While-drilling intelligent rock drill and method for self-calibrating tunnel blast hole drilling track

Abstract

The invention discloses a while-drilling intelligent rock drill and method for self-calibrating a tunnel blast hole drilling track, and the while-drilling intelligent rock drill comprises a rock drill main body, a drill rod, a drill bit, an air leg, a monitoring module, an execution module and a control module, the monitoring module is used for receiving and collecting real-time data such as the drilling depth, the drill bit posture, the linear speed, the angular speed and the contact pressure of a drill bit and a rock stratum in real time and transmitting the data to the control module. The control module is used for receiving data of the monitoring module in real time, drawing an actual drilling track of a drill hole, calculating a drill hole deviation with a preset track, predicting lithology change in combination with an LSTM deep learning model, and outputting a correction instruction to the execution module; and the execution module dynamically adjusts the drilling deviation according to the received correction instruction. The method is realized based on the intelligent rock drill while drilling. The system has the advantages that the system has good real-time deviation monitoring and automatic calibration capabilities, the drilling precision can be effectively improved, and the problem of drilling deviation caused by lithology changes and personal errors is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel blast hole construction, and specifically relates to a down-the-hole intelligent rock drill and method for self-calibrating the drilling trajectory of tunnel blast holes. Background Art

[0002] As the core construction technology for underground engineering excavation, the drilling quality control of the drill-and-blast method directly determines the blasting effect and engineering safety performance. During the process of blast hole formation, the hole position deviation caused by the deviation of the drill bit trajectory not only destroys the spatial layout law of the blast hole group, but also leads to the imbalance of the blasting energy distribution, significantly weakening the forming control ability of the tunnel face contour, causing engineering defects such as overbreak or underbreak, and even potentially triggering blasting safety accidents in severe cases.

[0003] In addition, the influence of rock mass characteristics on drilling accuracy also shows significant differences: when operating in hard rock formations, the high compressive strength causes severe vibration of the drill tool system. If key parameters such as rotational speed and thrust are not dynamically optimized, it will accelerate the wear of the drill bit and cause progressive trajectory deviation; while in soft and broken strata, the poor self-stability of the rock mass easily leads to abnormal working conditions such as hole collapse, resulting in sudden position deviation of the drill hole. Secondly, the current rock drilling construction technology still has significant human factors engineering shortcomings. Although experienced operators can adjust the drilling strategy in a timely manner through tactile feedback, the industry generally lacks standardized operation procedures, and the experience differences and subjective judgment deviations of different operators often lead to fluctuations in construction quality.

[0004] To sum up, in the face of different geological environments, how to real-time sense and quickly correct the deviation of the drill hole (i.e., blast hole) during the drilling process is the key to improving construction efficiency and accuracy. Traditional rock drills lack real-time deviation monitoring and automatic calibration capabilities, and often rely on manual experience for adjustment, resulting in problems such as lag in calibration, low accuracy, and strong subjective factors. For example, the Chinese invention patent with the publication number CN105113987B proposes a down-the-hole measurement and orientation drilling equipment and construction method for soft-hard interbedded coal seams along the seam. Its downhole drill string integrates components such as a directional drill bit and a non-magnetic instrument outer tube equipped with a down-the-hole measurement instrument string. By collecting the drill bit inclination angle, up-down displacement, and left-right displacement every 3 meters, and then manually comparing the actual drilling trajectory with the designed trajectory, and then correcting the drill hole. This patent has serious lag in real-time sensing and deviation correction capabilities.

[0005] In view of the lack of real-time sensing and calibration deviation correction capabilities of traditional rock drills, this application combines down-the-hole measurement technology to propose a down-the-hole intelligent rock drill and method for self-calibrating the drilling trajectory of tunnel blast holes with self-sensing, self-judging, and self-adjusting capabilities, so as to solve the problem of deviation of the drill hole drilling trajectory caused by lithology changes and human errors, thereby improving the drilling accuracy of blast holes. Summary of the Invention

[0006] The object of the present invention is to provide a downhole intelligent rock drill for self-calibrating the drilling trajectory of tunnel blast holes, which has the capabilities of self-sensing, self-judging, and self-adjusting, and is used to solve the problem of the deviation of the blast hole drilling trajectory caused by lithology changes and human errors in the background technology.

[0007] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0008] On the one hand, a downhole intelligent rock drill for self-calibrating the drilling trajectory of tunnel blast holes is provided, which includes a rock drill body, a drill pipe arranged at the front end of the rock drill body, a drill bit arranged at the front end of the drill pipe, and an air leg arranged at the bottom of the rock drill body. It also includes a monitoring module, an execution module, and a control module. The monitoring module includes a laser ranging sensor, an inertial sensing unit, and a pressure sensor. The laser ranging sensor, the inertial sensing unit, and the pressure sensor are all wirelessly communicatively connected to the control module. The execution module includes a control air valve, a horizontal rotation base, and a telescopic rod. The control air valve is fixed on the horizontal rotation base and is connected to the air leg. The horizontal rotation base is arranged on the rock drill body. One end of the telescopic rod is hinged to the rock drill body, and the other end is hinged to the horizontal rotation base. The control air valve is also wirelessly communicatively connected to the control module.

[0009] Further, the laser ranging sensor is arranged on the rock drill body and is used to obtain the position coordinates and linear velocity information of the drill bit.

