting coefficient and the fitting constant between the torque increment caused by bit wear and the bit wear degree coefficient.

[0025] Second, the present invention provides a method for quickly detecting rock mass strength parameters, including:

[0026] Obtaining the drilling parameters while drilling, and constructing the relationship between the drilling parameters while drilling and the rock mass fragmentation specific energy;

[0027] Performing a hardness test on the rock mass to obtain the Protodyakonov hardness value of the rock mass, fitting the relationship between the rock mass fragmentation specific energy and the rock mass hardness, and combining the relationship between the drilling parameters while drilling and the rock mass fragmentation specific energy to establish a prediction model for the rock mass hardness while drilling based on the drilling parameters while drilling;

[0028] Obtaining the real-time drilling parameters while drilling, and after correcting the real-time drilling parameters while drilling according to the defined bit wear degree coefficient, using the prediction model for the rock mass hardness while drilling to obtain the predicted value of the rock mass hardness.

[0029] As an alternative implementation, the process of constructing the in - situ rock hardness prediction model includes:

[0030] By performing a mechanical analysis on the rock drilling process, the relationship between the in - situ parameters and the rock fragmentation specific energy is established as: ;

[0031] By conducting a Proctor hardness test on the rock specimen, the Proctor hardness value of the rock is obtained;

[0032] By performing a regression analysis on the rock fragmentation specific energy and the rock hardness, fitting the relationship between the rock fragmentation specific energy and the rock hardness, and combining it with the relationship between the in - situ parameters and the rock fragmentation specific energy, the in - situ rock hardness prediction model is established as: ;

[0033] In the formula, δ is the rock fragmentation specific energy, that is, the energy required to cut and break a unit volume of rock; V is the penetration speed; N is the rotary speed; M is the rotary torque; F is the penetration force; f is the rock hardness; R is the bit radius; L is the main cutting edge length of the bit cutting edge; l is the secondary cutting edge length of the bit cutting edge; μ is the friction coefficient between the bit and the rock at the bottom of the hole, α and β are the fitting coefficient and the fitting constant respectively.

[0034] As an alternative implementation, the bit wear degree coefficient is: By establishing the relationship between the bit working life and the rock hardness, and defining the bit wear degree coefficient according to the bit working life:

[0035] ; ;

[0036] In the formula, W is the bit working life when drilling a rock of a certain hardness, W 0 is the standard service life of the bit, k is a parameter related to the bit life, ε is the bit wear degree coefficient, f is the rock hardness.

[0037] As an alternative implementation, based on the bit wear degree coefficient, the in - situ parameters are corrected, and the correction models for each in - situ parameter are respectively:

[0038] ;

[0039] ;

[0040] ;

[0041] ;

[0042] wherein, V is the propulsion speed; N is the rotation speed; M is the rotation torque; F is the propulsion force, ε is the bit wear degree coefficient; is the correction value of the propulsion speed, is the correction model of the propulsion speed; is the correction value of the rotation speed, is the correction model of the rotation speed; is the correction value of the propulsion force, is the correction model of the propulsion force; is the correction value of the rotation torque, is the correction model of the rotation torque; a 1 and b 1 are respectively the fitting coefficient and the fitting constant between the weight-on-bit increment caused by bit wear and the bit wear degree coefficient, a 2 and b 2 are respectively the fitting coefficient and the fitting constant between the torque increment caused by bit wear and the bit wear degree coefficient.

[0043] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0044] The present invention provides a modular drill rig and method for quickly detecting rock mass strength parameters, which can realize on-site surrounding rock drilling in all-round and high-low position modes under different geological conditions, realize 360° all-round angle adjustment and high-low position hole opening operations at any height between 700 - 2900 mm, and simultaneously monitor and analyze the parameters while drilling in real time, so as to realize the prediction of the accurate value of the rock mass hardness under in-situ conditions.

[0045] The present invention provides a modular drill rig and method for quickly detecting rock mass strength parameters. By using the modular drill rig to carry out drilling detection on the on-site surrounding rock, establishing a relationship between the parameters while drilling and the rock mass fragmentation specific energy based on the obtained parameters while drilling, fitting the rock mass fragmentation specific energy and the rock mass hardness to obtain a prediction model of the rock mass hardness while drilling, and defining the bit wear degree coefficient, and using the bit wear degree coefficient to correct the real-time parameters while drilling, so as to obtain a more accurate prediction value of the rock mass hardness while drilling, realizing the prediction of the accurate value of the rock mass hardness under in-situ conditions, and providing an intelligent device and acquisition method for accurately and real-time in-situ acquisition of the hardness of the surrounding rock of underground engineering.

