Directional drilling machine capable of being intelligently and remotely monitored and stepping drilling method

Abstract

The invention relates to a directional drilling machine capable of being intelligently and remotely monitored and a stepping type drilling method, and aims to solve the technical problems that an existing drilling machine is large in size, high in cost and large in operation difficulty. According to the technical scheme, the directional drilling machine comprises a drill bit, a jacking oil cylinder, a first opening oil cylinder, an equipment box, a pushing oil cylinder, a second opening oil cylinder and an intelligent control system; the drill bit is arranged at the front end of the jacking oil cylinder, the whole jacking oil cylinder is of a rounded triangular cylinder structure, the first opening oil cylinder is fixedly arranged on the cylindrical surface of the jacking oil cylinder, the jacking oil cylinder and the pushing oil cylinder are connected with the equipment box through the universal joint, and the second opening oil cylinder is fixedly arranged on the cylindrical surface of the pushing oil cylinder. The stepping drilling is realized by alternately stretching and retracting the jacking oil cylinder and the pushing oil cylinder and combining with the opening oil cylinder. Stepping type drilling can be achieved through mutual cooperation of the multiple sets of oil cylinders and the drill bits, the structure is simple, the cost is low, the occupied area is small, and the operation difficulty is low.

Description

Technical Field

[0001] The invention belongs to the technical field of directional drilling, and in particular relates to a directional drilling machine capable of intelligent remote monitoring and a step-by-step drilling method. Background Art

[0002] With the development of geological exploration and mineral mining industries, the requirements for directional drilling rigs in drilling operations such as gas extraction and geological exploration are also increasing. Directional drilling rigs currently used in geological exploration and mineral mining are generally large in size. They not only occupy a large area and are expensive, but also have complex construction operations and high labor intensity for operators. Summary of the invention

[0003] The purpose of the present invention is to solve the above problems and provide a directional drilling rig and a step-by-step drilling method capable of intelligent remote monitoring.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: A directional drilling rig capable of intelligent remote monitoring, comprising a drill bit, a forward bottom hole motor, a jacking cylinder, a plurality of first spreading cylinders, an equipment box, a pushing cylinder, a plurality of second spreading cylinders and an intelligent control system; The drill bit is arranged at the output end of the forward bottom-of-hole motor, and the forward bottom-of-hole motor is arranged at the front end of the jacking cylinder. The jacking cylinder is in the form of a rounded triangular prism structure as a whole. The first plurality of spreading cylinders are evenly and vertically fixed on the three cylindrical surfaces of the jacking cylinder. The equipment box is connected to the rear end surface of the jacking cylinder through a universal joint. The pushing cylinder has the same structure as the jacking cylinder, and its front end surface is connected to the rear end surface of the equipment box through a universal joint. The second plurality of spreading cylinders are evenly and vertically fixed on the three cylindrical surfaces of the pushing cylinder. The three rounded arc surfaces of the jacking cylinder and the pushing cylinder are respectively connected with hydraulic oil pipes, optical cables and water pipes. The hydraulic oil pipes are respectively connected to the jacking cylinder, the first spreading cylinder, the pushing cylinder and the second spreading cylinder and are externally connected to a hydraulic oil tank. The front end of the optical cable is connected to the forward bottom-of-hole motor, the front end of the water pipe is connected to the drill bit, and the rear end is externally connected to circulating water. The intelligent control system includes a data acquisition module, a data processing module and a remote control module. The data acquisition module is connected to the data processing module through optical cables and wires, the data processing module is connected to the remote control module, and the remote control module is electrically connected to the forward bottom hole motor, the jacking cylinder, the first expansion cylinder, the pushing cylinder and the second expansion cylinder respectively; The data acquisition module includes a pressure sensor, a flow sensor, an inertial navigation and a spectral camera; The pressure sensors are used to collect the oil pressure parameters of the oil cylinders during drilling, and are respectively installed on the oil inlet pipelines of the jacking oil cylinder, the first spreading oil cylinder, the pushing oil cylinder, and the second spreading oil cylinder; The flow sensors are used to collect the oil flow parameters of the oil cylinders during drilling, and are respectively installed at the oil inlet or oil outlet straight pipe sections of the jacking cylinder, the first expansion cylinder, the push cylinder, and the second expansion cylinder; The inertial navigation system is used to monitor the spatial position of the drill bit in real time to achieve precise trajectory control. It is installed on the proximal sub of the drill bit and is also equipped with a geological sensor. The spectral camera is used to analyze the spectral characteristics of the rock and soil in front of the drill bit to assist in determining the geological structure, identify pollutants such as petroleum hydrocarbons and heavy metals in the soil, avoid secondary environmental damage, detect dangerous gases such as methane and hydrogen sulfide using near-infrared spectroscopy, and dynamically adjust the drilling pressure and rotation speed in combination with rock hardness data to reduce the wear rate of the drill bit. It is installed on the proximal short section of the drill bit; A power module is provided in the equipment box, and the power module is electrically connected to the pressure sensor, the flow sensor, the inertial navigation and the spectral camera respectively to provide power; The optical cable wires are electrically connected to the pressure sensor, the flow sensor, the inertial navigation and the spectral camera respectively.