[0010] Further, the inertial sensing unit is arranged near the proximal end of the drill bit and is integrated with a gyroscope and an accelerometer, and is used to measure the inclination angle, azimuth angle, linear acceleration, and angular velocity of the drill bit.

[0011] Further, the pressure sensor is arranged inside the drill bit base and is used to detect the contact pressure between the drill bit and the rock formation in real time.

[0012] Further, the control module is a desktop computer or a laptop computer internally embedded with an LSTM deep learning model, which has the functions of data fusion and feedback control, is used to receive the data of the monitoring module in real time, draw the actual drilling trajectory of the drill hole, calculate the deviation between the actual drilling trajectory of the drill hole and the preset trajectory, and combine the LSTM deep learning model to predict the lithology change and output a correction instruction to the execution module to control the execution module to perform corresponding drilling deviation calibration actions.

[0013] On the other hand, a method for self-calibrating the drilling trajectory of tunnel blast holes is provided, and this method is implemented based on the above-mentioned downhole intelligent rock drill for self-calibrating the drilling trajectory of tunnel blast holes, and specifically includes the following steps:

[0014] S1. An operator inputs the drilling parameters of the target drill hole into the control module, including position coordinates, inclination angle, azimuth angle, and expected drilling depth;

[0015] S2. Start the rock drill. During the process of drilling the blast hole, the laser range finder, inertial measurement unit, and pressure sensor in the monitoring module collect real-time data including the drilling depth, bit attitude, linear velocity, angular velocity, and contact pressure between the bit and the rock formation at a unified frequency in real time and transmit it wirelessly to the control module.

[0016] S3. Based on the real-time data of the drilling depth and bit attitude received by the control module, first use the average angle full range method to "replace the curve with a straight line segment" to reconstruct the actual drilling hole trajectory, and then compare the reconstructed actual drilling hole trajectory with the preset target drilling hole trajectory to calculate the drilling deviation.

[0017] S4. When the calculated drilling deviation is less than the preset drilling deviation threshold, the rock drill continues to ensure forward operation; when the calculated drilling deviation is greater than the preset drilling deviation threshold, the control module generates a corresponding calibration instruction to control the execution module to perform corresponding actions to correct the drilling hole trajectory.

[0018] Further, in step S3, when using the average angle full range method to "replace the curve with a straight line segment" to reconstruct the actual drilling hole trajectory, the specific steps are as follows:

[0019] S301. Calculate the average values of the bit inclination angle and azimuth angle at adjacent time stamps. The specific calculation formulas are as follows:

[0020]

[0021] In formula (1), is the average bit inclination angle at adjacent time stamps; α k-1 is the bit inclination angle at the previous sampling moment; α k is the bit inclination angle at the next sampling moment;

[0022] In formula (2), is the average bit azimuth angle at adjacent time stamps; β k-1 is the bit azimuth angle at the previous sampling moment; β k is the bit azimuth angle at the next sampling moment;

[0023] S302. Calculate the three-dimensional coordinate increment of the current drilling hole based on the average values of the bit inclination angle and azimuth angle at adjacent time stamps. The specific calculation formulas are as follows:

[0024]

[0025] In formulas (3) to (5), ΔL is the change in the drilling depth of the bit at adjacent sampling intervals, measured by the laser range finder (501); ΔX, ΔY, and ΔZ are the coordinate changes in the current drilling depth direction, horizontal direction, and vertical direction, respectively.

[0026] Among them, when calculating the three-dimensional coordinate increment of the drill hole, the established coordinate axes take the target drill hole opening as the coordinate origin, the horizontal right direction as the Y-axis, the vertical upward direction as the Z-axis, and the tunnel depth direction as the X-axis;

[0027] S303. Update the current drill bit position according to the calculated current three-dimensional coordinate increment of the drill hole; the position coordinates of the current drill bit after update are as follows:

[0028] X i = ΔX + X i-1 (6)

[0029] Y i = ΔY + Y i-1 (7)

[0030] Z i = ΔZ + Z i-1 (8)

[0031] In formulas (6) to (8), X i-1 , Y i-1 , Z i-1 are the coordinates of the drill bit in the depth direction, horizontal direction, and vertical direction at the previous sampling moment respectively; X i , Y i , Z i are the coordinates of the drill bit in the depth direction, horizontal direction, and vertical direction at the current sampling moment respectively.

[0032] Furthermore, in step S3, the specific calculation formula for the drill hole deviation is as follows:

[0033]

[0034] In formula (9), X i , Y i , Z i are the coordinates of the drill bit in the depth direction, horizontal direction, and vertical direction at the current sampling moment respectively; are the coordinates of the preset target drill hole at the current depth respectively; ΔD is the drill hole deviation at the current depth.

[0035] Furthermore, in S4, when the calculated drill hole deviation is greater than the preset drill hole deviation threshold, the control module generates a corresponding calibration instruction to control the execution module to perform corresponding actions to correct the drill hole trajectory. The specific steps are as follows:

[0036] S401. Input the time series window data of the real-time updated drill bit penetration depth, penetration speed, inclination angle, azimuth angle, angular velocity, and pressure as features into the pre-trained LSTM deep learning model in the control module;

[0037] S402. Output the current lithology prediction result according to the time series window data of the drill bit penetration depth, penetration speed, dip angle, azimuth angle, angular velocity and pressure updated in real time through a pre-trained LSTM deep learning model;

[0038] S403. The controller in the control module generates a control instruction according to the lithology prediction result output by the LSTM deep learning model, first adjusts the drill bit penetration pressure, then calibrates the horizontal displacement of the drill bit, and finally calibrates the vertical displacement of the drill bit.