[0046] Advantages of additional aspects of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings forming a part of this specification are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0048] Figure 1 is a schematic structural diagram of a modular drill rig capable of quickly detecting rock mass strength parameters provided in Embodiment 1 of the present invention;

[0049] Figure 2 is a technical route diagram of a method for quickly detecting rock mass strength parameters provided in Embodiment 2 of the present invention;

[0050] Among them, 1. continuous drilling subsystem, 2. hydraulic loading subsystem, 3. remote control monitoring subsystem, 4. autonomous positioning subsystem, 5. explosion-proof displacement sensor, 6. intrinsically safe rotary speed sensor, 7. explosion-proof rotary torque sensor, 8. intrinsically safe pressure sensor. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0051] The present invention will be further described below in conjunction with the drawings and embodiments.

[0052] It should be noted that the following detailed descriptions are all exemplary and are intended to provide further explanations of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0053] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless otherwise clearly specified in the context, the singular forms are also intended to include the plural forms. In addition, it should be understood that the terms "comprising" and "including" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0054] In the case of no conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0055] Embodiment 1

[0056] As Figure 1As shown in the figure, this embodiment provides a modular drill rig capable of quickly detecting rock mass strength parameters, including:

[0057] A continuous drilling subsystem 1 for drilling the surrounding rock at the site;

[0058] A hydraulic loading subsystem 2 for providing drilling power to the continuous drilling subsystem;

[0059] An autonomous positioning subsystem 4 for controlling the continuous drilling subsystem to drill at different angles and different heights;

[0060] A remote control and monitoring subsystem 3 for collecting parameters while drilling. After correcting the parameters while drilling according to the defined bit wear degree coefficient, a prediction model for rock mass hardness while drilling is used to obtain a predicted value of rock mass hardness. Among them, the prediction model for rock mass hardness while drilling is: by constructing the relationship between the parameters while drilling and the rock mass fragmentation energy, and by fitting the relationship between the rock mass fragmentation energy and the rock mass hardness, a prediction model for rock mass hardness while drilling based on the parameters while drilling is constructed.

[0061] In this embodiment, the continuous drilling subsystem 1 realizes drilling of the surrounding rock at the underground engineering site, mainly including parts such as a drilling guide rail and drill pipes. Existing devices for drilling the surrounding rock can be used as long as they can achieve the same function, and details will not be elaborated here.

[0062] In this embodiment, the hydraulic loading subsystem 2 provides drilling power through hydraulic pressure, pushing the drill pipes of the continuous drilling subsystem to drill the surrounding rock at the site. It mainly includes parts such as a motor and a hydraulic cylinder. Existing devices for hydraulic loading can be used as long as they can achieve the same function, and details will not be elaborated here.

[0063] In this embodiment, the autonomous positioning subsystem 4 can control the drill rig through local operation and wireless remote control, control the movement of the drill rig, and at the same time control the drill pipes of the continuous drilling subsystem to perform all-round drilling and high-low position hole opening, so as to realize drilling of the surrounding rock at different angles and different height positions.

[0064] As an alternative embodiment, the autonomous positioning subsystem 4 mainly includes parts such as a main machine and a crawler frame. The main machine can rotate and position on the crawler frame to achieve 360° all-round angle adjustment and high-low position hole opening operations at any height between 700 - 2900 mm.

[0065] It can be understood that the more specific structures of the continuous drilling subsystem, the hydraulic loading subsystem, and the autonomous positioning subsystem are not limited. Conventional devices can be used as long as they can achieve the same function.

[0066] In this embodiment, the remote monitoring subsystem 3 is used to control the propulsion speed and rotation speed during the drilling process, and implement real-time monitoring and analysis of the drilling parameters such as the drilling depth, propulsion speed, rotation speed, propulsion force, and rotation torque through sensors.

[0067] As an alternative embodiment, in the remote monitoring subsystem 3, the drilling displacement, rotation speed, rotation torque, and propulsion force are respectively collected by the explosion-proof displacement sensor 5, intrinsically safe rotation speed sensor 6, explosion-proof rotation torque sensor 7, and intrinsically safe pressure sensor 8. At the same time, the propulsion speed is obtained based on the drilling displacement, and the drilling parameters are analyzed in real time by the processing module to achieve the prediction of the rock mass hardness.