[0005] Furthermore, a retraction bottom motor is reversely installed on the rear end surface of the pushing oil cylinder, a retraction drill bit is installed on the output end of the retraction bottom motor, the retraction bottom motor is electrically connected to the remote control module through optical cables and wires, and the retraction drill bit is connected to the water pipe.

[0006] Furthermore, the retractable drill bit is a hollow drill bit.

[0007] Furthermore, support plates are provided on the outer end surfaces of the plurality of first spreading cylinders and the second spreading cylinders.

[0008] Furthermore, the equipment box adopts a push-pull door structure.

[0009] A step-by-step drilling method capable of intelligent remote monitoring, characterized in that it comprises the following steps: Step 1) Drilling rig preparation: The first and second extension cylinders are in the retracted state, the drilling rig is placed in the drilling operation area, the drill bit is aligned with the drilling surface, the hydraulic oil pipe, optical cable wire and water pipe are connected, and a fixed top block is placed at the rear end of the drilling rig before drilling; Step 2) Start the forward bottom hole motor through the intelligent control system to drive the drill bit to start drilling the drilling surface, and start the jacking cylinder at the same time. The jacking cylinder extends to apply a forward jacking force to the forward bottom hole motor and the drill bit, so that the drill bit moves forward while drilling. After the drill bit drills a hole with a length L1 equal to the length L of the entire drilling rig, the jacking cylinder stops extending; Step 3) Start the push cylinder, extend the push cylinder, apply a forward push force to the jacking cylinder through the equipment box, and control the jacking cylinder to retract back to the initial state while moving forward, until the drill bit, the forward bottom hole motor and the jacking cylinder completely enter the front end of the hole L1. At this time, the push cylinder stops extending forward and the jacking cylinder stops moving forward; Step 4) Start the first expansion cylinder to extend synchronously. The first expansion cylinder applies an outward expansion force to the side wall of the hole L1 from three directions at the same time until the hole is expanded to the desired aperture. The expansion stops; Step 5) Keep the first expansion cylinder against the side wall of the hole, and control the extension of the jacking cylinder and the contraction of the push cylinder. The jacking cylinder applies a forward force to the forward bottom hole motor and the drill bit, so that the drill bit drills the second hole of length L2. The push cylinder contracts, pulling the push cylinder and subsequent equipment forward into the hole L1. After the second hole of length L2 is drilled, control the first expansion cylinder to contract to the initial state; Step 6) Start the push cylinder and the jacking cylinder again. The push cylinder extends while the jacking cylinder contracts back to its initial state. The push cylinder extends and pushes the jacking cylinder forward until the drill bit, the forward bottom hole motor and the jacking cylinder move to the front end of the hole L2. Step 7) Start the first expansion cylinder to expand the side wall of the hole L2. After expanding to the designed hole diameter, keep the first expansion cylinder stationary, retract the push cylinder, and drag the push cylinder and subsequent equipment into the hole L2; Step 8) Start the second expansion cylinder to extend it to support the side wall of the hole L2, and then control the first expansion cylinder to shrink to the initial state; Step 9) Continuously repeat the process from step 2) to step 8), and at the same time, monitor and adjust the posture of the drill bit through the intelligent control system, so as to realize step-by-step directional drilling; When exiting in step 10), start the retracting bottom hole motor to drive the retracting drill bit to rotate, and at the same time continuously repeat the process from step 2) to step 8) in reverse to allow the drill to slowly exit the drilling hole.