[0039] Further, the method for adjusting the drill bit penetration pressure is as follows:

[0040] When the lithology prediction result output by the LSTM deep learning model is a hard rock formation, increase the opening degree of the control air valve and set the working air pressure of the rock drill to 0.63 MPa;

[0041] When the lithology prediction result output by the LSTM deep learning model is a soft rock formation and a fracture zone, reduce the opening degree of the control air valve and set the working air pressure of the rock drill to 0.40 MPa;

[0042] When the lithology prediction result output by the LSTM deep learning model is an interbedded hard and soft rock formation, dynamically adjust the opening degree of the control air valve to make it smoothly transition between 0.63 MPa and 0.40 MPa;

[0043] The method for calibrating the horizontal displacement of the drill bit is as follows:

[0044] First, use the small angle approximation method to map the horizontal displacement deviation of the drill bit to the rotation angle θ of the horizontal rotation base, and its calculation formula is as follows:

[0045]

[0046] In formula (10), L i is the current drill pipe length; L a is the length of the rock drill body;

[0047] Then, adjust the horizontal rotation base according to the rotation angle θ to complete the calibration of the horizontal displacement of the drill bit;

[0048] The method for calibrating the vertical displacement of the drill bit is specifically to use the small angle approximation method to map the vertical displacement deviation of the drill bit to the telescopic amount of the telescopic rod, and its calculation method is as follows:

[0049] First, use the small angle approximation method to map the vertical displacement deviation of the drill bit to the angle γ that needs to be adjusted in the vertical direction of the telescopic rod, and its calculation formula is as follows:

[0050]

[0051] In formula (11), L i is the current drill pipe length; L a is the length of the rock drill body;

[0052] Then, according to the angle γ that needs to be adjusted in the vertical direction of the telescopic rod, based on the sine theorem of a triangle and the small-angle approximation method, calculate the telescopic amount δ that the telescopic rod needs to be adjusted;

[0053] Among them, the sine theorem formula of a triangle is as follows:

[0054]

[0055] In formula (12), a is the horizontal distance before adjustment at both ends of the telescopic rod; b is the length of the telescopic rod before adjustment; c is the vertical distance before adjustment at both ends of the telescopic rod; A, B, and C are the three interior angles of the simplified triangle before adjustment of the telescopic rod; R is the radius of the circumscribed circle of the simplified triangle before adjustment of the telescopic rod;

[0056] Among them, the calculation formula of the telescopic amount δ is as follows:

[0057]

[0058] In formula (13), b is the length of the telescopic rod before adjustment; b' is the length of the telescopic rod after adjustment.

[0059] Compared with the prior art, the advantages of the present invention are as follows:

[0060] (1) It has good real-time deviation monitoring and automatic calibration capabilities, can automatically calibrate the drilling trajectory of the drill hole in real time, and avoid the problem of drill hole deviation caused by lithology changes and human errors.

[0061] (2) It can effectively improve the drilling accuracy, improve the construction efficiency, enhance the blasting effect, and ensure the safety of engineering construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the technical solutions in this embodiment, the following will briefly introduce the drawings required for the description of the embodiment. Obviously, the following described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0063] Figure 1 is a schematic structural diagram of a self-calibrating tunnel blast hole drilling trajectory with a drill rig during drilling according to an embodiment of the present invention;

[0064] Figure 2 is a flowchart of a method for self-calibrating a tunnel blast hole drilling trajectory according to an embodiment of the present invention;

[0065] Figure 3 It is a schematic diagram for calculating the adjustment amount of the telescopic rod in the method for self-calibrating the drilling trajectory of tunnel blast holes according to an embodiment of the present invention;

[0066] Description of reference numerals: 100, rock drill body; 200, drill pipe; 300, drill bit; 400, air leg; 500, monitoring module; 501, laser distance sensor; 502, inertial sensing unit; 503, pressure sensor; 601, control air valve; 602, horizontal rotation base; 603, telescopic rod; 600, execution module; 700, control module. Detailed implementation manners

[0067] In order to make the technical means, creative features, achieved purposes and effects of the present invention easy to understand, the present invention will be further described below in conjunction with the accompanying drawings and specific implementation manners on how it is implemented.

[0068] Example 1: Refer to Figure 1 , a downhole intelligent rock drill for self-calibrating the drilling trajectory of tunnel blast holes is provided, including a rock drill body 100, a drill pipe 200 arranged at the front end of the rock drill body 100, a drill bit 300 arranged at the front end of the drill pipe 200, an air leg 400 arranged at the bottom of the rock drill body 100, an execution module 600 arranged on the rock drill body 100, a monitoring module 500 arranged on the rock drill body 100 and the drill bit 300, and a control module 700 wirelessly communicatively connected to the monitoring module 500 and the execution module 600 respectively;

[0069] Among them, the monitoring module 500 includes a laser distance sensor 501, an inertial sensing unit 502 and a pressure sensor 503, and the laser distance sensor 501, the inertial sensing unit 502 and the pressure sensor 503 are all wirelessly communicatively connected to the control module 700;

[0070] Among them, the execution module 600 includes a control air valve 601, a horizontal rotation base 602 and a telescopic rod 603; among them, the control air valve 601 is fixed on the horizontal rotation base 602 and is connected to the air leg 400, the horizontal rotation base 602 is arranged on the rock drill body 100, one end of the telescopic rod 603 is hinged to the rock drill body 100, the other end is hinged to the horizontal rotation base 602, and the control air valve 601 is also wirelessly communicatively connected to the control module 700.