[0068] In this embodiment, the process of the processing module analyzing the drilling parameters in real time includes:

[0069] (1) By performing a mechanical analysis on the rock mass drilling process, establishing the relationship between the drilling parameters and the rock mass fragmentation specific energy based on the principle of energy conservation:

[0070] ;

[0071] In the formula, δ is the rock mass fragmentation specific energy, that is, the energy required to cut and break a unit volume of rock mass; V is the propulsion speed; N is the rotation speed; M is the rotation torque; F is the propulsion force, R is the bit radius, L is the main cutting edge length of the bit cutting edge, l is the secondary cutting edge length of the bit cutting edge, μ is the friction coefficient between the bit and the rock at the bottom of the hole.

[0072] (2) By performing the Proctor hardness test on the rock mass specimen to obtain the Proctor hardness value of the rock mass, performing regression analysis on the rock mass fragmentation specific energy and the rock mass hardness, fitting the relationship between the rock mass fragmentation specific energy and the rock mass hardness, and combining the relationship between the drilling parameters and the rock mass fragmentation specific energy, establishing a real-time prediction model of the rock mass hardness based on the drilling parameters:

[0073] ;

[0074] In the formula, f represents the hardness of the measured rock mass, α and β are the fitting coefficient and fitting constant respectively.

[0075] (3) Define the bit wear degree coefficient, and correct the collected parameters while drilling through the bit wear degree coefficient, so as to eliminate the influence of bit wear on the parameters while drilling, and substitute them into the prediction model of rock hardness while drilling to obtain a more accurate predicted value of rock hardness.

[0076] Specifically: To calculate the service life of the bit when drilling a rock mass with a certain hardness, establish the relationship between the working life of the bit and the rock hardness, and define the bit wear degree coefficient according to the working life of the bit:

[0077] ;

[0078] ;

[0079] In the formula, W is the service life of the bit when drilling a rock mass with a certain hardness, W 0 is the standard service life of the bit, k is a parameter related to the bit life, ε is the bit wear degree coefficient.

[0080] Correct the parameters while drilling based on the bit wear degree coefficient. The correction models for the four parameters while drilling are respectively:

[0081] ;

[0082] ;

[0083] ;

[0084] ;

[0085] In the formula, is the corrected value of the penetration rate, is the correction model of the penetration rate; is the corrected value of the rotary speed, is the correction model of the rotary speed; is the corrected value of the penetration force, is the correction model of the penetration force; is the corrected value of the rotary torque, is the correction model of the rotary torque; a 1 and b 1 are respectively the fitting coefficient and the fitting constant between the weight-on-bit increment caused by bit wear and the bit wear degree coefficient, a 2 and b 2 are respectively the fitting coefficient and the fitting constant between the torque increment caused by bit wear and the bit wear degree coefficient.

[0086] In this embodiment, substituting the real-time measured drilling parameters into the prediction model of rock hardness during drilling can obtain the equivalent hardness of the rock during drilling. After correcting the drilling parameters according to the defined bit wear coefficient and then substituting them into the prediction model of rock hardness during drilling, an accurate predicted value of rock hardness can be obtained.

[0087] Embodiment 2

[0088] As Figure 2 shown, this embodiment provides a method for quickly detecting rock strength parameters, including:

[0089] (1) Conducting digital drilling tests on the surrounding rock through the modular drilling rig described in Embodiment 1 to obtain the drilling parameters during drilling, including the penetration rate, rotary speed, thrust, and rotary torque.

[0090] (2) Establishing a relationship between the rock fragmentation energy and the drilling parameters.

[0091] (3) Conducting a Protodyakonov hardness test on the rock to obtain the Protodyakonov hardness value of the rock.

[0092] (4) Conducting a regression analysis on the rock hardness and the rock fragmentation energy, fitting the relationship between the rock fragmentation energy and the rock hardness, and combining the relationship between the rock fragmentation energy and the drilling parameters to construct a prediction model of rock hardness during drilling based on the drilling parameters;

[0093] (5) Defining a bit wear coefficient, correcting the collected drilling parameters through the bit wear coefficient to eliminate the influence of bit wear on the drilling parameters, and substituting them into the prediction model of rock hardness during drilling to obtain a more accurate predicted value of rock hardness.

[0094] In this embodiment, through a mechanical analysis of the rock drilling process, a relationship between the drilling parameters and the rock fragmentation energy is established based on the principle of energy conservation:

[0095] ;

[0096] In the formula, δ is the rock fragmentation energy, that is, the energy required to cut and break a unit volume of rock; V is the penetration rate; N is the rotary speed; M is the rotary torque; F is the thrust; R is the bit radius; L is the main cutting edge length of the bit cutting edge; l is the secondary cutting edge length of the bit cutting edge; μ is the friction coefficient between the bit and the rock at the bottom of the hole.