[0010] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention adopts a jacking cylinder and a pushing cylinder to push the drill bit forward. By alternately extending and retracting the jacking cylinder and the pushing cylinder in combination with the opening cylinder, step-by-step drilling can be achieved, and the operation is simple; 2. The present invention can achieve drilling through the cooperation of multiple groups of oil cylinders and drill bits, which greatly simplifies the structure of traditional drilling rigs. It is not only simple in structure, low in cost, small in floor space, but also low in operation difficulty; 3. The jacking cylinder and the pushing cylinder of the present invention are both rounded triangular column structures, and the opening cylinders are evenly arranged on the column surface, and can evenly apply outward force to the drill hole from three different directions, thereby realizing hole expansion, with fewer operation steps, greatly reducing the operation cost; 4. The present invention can monitor the operating status of the drilling rig in real time through the intelligent monitoring system, collect data such as geological structure, rock hardness, position of the drill bit, movement trajectory, etc., and control and adjust the operating status of the drilling rig in real time accordingly.

[0011] 5. The present invention is provided with a retracting bottom hole motor and a retracting drill bit in the reverse direction at the rear end of the drilling rig, which can ensure that the drilling rig can be smoothly retracted when retracting. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a schematic diagram of the structure of the jacking cylinder of the present invention; Figure 3 It is a schematic diagram of the connection structure of the control system of the present invention; Figure 4 It is a schematic diagram of the step-by-step drilling method of the present invention; In the figure: 1. Drill bit; 2. Forward bottom hole motor; 3. Push cylinder; 4. First expansion cylinder; 5. Equipment box; 6. Push cylinder; 7. Second expansion cylinder; 8. Retract bottom hole motor; 9. Retract drill bit; 10. Hydraulic oil pipe; 11. Communication optical cable; 12. Water pipe; 13. Support plate. DETAILED DESCRIPTION

[0013] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0014] like Figure 1-3 As shown, a directional drilling rig capable of intelligent remote monitoring includes a drill bit 1, a forward bottom hole motor 2, a jacking cylinder 3, a plurality of first spreading cylinders 4, an equipment box 5, a pushing cylinder 6, a plurality of second spreading cylinders 7 and an intelligent control system; The drill bit 1 is arranged at the output end of the forward hole bottom motor 2, and the forward hole bottom motor 2 is arranged at the front end of the jacking cylinder 3. The jacking cylinder 3 is an overall rounded triangular prism structure. The several first spreading cylinders 4 are evenly and vertically fixed on the three cylindrical surfaces of the jacking cylinder 3. The outer end surfaces of the several first spreading cylinders 4 are provided with support plates 13. The equipment box 5 adopts a push-pull door structure to facilitate the removal and maintenance of tools and accessories. It is connected to the rear end surface of the jacking cylinder 3 through a universal joint. The pushing cylinder 6 has the same structure as the jacking cylinder 3, and its front end surface is connected to the rear end surface of the equipment box 5 through a universal joint. The several second spreading cylinders 7 are evenly and vertically fixed on the three cylindrical surfaces of the pushing cylinder 6. The outer ends of the several second spreading cylinders 7 A support plate 13 is provided on the surface to apply uniform supporting force to the side wall of the borehole. A retracting bottom hole motor 8 is reversely installed on the rear end surface of the pushing oil cylinder 6. A retracting hollow drill bit 9 is installed on the output end of the retracting bottom hole motor 8 to ensure that the drilling rig can smoothly withdraw from the borehole. The three fillet arc surfaces of the jacking oil cylinder 3 and the pushing oil cylinder 6 are respectively connected with hydraulic oil pipes 10, optical cables and wires 11 and water pipes 12. The hydraulic oil pipes 10 are respectively connected to the jacking oil cylinder 3, the first opening oil cylinder 4, the pushing oil cylinder 6 and the second opening oil cylinder 7 and are externally connected to a hydraulic oil tank. The front end of the optical cable and wire 11 is connected to the forward bottom hole motor 2 and the retracting bottom hole motor 8, and the rear end is electrically connected to the remote control module. The front end of the water pipe 12 is connected to the drill bit 1 and the retracting drill bit 9, and the rear end is externally connected to circulating water. The intelligent control system includes a data acquisition module, a data processing module and a remote control module. The data acquisition module is connected to the data processing module through an optical cable 11, and the data processing module is connected to the remote control module. The remote control module is electrically connected to the forward bottom hole motor 2, the jacking cylinder 3, the first opening cylinder 4, the pushing cylinder 6 and the second opening cylinder 7 respectively; The data acquisition module includes a pressure sensor, a flow sensor, an inertial navigation and a spectral camera; The pressure sensors are used to collect the oil pressure parameters of the oil cylinders during drilling, and are respectively installed on the oil inlet pipelines of the jacking oil cylinder 3, the first spreading oil cylinder 4, the pushing oil cylinder 6, and the second spreading oil cylinder 7; The flow sensors are used to collect the oil flow parameters of the oil cylinders during drilling, and are respectively installed at the oil inlet or oil outlet straight pipe sections of the jacking cylinder 3, the first spreading cylinder 4, the pushing cylinder 6, and the second spreading cylinder 7; The inertial navigation is used to monitor the spatial position of the drill bit in real time to achieve precise trajectory control. It is installed on the proximal short section of the drill bit 1, and a geological sensor is also installed; The spectral camera is used to analyze the spectral characteristics of the rock and soil in front of the drill bit to assist in determining the geological structure, identify pollutants such as petroleum hydrocarbons and heavy metals in the soil, avoid secondary environmental damage, detect dangerous gases such as methane and hydrogen sulfide using near-infrared spectroscopy, and dynamically adjust the drilling pressure and rotation speed in combination with the rock hardness data to reduce the wear rate of the drill bit. It is installed on the proximal short section of the drill bit 1; The equipment box 5 is provided with a power module, and the power module is electrically connected to the pressure sensor, flow sensor, inertial navigation and spectral camera respectively to provide power; The optical cable wires 11 are electrically connected to the pressure sensor, flow sensor, inertial navigation and spectral camera respectively.