[0071] Specifically, in the first embodiment, the laser ranging sensor 501 is disposed on the rock drill body 100 and is used to obtain the position coordinates and linear velocity information of the drill bit 300. Specifically, it first emits a laser beam to a target drill hole (i.e., the target blast hole), and then receives the optical reflection signal to calculate the distance from the target drill hole, so as to obtain the position coordinates of the drill bit 300. Subsequently, the change in the position of the target drill hole is calculated using the interval between two adjacent measurements, so as to obtain the linear velocity information of the drill bit 300.

[0072] Specifically, in the first embodiment, the inertial sensing unit 502 is disposed at the proximal end of the drill bit 300 and is integrated with a gyroscope and an accelerometer, and is used to measure the inclination angle, azimuth angle, linear acceleration, and angular velocity of the drill bit 300. Specifically, the inclination angle, azimuth angle, linear acceleration, and angular velocity of the drill bit 300 are measured by the integrated accelerometer and gyroscope.

[0073] Specifically, in the first embodiment, the pressure sensor 503 is disposed inside the base of the drill bit 300 and is used to detect the contact pressure between the drill bit 300 and the rock formation in real time.

[0074] Specifically, in the first embodiment, the control module 700 is a desktop computer or a laptop computer internally embedded with an LSTM deep learning model, and has data fusion and feedback control functions. It is used to receive the data of three types of sensors (i.e., the laser ranging sensor 501, the inertial sensing unit 502, and the pressure sensor 503) in the monitoring module 500 in real time, so as to draw the actual drilling trajectory of the drill hole, and at the same time calculate the deviation between the actual drilling trajectory of the drill hole and the preset trajectory, and combine the LSTM deep learning model to predict the lithology change and output a correction instruction to the execution module 600 to control the execution module 600 to perform corresponding drilling deviation calibration actions.

[0075] Specifically, in the first embodiment, the control air valve 601 is used to change the working air pressure of the rock drill, so as to adjust the drilling pressure to adapt to the current rock formation lithology; the horizontal rotation base 602 is used to adjust the horizontal displacement deviation of the drill bit; the telescopic rod 603 is used to apply a correction force to the drill pipe 200 to adjust the vertical displacement deviation of the drill bit in real time.

[0076] It should be noted here that the power source of the entire rock drill in the present invention is realized by the air pressure transmitted from the air leg 400. By changing the opening degree of the control air valve 601, the working air pressure transmitted from the air leg 400 to the rock drill body can be controlled.

[0077] The working principle of the intelligent rock drill for self-calibrating the drilling trajectory of tunnel blast holes provided in the first embodiment of the present invention is as follows:

[0078] Before starting the self-calibrating drilling operation, the operator first inputs drilling parameters such as the target blast hole coordinates, dip angle, azimuth angle, and expected drilling depth into the control module 700. After the rock drill is officially started, the laser distance sensor, inertial measurement unit (gyroscope and accelerometer), and pressure sensor synchronously collect real-time data such as drilling depth, bit attitude (dip angle and azimuth angle), linear velocity, angular velocity, and the contact pressure between the bit and the rock formation at a unified frequency and wirelessly transmit it to the control module. When the control module receives the real-time data, it first uses the average angle and full range method to reconstruct the actual drilling trajectory by "replacing the curve with folds" for the continuous bit attitude and drilling depth data, and then compares this actual drilling trajectory with the preset target drilling trajectory to calculate the deviation. At the same time, the control module 700 will call the built-in LSTM deep learning model to predict the current lithology change trend based on the temporal characteristics of historical depth, attitude, speed, and pressure, and dynamically generate calibration instructions accordingly and send them to the execution module 600. When the execution module 600 receives these calibration instructions, first, it adjusts the opening of the control air valve 601 according to the lithology result predicted by the LSTM deep learning model to adjust the drilling pressure to adapt to the current rock formation, then adjusts the horizontal rotation base 602 to eliminate the horizontal displacement deviation, and finally adjusts the telescopic support rod to eliminate the vertical displacement deviation. Among them, the adjustment amounts are all calculated with small angles and small displacements. After each fine adjustment, all sensors immediately re-collect the position and attitude, and the control module re-evaluates the deviation. If it still exceeds the deviation threshold, it will automatically trigger the next round of correction. This cycle continues until the drilling deviation is controlled within the allowable range, thus realizing a closed-loop self-calibration mode of "perception - decision - execution - feedback", ensuring the accuracy of the blast holes, improving the blasting effect, and guaranteeing the engineering safety.