[0097] In this embodiment, by performing the Proctor hardness test on the rock mass specimen, the Proctor hardness value of the rock mass is obtained. Through the regression analysis of the rock mass fragmentation energy and the rock mass hardness, the relationship between the rock mass fragmentation energy and the rock mass hardness is fitted. Combining the relationship between the parameters while drilling and the rock mass fragmentation energy, a prediction model for the in - situ rock mass hardness based on the parameters while drilling is established: ; where f is the rock mass hardness, α and β are the fitting coefficient and the fitting constant respectively.

[0098] In this embodiment, to calculate the service life of the drill bit when drilling a rock mass with a certain hardness, the relationship between the drill bit service life and the rock mass hardness is established, and the drill bit wear degree coefficient is defined according to the drill bit service life:

[0099] ;

[0100] ;

[0101] where W is the service life of the drill bit when drilling a rock mass with a certain hardness, W 0 is the standard service life of the drill bit, k is the parameter related to the drill bit life, ε is the drill bit wear degree coefficient.

[0102] In this embodiment, based on the drill bit wear degree coefficient, the parameters while drilling are corrected, and the correction models for each parameter while drilling are respectively:

[0103] ;

[0104] ;

[0105] ;

[0106] ;

[0107] where V is the penetration rate; N is the rotary speed; M is the rotary torque; F is the penetration force, ε is the drill bit wear degree coefficient; is the corrected value of the penetration rate, is the correction model of the penetration rate; is the corrected value of the rotary speed, is the correction model of the rotary speed; is the corrected value of the penetration force, is the correction model of the penetration force; is the correction value of the rotary torque, is the correction model of the rotary torque; a 1 and b 1 are respectively the fitting coefficient and the fitting constant between the weight-on-bit increment caused by bit wear and the bit wear degree coefficient, a 2 and b 2 are respectively the fitting coefficient and the fitting constant between the torque increment caused by bit wear and the bit wear degree coefficient.

[0108] In this embodiment, in actual underground engineering, first use a modular drill rig to conduct drilling detection on the surrounding rock of the underground engineering. Substitute the real-time collected parameters while drilling into the prediction model of the rock hardness while drilling, and the equivalent hardness of the rock while drilling can be obtained. Then, correct the parameters while drilling according to the defined bit wear degree coefficient and substitute them into the prediction model of the rock hardness while drilling, and the accurate predicted value of the rock hardness can be obtained.

[0109] Although the specific implementation manners of the present invention are described above in conjunction with the accompanying drawings, it is not a limitation to the protection scope of the present invention. Those skilled in the art should understand that based on the technical solutions of the present invention, various modifications or deformations that can be made by those skilled in the art without creative labor are still within the protection scope of the present invention.

Claims

1. A modular drilling vehicle capable of quickly detecting rock mass strength parameters, characterized in that: include: Continuous drilling subsystem, used to drill into the surrounding rock on site; A hydraulic loading subsystem, used to provide drilling power to the continuous drilling subsystem; Autonomous positioning subsystem, used to control the continuous drilling subsystem to drill at different angles and heights; The remote control monitoring subsystem is used to collect drilling parameters, and after the drilling parameters are corrected according to the defined drill bit wear coefficient, a rock hardness drilling prediction model is used to obtain a rock hardness prediction value; wherein, the rock hardness drilling prediction model is: by constructing a relationship between the drilling parameters and the rock crushing specific energy, and by fitting the relationship between the rock crushing specific energy and the rock hardness, a rock hardness drilling prediction model based on the drilling parameters is constructed; In the remote control monitoring subsystem, the relationship between the drilling parameters and the rock mass crushing specific energy is established by conducting mechanical analysis on the rock mass drilling process: ； In the formula, δ The specific energy of rock mass crushing, that is, the energy required to cut and crush a unit volume of rock mass; V For the propulsion speed; N is the rotation speed; M is the rotation torque; F For propulsion; R is the drill bit radius; L is the main cutting edge length of the drill bit; l is the length of the secondary cutting edge of the drill bit; μ is the friction coefficient between the drill bit and the rock at the bottom of the hole; The construction process of the rock mass hardness prediction while drilling model includes: obtaining the rock mass hardness value by performing a Pusch hardness test on the rock mass sample, fitting the relationship between the rock mass crushing specific energy and the rock mass hardness by performing a regression analysis on the rock mass crushing specific energy and the rock mass hardness, and establishing the rock mass hardness prediction while drilling model by combining the relationship between the drilling parameters and the rock mass crushing specific energy: ; In the formula, f is the rock hardness, α and β are the fitting coefficient and the fitting constant respectively; The drill bit wear coefficient is: By establishing the relationship between the drill bit working life and the rock hardness, and defining the drill bit wear coefficient according to the drill bit working life: ； ； In the formula, W The working life of the drill bit when drilling a rock with a certain hardness. W0 is the standard service life of the drill bit, k is a parameter related to drill bit life, ε is the drill bit wear coefficient.