[0015] A step-by-step drilling method using a directional drilling machine capable of intelligent remote monitoring comprises the following steps: Step 1) Drilling rig preparation: The first extension cylinder 4 and the second extension cylinder 7 are in a retracted state, the drilling rig is placed in the drilling operation area, the drill bit 1 is aligned with the drilling surface, the hydraulic oil pipe 10, the optical cable 11 and the water pipe 12 are connected, and a fixed top block is placed at the rear end of the drilling rig before drilling, so that when the subsequent jacking cylinder 3 and the push cylinder 6 are extended to apply a forward jacking force to the drill bit 1, the drilling rig will not move backward; Step 2) Start the forward bottom hole motor 2 through the intelligent control system to drive the drill bit 1 to start drilling the drilling surface, and start the jacking cylinder 3 at the same time. The jacking cylinder 3 extends to apply a forward jacking force to the forward bottom hole motor 2 and the drill bit 1, so that the drill bit 1 moves forward while drilling, until the drill bit 1 drills a hole with a length L1 equal to the entire drilling rig length L, and the jacking cylinder 3 stops extending; Step 3) Start the push cylinder 6, which extends and applies a forward push force to the jacking cylinder 3 through the equipment box 5. While the jacking cylinder 3 moves forward, it is controlled to retract back to the initial state until the drill bit 1, the forward bottom hole motor 2 and the jacking cylinder 3 completely enter the front end of the hole L1. At this time, the push cylinder 6 stops extending forward and the jacking cylinder 3 stops moving forward; Step 4) Start the first expansion cylinder 4 to extend synchronously. The first expansion cylinder 4 applies an outward expansion force to the side wall of the hole L1 from three directions simultaneously until the hole is expanded to the desired aperture, and then stops extending. Step 5) Keep the first spreading cylinder 4 against the side wall of the hole, and at the same time control the extension of the jacking cylinder 3 and the contraction of the pushing cylinder 6. The jacking cylinder 3 applies a forward pushing force to the forward bottom hole motor 2 and the drill bit 1, so that the drill bit 1 drills the second hole of length L2. The pushing cylinder 6 contracts, pulling the pushing cylinder 6 and subsequent equipment to move forward into the hole L1. After the second hole of length L2 is drilled, control the first spreading cylinder 4 to contract to the initial state; Step 6) Start the push cylinder 6 and the jacking cylinder 3 again. The push cylinder 6 extends while the jacking cylinder 3 contracts back to the initial state. The push cylinder 6 extends and pushes the jacking cylinder 3 forward until the drill bit 1, the forward bottom hole motor 2 and the jacking cylinder 3 move to the front end of the hole L2. Step 7) Start the first expansion cylinder 4 to expand the side wall of the hole L2. After expanding to the designed hole diameter, keep the first expansion cylinder 4 stationary, retract the push cylinder 6, and drag the push cylinder 6 and subsequent equipment into the hole L2; Step 8) Start the second expansion cylinder 7 to extend it to support the side wall of the hole L2, and then control the first expansion cylinder 4 to contract to the initial state; Step 9) Continuously repeat the process from step 2) to step 8), and monitor and adjust the posture of the drill bit 1 through the intelligent control system at the same time, so as to realize step-by-step directional drilling. During the drilling process, the data collected by the pressure sensor, flow sensor, inertial navigation and spectral camera are transmitted to the data processing module in real time for data analysis and processing, and then transmitted to the remote control module and displayed on the display in real time. The operator monitors the operating status of the drill bit, various oil cylinders, geological structure in the borehole, rock hardness data and the position and movement trajectory of the drill bit 1 in real time on the display, and controls and adjusts the operation of the drilling rig in real time accordingly. The water pipe 12 is connected to the circulating water. When the drill bit 1 is drilling, the sand and water at the front end are mixed to form mud and sand, which flows out along the circulating water return pipe to ensure that the drill bit 1 can operate normally. When exiting in step 10), the retracting bottom hole motor 8 is started to drive the retracting drill bit 9 to rotate, and the process from step 2) to step 8) is continuously repeated in reverse, so that the drill rig slowly exits the drilling hole.