[0079] Embodiment 2: Refer to Figure 2 , a method for self-calibrating the drilling trajectory of tunnel blast holes is provided. This method is implemented by the above-described embodiment of the intelligent rock drill with real-time drilling for self-calibrating the drilling trajectory of tunnel blast holes, and specifically includes the following steps:

[0080] S1. The operator inputs the drilling parameters of the target drill hole into the control module 700, including position coordinates, dip angle, azimuth angle, and expected drilling depth;

[0081] S2. Start the operation of the rock drill. During the drilling of the blast hole, the laser distance sensor 501, inertial measurement unit 502, and pressure sensor in the monitoring module 500 synchronously collect real-time data including drilling depth, bit attitude, linear velocity, angular velocity, and the contact pressure between the bit and the rock formation at a unified frequency and wirelessly transmit it to the control module 600;

[0082] S3. Based on the real-time data of the drilling depth and the drill bit attitude received by the control module 700, first use the average angle full-range method to "approximate the curve with segments" to reconstruct the actual drilling trajectory, and then compare the reconstructed actual drilling trajectory with the preset target drilling trajectory to calculate the drilling deviation;

[0083] S4. When the calculated drilling deviation is less than the preset drilling deviation threshold, the rock drill continues to ensure forward operation; when the calculated drilling deviation is greater than the preset drilling deviation threshold, the control module 700 generates corresponding calibration instructions to control the execution module 600 to perform corresponding actions to correct the drilling trajectory.

[0084] Among them, during the process of the rock drill drilling the blast hole, the drilling trajectory is actually a continuous curve, and the data of each sensor (i.e., the laser range finder 501, the inertial measurement unit 502, and the pressure sensor 503) are collected at a fixed frequency, and each sampling interval segment is connected by short straight line segments. In this way, the actual drilling trajectory can be reconstructed by connecting the short straight line segments. When using the short straight line segments to "approximate the curve with segments" to reconstruct the actual drilling trajectory, the calculation of the coordinate increment of each segment adopts the average angle full-range method, that is, the average value of the drill bit attitudes at adjacent samplings is used for calculation.

[0085] Specifically, in the above step S3, using the average angle full-range method to "approximate the curve with segments" to reconstruct the actual drilling trajectory, the specific steps are as follows:

[0086] S301. Calculate the average values of the drill bit dip angle and azimuth angle at adjacent timestamps. The specific calculation formulas are as follows:

[0087]

[0088] In formula (1), is the average drill bit dip angle at adjacent timestamps; α k-1 is the drill bit dip angle at the previous sampling moment; α k is the drill bit dip angle at the next sampling moment;

[0089] In formula (2), is the average drill bit azimuth angle at adjacent timestamps; β k-1 is the drill bit azimuth angle at the previous sampling moment; β k is the drill bit azimuth angle at the next sampling moment;

[0090] S302. Calculate the three-dimensional coordinate increment of the current drill hole according to the average values of the drill bit dip angle and azimuth angle at adjacent timestamps. The specific calculation formulas are as follows:

[0091]

[0092] In formulas (3) to (5), ΔL is the change in the drilling depth of the drill bit between adjacent sampling intervals, which is measured by a laser ranging sensor; ΔX, ΔY, and ΔZ are the coordinate changes in the current drilling depth direction, horizontal direction, and vertical direction, respectively.

[0093] Among them, when calculating the three-dimensional coordinate increment of the drill hole, the coordinate axes established take the target blast hole opening as the coordinate origin, the horizontal right direction as the Y-axis, the vertical upward direction as the Z-axis, and the tunnel depth direction as the X-axis.

[0094] S303. Update the current drill bit position according to the calculated three-dimensional coordinate increment of the current drill hole; the position coordinates of the current drill bit after update are as follows:

[0095] X i = ΔX + X i-1 (6)

[0096] Y i = ΔY + Y i-1 (7)

[0097] Z i = ΔZ + Z i-1 (8)

[0098] In formulas (6) to (8), X i-1 , Y i-1 , Z i-1 are the coordinates of the drill bit in the depth direction, horizontal direction, and vertical direction at the previous sampling moment, respectively; X i , Y i , Z i are the coordinates of the drill bit in the depth direction, horizontal direction, and vertical direction at the current sampling moment, respectively.

[0099] Specifically, in the above step S3, the specific calculation formula for the drill hole deviation is as follows:

[0100]

[0101] In formula (9), X i , Y i , Z i are the coordinates of the drill bit in the depth direction, horizontal direction, and vertical direction at the current sampling moment, respectively; are the coordinates of the preset target drill hole at the current depth, respectively; ΔD is the drill hole deviation at the current depth.

[0102] Specifically, in the above step S4, when the calculated drill hole deviation is greater than the preset drill hole deviation threshold, the control module 700 generates a corresponding calibration instruction to control the execution module 600 to perform corresponding actions to correct the drill hole trajectory. The specific steps are as follows:

[0103] S401. Input the time-series window data of the real-time updated drilling depth, drilling speed, inclination angle, azimuth angle, angular velocity, and pressure of the drill bit as features into the pre-trained LSTM deep learning model in the control module 700;

[0104] S402. Output the current lithology prediction result through the pre-trained LSTM deep learning model based on the time-series window data of the real-time updated drilling depth, drilling speed, inclination angle, azimuth angle, angular velocity, and pressure of the drill bit;

[0105] S403. The controller in the control module 700 generates a control instruction according to the lithology prediction result output by the LSTM deep learning model, first adjusts the drilling pressure of the drill bit, then calibrates the horizontal displacement of the drill bit, and finally calibrates the vertical displacement of the drill bit.