2. The modular drilling vehicle capable of quickly detecting rock mass strength parameters as claimed in claim 1, characterized in that: The autonomous positioning subsystem performs omnidirectional drilling and high and low position opening by controlling the drill rod of the continuous drilling subsystem, thereby achieving surrounding rock drilling at different angles and different heights.

3. The modular drilling vehicle capable of quickly detecting rock mass strength parameters as claimed in claim 1, characterized in that: The drilling parameters are corrected based on the drill bit wear coefficient. The correction models of each drilling parameter are: ； ； ； ； In the formula, is the correction value of propulsion speed, A revised model for propulsion speed; is the correction value of the rotation speed, is the correction model of the rotation speed; is the correction value of the propulsion force, A revised model for propulsion; is the correction value of the rotation torque, is the correction model of the rotary torque; a1 and b1 are the fitting coefficient and fitting constant between the drilling pressure increment caused by drill bit wear and the drill bit wear degree coefficient, respectively; a2 and b2 are the fitting coefficient and fitting constant between the torque increment caused by drill bit wear and the drill bit wear degree coefficient, respectively.

4. A method for rapidly detecting rock mass strength parameters, characterized in that: include: Obtaining drilling parameters, and building the relationship between the drilling parameters and rock mass crushing specific energy based on the drilling parameters; The rock mass is tested for hardness to obtain the Pugh hardness value of the rock mass, the relationship between rock mass crushing specific energy and rock mass hardness is fitted, and a rock mass hardness prediction model based on the drilling parameters is established by combining the relationship between the drilling parameters and the rock mass crushing specific energy. Obtain real-time drilling parameters, correct the real-time drilling parameters according to the defined drill bit wear coefficient, and use the rock hardness drilling prediction model to obtain the rock hardness prediction value; The construction process of the rock hardness while drilling prediction model includes: Through mechanical analysis of the rock drilling process, the relationship between the drilling parameters and the rock crushing specific energy is established as follows: ; By conducting a Pusch hardness test on a rock sample, the Pusch hardness value of the rock mass is obtained; By performing regression analysis on rock mass crushing specific energy and rock mass hardness, fitting the relationship between rock mass crushing specific energy and rock mass hardness, and combining the relationship between drilling parameters and rock mass crushing specific energy, a rock mass hardness while drilling prediction model is established: ; In the formula, δ The specific energy of rock mass crushing, that is, the energy required to cut and crush a unit volume of rock mass; V For the propulsion speed; N is the rotation speed; M is the rotation torque; F For propulsion; f is the rock mass hardness; R is the drill bit radius; L is the main cutting edge length of the drill bit; l is the length of the secondary cutting edge of the drill bit; μ is the friction coefficient between the drill bit and the rock at the bottom of the hole, α and β are the fitting coefficient and the fitting constant respectively; The drill bit wear coefficient is: By establishing the relationship between the drill bit working life and the rock hardness, and defining the drill bit wear coefficient according to the drill bit working life: ； ； In the formula, W The working life of the drill bit when drilling a rock with a certain hardness. W0 is the standard service life of the drill bit, k is a parameter related to drill bit life, ε is the drill bit wear coefficient.

5. The method for rapidly detecting rock mass strength parameters according to claim 4, characterized in that: The drilling parameters are corrected based on the drill bit wear coefficient. The correction models of each drilling parameter are: ； ； ； ； In the formula, is the correction value of propulsion speed, A revised model for propulsion speed; is the correction value of the rotation speed, is the correction model of the rotation speed; is the correction value of the propulsion force, A revised model for propulsion; is the correction value of the rotation torque, is the correction model of the rotary torque; a1 and b1 are the fitting coefficient and fitting constant between the drilling pressure increment caused by drill bit wear and the drill bit wear degree coefficient, respectively; a2 and b2 are the fitting coefficient and fitting constant between the torque increment caused by drill bit wear and the drill bit wear degree coefficient, respectively.

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