Claims

1. A directional drilling rig capable of intelligent remote monitoring, characterized in that: It comprises a drill bit (1), a forward hole bottom motor (2), a jacking cylinder (3), a plurality of first spreading cylinders (4), an equipment box (5), a pushing cylinder (6), a plurality of second spreading cylinders (7) and an intelligent control system; The drill bit (1) is arranged at the output end of the forward hole bottom motor (2), and the forward hole bottom motor (2) is arranged at the front end of the jacking cylinder (3). The jacking cylinder (3) is a rounded triangular prism structure as a whole. The plurality of first spreading cylinders (4) are evenly and vertically fixed on the three cylindrical surfaces of the jacking cylinder (3). The equipment box (5) is connected to the rear end face of the jacking cylinder (3) through a universal joint. The pushing cylinder (6) has the same structure as the jacking cylinder (3), and its front end face is connected to the rear end face of the equipment box (5) through a universal joint. The plurality of second spreading cylinders (4) are connected to the rear end face of the equipment box (5) through a universal joint. The cylinder (7) is evenly and vertically fixed on the three cylindrical surfaces of the pushing oil cylinder (6); the three rounded arc surfaces of the pushing oil cylinder (3) and the pushing oil cylinder (6) are respectively connected with hydraulic oil pipes (10), optical cables (11) and water pipes (12); the hydraulic oil pipes (10) are respectively connected with the pushing oil cylinder (3), the first spreading oil cylinder (4), the pushing oil cylinder (6) and the second spreading oil cylinder (7) and are externally connected to a hydraulic oil tank; the front end of the optical cable (11) is connected to the forward bottom hole motor (2); the front end of the water pipe (12) is connected to the drill bit (1) and the rear end is externally connected to circulating water; The intelligent control system comprises a data acquisition module, a data processing module and a remote control module, wherein the data acquisition module is connected to the data processing module via an optical cable (11), the data processing module is connected to the remote control module, and the remote control module is electrically connected to the forward bottom hole motor (2), the jacking cylinder (3), the first spreading cylinder (4), the pushing cylinder (6) and the second spreading cylinder (7) respectively; The data acquisition module includes a pressure sensor, a flow sensor, an inertial navigation and a spectral camera; The pressure sensors are used to collect the oil pressure parameters of the oil cylinders during drilling, and are respectively installed on the oil inlet pipelines of the jacking oil cylinder (3), the first spreading oil cylinder (4), the pushing oil cylinder (6) and the second spreading oil cylinder (7); The flow sensors are used to collect the oil flow parameters of the oil cylinders during drilling, and are respectively installed on the straight pipe sections of the oil inlets or oil outlets of the jacking cylinder (3), the first spreading cylinder (4), the pushing cylinder (6) and the second spreading cylinder (7); The inertial navigation system is used to monitor the spatial position of the drill bit in real time to achieve precise trajectory control, and is installed on the proximal short section of the drill bit (1), and is also equipped with a geological sensor; The spectral camera is used to analyze the spectral characteristics of the rock and soil in front of the drill bit to assist in determining the geological structure, identify pollutants such as petroleum hydrocarbons and heavy metals in the soil, avoid secondary environmental damage, detect dangerous gases such as methane and hydrogen sulfide using near-infrared spectroscopy, and dynamically adjust the drilling pressure and rotation speed in combination with rock hardness data to reduce the wear rate of the drill bit. The camera is installed on the proximal short section of the drill bit (1); The equipment box (5) is provided with a power module, and the power module is electrically connected to the pressure sensor, the flow sensor, the inertial navigation and the spectral camera respectively to provide power; The optical cable wires (11) are electrically connected to the pressure sensor, the flow sensor, the inertial navigation and the spectral camera respectively.