[0106] Specifically, the lithology prediction results output by the LSTM deep learning model include four categories, namely hard rock, soft rock, fracture zone, and interbedded hard and soft rock.

[0107] Specifically, for the prediction results output by the LSTM deep learning model, the adjustment strategy adopted in this application is as follows:

[0108] For soft rock formations, since the drill bit is prone to sinking or side slipping, reduce the drilling pressure and increase the correction frequency to promptly correct the borehole deviation and keep the drill bit stable;

[0109] For hard rock formations, the drilling resistance is large and the drill pipe is prone to bending. Increase the drilling pressure and reduce the correction frequency to overcome the resistance with a stronger thrust and reduce the vibration caused by frequent corrections at the same time.

[0110] When encountering a fracture zone, the formation fissures are developed, the drill bit is unstable and prone to random deviation. Reduce the amplitude of each correction and increase the correction frequency to quickly perform small-range corrections during the micro motion of the posture, so as to avoid the drill bit suddenly deviating from the predetermined trajectory.

[0111] For the interbedded hard and soft rock zone, the lithology is prone to sudden changes in direction at the interface. Adopt a strategy of smooth transition and adaptive gradual change of the drilling pressure to make the thrust match the change in formation hardness, so as to smoothly pass through the interface area and reduce sudden borehole deviation and drill pipe stress fluctuation.

[0112] Specifically, to avoid mechanical interference, the present invention adopts time-sharing operation. First, according to the lithology prediction result output by the LSTM deep learning model, the drilling pressure is preferentially adjusted, then the horizontal displacement is calibrated, and finally the vertical displacement is calibrated. Among them, for the calibration of horizontal displacement and vertical displacement, since the ratio of the borehole deviation amount to the sum of the drill pipe length and the drilling rig length is small, the small-angle and small-displacement approximation method is adopted in the calculation.

[0113] Specifically, in this embodiment, the method for adjusting the drilling pressure of the drill bit is as follows:

[0114] When the lithology prediction result output by the LSTM deep learning model is a hard rock formation, increase the opening degree of the control air valve 601 and set the working air pressure of the rock drill to 0.63 MPa;

[0115] When the lithology prediction result output by the LSTM deep learning model is a soft rock formation and a fracture zone, decrease the opening degree of the control air valve 601 and set the working air pressure of the rock drill to 0.40 MPa;

[0116] When the lithology prediction result output by the LSTM deep learning model is an interbedded hard and soft rock formation, dynamically adjust the opening degree of the control air valve 601 to make it smoothly transition between 0.63 MPa and 0.40 MPa.

[0117] Specifically, in this embodiment, the method for calibrating the horizontal displacement of the drill bit is as follows:

[0118] First, use the small-angle approximation method to map the horizontal displacement deviation of the drill bit to the rotation angle θ of the horizontal rotation base. The calculation formula is as follows:

[0119]

[0120] In formula (10), L i is the current drill pipe length; L a is the length of the rock drill body;

[0121] Then, adjust the horizontal rotation base according to the rotation angle θ to complete the calibration of the horizontal displacement of the drill bit.

[0122] Specifically, the method for calibrating the vertical displacement of the drill bit is to use the small-angle approximation method to map the vertical displacement deviation of the drill bit to the telescopic amount of the telescopic rod. The calculation method is as follows:

[0123] First, use the small-angle approximation method to map the vertical displacement deviation of the drill bit to the angle γ that needs to be adjusted in the vertical direction of the telescopic rod. The calculation formula is as follows:

[0124]

[0125] In formula (11), L i is the current drill pipe length; L a is the length of the rock drill body;

[0126] Then, according to the angle γ that needs to be adjusted in the vertical direction of the telescopic rod, calculate the telescopic amount δ that the telescopic rod needs to be adjusted based on the sine theorem of a triangle and the small-angle approximation method;

[0127] Among them, the sine theorem formula of a triangle is as follows:

[0128]

[0129] In Equation (12), a is the horizontal distance between the two ends of the telescopic rod before adjustment; b is the length of the telescopic rod before adjustment; c is the vertical distance between the two ends of the telescopic rod before adjustment; A, B, and C are the three interior angles of the simplified triangle of the telescopic rod before adjustment; R is the radius of the circumscribed circle of the simplified triangle of the telescopic rod before adjustment.

[0130] Among them, the calculation formula for the telescopic amount δ is as follows:

[0131]

[0132] In Equation (13), b is the length of the telescopic rod before adjustment; b' is the length of the telescopic rod after adjustment.

[0133] Specifically, in the present invention, the relationship calculation between the angle γ and the telescopic amount δ of the telescopic rod is calculated by the small angle and small displacement method, and the specific calculation process is as follows:

[0134] First, simplify the relationship between the telescopic rod and the rock drill body into a Figure 3 right triangle as shown in. The two right sides a and c of this right triangle are respectively the horizontal distance between the two ends of the telescopic rod and the vertical distance between the two ends of the telescopic rod; the hypotenuse b is the length of the telescopic rod;

[0135] Then, according to the sine theorem of the triangle, determine the relationship formula of the three sides and three interior angles of the right triangle as shown in Figure 3 . Specifically, it is as follows:

[0136]

[0137] In Equation (12), a is the horizontal distance between the two ends of the telescopic rod before adjustment; b is the length of the telescopic rod before adjustment; c is the vertical distance between the two ends of the telescopic rod before adjustment; A, B, and C are the three interior angles of the simplified triangle of the telescopic rod before adjustment; R is the radius of the circumscribed circle of the simplified triangle of the telescopic rod before adjustment.