2. A directional drilling rig capable of intelligent remote monitoring according to claim 1, characterized in that: A retracting bottom hole motor (8) is reversely mounted on the rear end surface of the pushing oil cylinder (6), a retracting drill bit (9) is mounted on the output end of the retracting bottom hole motor (8), the retracting bottom hole motor (8) is electrically connected to a remote control module via an optical cable (11), and the retracting drill bit (9) is connected to a water pipe (12).

3. A directional drilling rig capable of intelligent remote monitoring according to claim 2, characterized in that: The retraction drill bit (9) is a hollow drill bit.

4. The directional drilling rig capable of intelligent remote monitoring according to claim 1, characterized in that: Support plates (13) are provided on the outer end surfaces of the plurality of first spreading oil cylinders (4) and the second spreading oil cylinders (7).

5. The directional drilling rig capable of intelligent remote monitoring according to claim 1, characterized in that: The equipment box (5) adopts a push-pull door structure.

6. A step-by-step drilling method using a directional drilling machine capable of intelligent remote monitoring as claimed in any one of claims 1 to 5, characterized in that: The steps include: Step 1) Drilling rig preparation: the first expansion cylinder (4) and the second expansion cylinder (7) are in a retracted state, the drilling rig is placed in the drilling operation area, the drill bit (1) is aligned with the drilling surface, the hydraulic oil pipe (10), the optical cable (11) and the water pipe (12) are connected, and a fixed top block is placed at the rear end of the drilling rig before drilling; Step 2) The forward bottom hole motor (2) is started through the intelligent control system to drive the drill bit (1) to start drilling the drilling surface, and the jacking cylinder (3) is started at the same time. The jacking cylinder (3) is extended to apply a forward jacking force to the forward bottom hole motor (2) and the drill bit (1), so that the drill bit (1) moves forward while drilling, until the drill bit (1) drills a hole with a length L1 equal to the entire drilling rig length L, and the jacking cylinder (3) stops extending; Step 3) Start the push cylinder (6), the push cylinder (6) extends, and applies a forward pushing force to the jacking cylinder (3) through the equipment box (5). While the jacking cylinder (3) moves forward, it is controlled to retract back to the initial state until the drill bit (1), the forward bottom hole motor (2) and the jacking cylinder (3) completely enter the front end of the hole L1. At this time, the push cylinder (6) stops extending forward, and the jacking cylinder (3) stops moving forward; Step 4) starting the first expansion cylinder (4) to extend synchronously, the first expansion cylinder (4) applies an outward expansion force to the side wall of the hole L1 from three directions simultaneously, and stops extending when the hole is expanded to the hole diameter required by the design; Step 5) Keep the first expansion cylinder (4) against the side wall of the hole, and at the same time control the extension of the jacking cylinder (3) and the contraction of the push cylinder (6). The jacking cylinder (3) applies a forward push force to the forward bottom hole motor (2) and the drill bit (1), so that the drill bit (1) drills the second hole of length L2. The push cylinder (6) contracts, pulling the push cylinder (6) and subsequent equipment forward into the hole L1. After the second hole of length L2 is drilled, control the first expansion cylinder (4) to contract to the initial state. Step 6) Start the push cylinder (6) and the jacking cylinder (3) again, the push cylinder (6) extends while the jacking cylinder (3) contracts back to the initial state, the push cylinder (6) extends to push the jacking cylinder (3) forward until the drill bit (1), the forward bottom hole motor (2) and the jacking cylinder (3) move to the front end of the hole L2; Step 7) Start the first expansion cylinder (4) to expand the side wall of the hole L2. After the hole is expanded to the designed diameter, keep the first expansion cylinder (4) stationary, retract the push cylinder (6), and drag the push cylinder (6) and subsequent equipment into the hole L2; Step 8) starting the second expansion cylinder (7) to extend it to press against the side wall of the hole L2, and then controlling the first expansion cylinder (4) to contract to its initial state; Step 9) Continuously repeat the process from step 2) to step 8), and at the same time, monitor and adjust the posture of the drill bit (1) through the intelligent control system, so as to achieve step-by-step directional drilling; When exiting in step 10), the retracting bottom hole motor (8) is started to drive the retracting drill bit (9) to rotate, and the process from step 2) to step 8) is continuously repeated in reverse, so that the drill rig slowly exits the drilling hole.

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