[0138] Next, when it is necessary to adjust the angle γ (i.e., calibrate the vertical displacement of the drill bit), use the small angle approximation to calculate the telescopic amount δ that the telescopic rod needs to adjust. The specific calculation formula is as follows:

[0139]

[0140] Through the above method, the drilling deviation can be systematically adjusted, and the drilling accuracy and construction efficiency can be improved.

[0141] Finally, it should be noted that the above are only embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be similarly included in the patent protection scope of the present invention.

Claims

1. A drilling-while-drilling intelligent rock drill capable of self-calibrating a tunnel blasthole drilling trajectory, comprising a rock drill body (100), a drill rod (200) arranged at the front end of the rock drill body (100), a drill bit (300) arranged at the front end of the drill rod (200), and an air leg (400) arranged at the bottom of the rock drill body (100), characterized in that: The invention also comprises a monitoring module (500), an execution module (600) and a control module (700), wherein the monitoring module (500) comprises a laser distance measuring sensor (501), an inertial sensing unit (502) and a pressure sensor (503), wherein the laser distance measuring sensor (501), the inertial sensing unit (502) and the pressure sensor (503) are all wirelessly connected to the control module (700), and the execution module (600) comprises a control valve (601), A horizontal rotating base (602) and a telescopic rod (603), the control air valve (601) is fixed on the horizontal rotating base (602) and connected to the air leg (400), the horizontal rotating base (602) is arranged on the rock drill body (100), one end of the telescopic rod (603) is hinged to the rock drill body (100), and the other end is hinged to the horizontal rotating base (602), and the control air valve (601) is also wirelessly connected to the control module (700).

2. The intelligent rock drill for self-calibration of tunnel blasthole drilling trajectory according to claim 1 is characterized in that: The laser distance measuring sensor (501) is arranged on the rock drill body (100) and is used to obtain the position coordinates and linear speed information of the drill bit (300).

3. The intelligent rock drill for self-calibration of tunnel blasthole drilling trajectory according to claim 1, characterized in that: The inertial sensing unit (502) is arranged at the proximal end of the drill bit (300), and is integrated with a gyroscope and an accelerometer, and is used to measure the inclination angle, azimuth angle, linear acceleration and angular velocity of the drill bit (300).

4. The intelligent rock drill for self-calibration of tunnel blasthole drilling trajectory according to claim 1, characterized in that: The pressure sensor (503) is arranged in the base of the drill bit (300) and is used to detect the contact pressure between the drill bit (300) and the rock formation in real time.

5. The intelligent rock drill for self-calibration of tunnel blasthole drilling trajectory according to claim 1, characterized in that: The control module (700) is a desktop computer or a laptop computer with an LSTM deep learning model embedded therein, and has data fusion and feedback control functions, and is used to receive data from the monitoring module (500) in real time, and draw the actual drilling trajectory of the drilling hole, and at the same time calculate the deviation between the actual drilling trajectory and the preset trajectory, and output correction instructions to the execution module (600) in combination with the LSTM deep learning model to predict the lithology change, and control the execution module (600) to execute the corresponding drilling deviation calibration action.

6. A method for self-calibrating tunnel blasthole drilling trajectory, characterized in that: The method is implemented based on the drilling-while-drilling intelligent rock drill for self-calibrating tunnel blasthole drilling trajectory described in claim 1, and specifically comprises the following steps: S1, an operator inputs drilling parameters of a target borehole into a control module (700), including position coordinates, inclination angle, azimuth angle and expected drilling depth; S2, starting the rock drill, during the blasthole drilling process, using the laser rangefinder (501), the inertial measurement unit (502) and the pressure sensor (503) in the monitoring module (500) to synchronously collect real-time data including drilling depth, drill bit posture, linear velocity, angular velocity and contact pressure between the drill bit and the rock formation at a unified frequency, and transmitting the data to the control module (700) via wireless communication; S3, the control module (700) first reconstructs the actual drilling trajectory by using the mean angle full distance method to "replace curves with bends" based on the received real-time data of drilling depth and drill bit posture, and then compares the reconstructed actual drilling trajectory with the preset target drilling trajectory to calculate the drilling deviation; S4. When the calculated drilling deviation is less than the preset drilling deviation threshold, the rock drill continues to ensure forward movement; when the calculated drilling deviation is greater than the preset drilling deviation threshold, the control module (700) generates a corresponding calibration instruction, controls the execution module (600) to execute a corresponding action, and corrects the drilling trajectory.

7. The method for self-calibrating tunnel blasthole drilling trajectory according to claim 6, characterized in that: In step S3, the actual trajectory of the drilling is reconstructed by using the mean angle full distance method to replace the curve with the bend. The specific steps are as follows: S301, calculating the average values ​​of the drill bit inclination and azimuth at adjacent time stamps, the specific calculation formula is as follows: In formula (1), is the average inclination of the drill bit at adjacent time stamps; α k-1 is the drill bit inclination angle at the previous sampling moment; α k is the drill bit inclination angle at the next sampling moment; In formula (2), is the average azimuth of the drill bit at adjacent time stamps; β k-1 is the drill bit azimuth at the previous sampling moment; β k is the drill bit azimuth at the next sampling moment; S302, calculating the current three-dimensional coordinate increment of the drilling hole according to the average values ​​of the drill bit inclination angle and azimuth angle at adjacent time stamps, and the specific calculation formula is as follows: In formulas (3) to (5), ΔL is the change in the drilling depth of the drill bit between adjacent sampling intervals, measured by the laser ranging sensor; ΔX, ΔY, and ΔZ are the coordinate changes in the current drilling depth direction, horizontal direction, and vertical direction, respectively; Among them, when calculating the three-dimensional coordinate increment of the borehole, the coordinate axis established is to use the target blast hole as the coordinate origin, the horizontal rightward direction is the Y axis, the vertical upward direction is the Z axis, and the X axis along the tunnel depth direction; S303, updating the current drill bit position according to the calculated current drilling three-dimensional coordinate increment; the updated position coordinates of the current drill bit are as follows: X i =ΔX+X i-1 (6) Y i =ΔY+Y i-1 (7) With i =ΔZ+Z i-1 (8) In formulas (6) to (8), X i-1 ,Y i-1 ,Z i-1 are the coordinates of the drill bit in the depth direction, horizontal direction, and vertical direction at the previous sampling moment; X i ,Y i ,Z i They are respectively the coordinates of the drill bit in the depth direction, horizontal direction, and vertical direction at the current sampling moment.

8. The method for self-calibrating tunnel blasthole drilling trajectory according to claim 6, characterized in that: In step S3, the specific calculation formula of the drilling deviation is as follows: In formula (9), X i ,Y i ,Z i They are the coordinates of the drill bit in the depth direction, horizontal direction, and vertical direction at the current sampling moment respectively; are the coordinates of the preset target drilling at the current depth; ΔD is the drilling deviation at the current depth.

9. The method for self-calibrating tunnel blasthole drilling trajectory according to claim 6, characterized in that: In step S4, when the calculated drilling deviation is greater than the preset drilling deviation threshold, the control module (700) generates a corresponding calibration instruction, controls the execution module (600) to execute a corresponding action, and corrects the drilling trajectory. The specific steps are as follows: S401, using the real-time updated time series window data of the drilling depth, drilling speed, inclination, azimuth, angular velocity and pressure of the drill as feature input, and inputting it into the pre-trained LSTM deep learning model in the control module (700); S402, outputting the current lithology prediction result through the pre-trained LSTM deep learning model according to the real-time updated time series window data of the drill bit drilling depth, drilling speed, inclination, azimuth, angular velocity and pressure; S403, the controller in the control module (700) generates a control instruction based on the lithology prediction result output by the LSTM deep learning model, first adjusts the drilling pressure of the drill bit, then calibrates the horizontal displacement of the drill bit, and finally calibrates the vertical displacement of the drill bit.

10. The method for self-calibrating tunnel blasthole drilling trajectory according to claim 9, characterized in that: The method for adjusting the drilling pressure of the drill bit is as follows: When the lithology prediction result output by the LSTM deep learning model is a hard rock layer, the opening of the control air valve (601) is increased, and the working air pressure of the rock drill is set to 0.63 MPa; When the lithology prediction result output by the LSTM deep learning model is a soft rock layer and a broken zone, the opening of the control air valve (601) is reduced, and the working air pressure of the rock drill is set to 0.40 MPa; When the lithology prediction result output by the LSTM deep learning model is a soft-hard interlayer, the opening of the control valve (601) is dynamically adjusted to smoothly transition between 0.63 MPa and 0.40 MPa; The method for calibrating the horizontal displacement of the drill bit is as follows: First, the small angle approximation method is used to map the horizontal displacement deviation of the drill bit to the rotation angle θ of the horizontal rotating base. The calculation formula is as follows: In formula (10), L i is the current drill pipe length; L a is the main body length of the rock drill; Then, the horizontal rotating base is adjusted according to the rotation angle θ to complete the calibration of the horizontal displacement of the drill bit; The method for calibrating the vertical displacement of the drill bit is specifically to use a small angle approximation method to map the vertical displacement deviation of the drill bit to the telescopic amount of the telescopic rod, and the calculation method is as follows: First, the small angle approximation method is used to map the vertical displacement deviation of the drill bit to the angle γ that needs to be adjusted in the vertical direction of the telescopic rod. The calculation formula is as follows: In formula (11), L i is the current drill pipe length; L a is the main body length of the rock drill; Then, according to the angle γ that needs to be adjusted in the vertical direction of the telescopic rod, the telescopic amount δ that needs to be adjusted of the telescopic rod is calculated according to the triangle sine theorem and the small angle approximation method; The triangle sine theorem formula is as follows: In formula (12), a is the horizontal distance between the two ends of the telescopic rod before adjustment; b is the length of the telescopic rod before adjustment; c is the vertical distance between the two ends of the telescopic rod before adjustment; A, B, and C are the three inner angles of the simplified triangle before adjustment of the telescopic rod; R is the radius of the circumscribed circle of the simplified triangle before adjustment of the telescopic rod; The calculation formula of the expansion amount δ is as follows: In formula (13), b is the length of the telescopic rod before adjustment; b' is the length of the telescopic rod after adjustment.

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