Automatic drilling system capable of dynamically correcting track of drill rod and control method

Abstract

The invention discloses an automatic drilling system capable of dynamically correcting a drill rod track and a control method, and relates to the technical field of automatic drilling. Comprising a self-walking mechanism for acquiring a three-dimensional coordinate corresponding to a current position in the three-dimensional point cloud map; the signal monitoring mechanism is used for acquiring a drill rod azimuth angle, a tool face angle, a vibration signal and hole bottom resistance of a rock stratum; the signal processing mechanism is used for determining and sending a path planning instruction and a path track correction instruction; the multiplication sliding mechanism is used for adjusting the propelling force of a multiplication oil cylinder and acquiring the three-dimensional coordinates of the drill rod through a pull rope sensor; and the automatic calibration mechanism is used for adjusting the angle of the drill rod through an encoder and a hydraulic servo motor. According to the method, the space coordinates of the drill rod are obtained and fed back in real time, meanwhile, the Euclidean distance deviation is combined to correct the track, and the Euclidean distance deviation is adaptively adjusted according to the type of the rock stratum, so that the drilling track deviation can be reduced, and the drifting phenomenon of the drill bit can be effectively inhibited.

Description

Technical Field

[0001] The present invention relates to the technical field of automated drilling, and specifically to an automatic drilling system and control method for dynamically correcting the drill pipe trajectory. Background Art

[0002] In fields such as coal mining, tunnel engineering, and oil drilling, directional drilling technology is crucial for improving drilling accuracy and reducing construction risks. Traditional drilling operations mainly rely on manual operation and empirical judgment, and there are the following problems:

[0003] Low trajectory control accuracy: Manually adjusting the drill bit direction is easily interfered by geological conditions, resulting in the drill hole deviating from the designed trajectory and affecting engineering safety (such as the decline in drainage efficiency caused by the deviation of the gas drainage hole).

[0004] Insufficient automation: Existing equipment mostly adopts open-loop control and cannot correct the yaw angle and pitch angle of the drill bit in real time. It is necessary to frequently stop the machine for calibration, resulting in low efficiency.

[0005] Insufficient utilization of sensor data: Although some equipment is equipped with sensors such as electronic compasses and encoders, it lacks the real-time data processing ability of the upper computer - PLC cooperation and is difficult to achieve dynamic trajectory correction. Summary of the Invention

[0006] The purpose of the present invention is to provide an automatic drilling system and control method for dynamically correcting the drill pipe trajectory to solve the problem of drill hole trajectory deviation.

[0007] To achieve the above purpose, the present invention provides the following technical solution: An automatic drilling system for dynamically correcting the drill pipe trajectory, including:

[0008] A self-propelled mechanism that scans the roadway environment through ultrasonic radars and infrared vision sensors, constructs a three-dimensional point cloud map based on the scanning results, and at the same time, through a crawler tag identifier, obtains the three-dimensional coordinates corresponding to the current position in the three-dimensional point cloud map;

[0009] A signal monitoring mechanism that obtains the drill pipe azimuth angle, tool face angle, and vibration signal through a three-dimensional electronic compass and a vibration sensor, and obtains the bottom hole resistance of the rock formation through the current change of the servo motor;

[0010] A signal processing mechanism that determines and sends a path planning instruction according to the three-dimensional point cloud map and the three-dimensional coordinates corresponding to the current position, and at the same time determines and sends a path orbit correction instruction according to the drill pipe azimuth angle, tool face angle, vibration signal, and bottom hole resistance of the rock formation;

[0011] Multiplication sliding mechanism, which adjusts the propulsion force of the multiplication oil cylinder according to the path planning instruction, and obtains the three-dimensional coordinates of the drill pipe through a wire rope sensor;

[0012] Automatic calibration mechanism, which corrects the drill pipe angle according to the path track correction instruction and the three-dimensional coordinates of the drill pipe through an encoder and a hydraulic servo motor.

[0013] Furthermore, the signal processing mechanism includes:

[0014] Data fusion module, which determines the state of the rock stratum according to the vibration signal and the bottom hole resistance of the rock stratum;

[0015] Dynamic correction module, which determines the compensation angle of the three-dimensional electronic compass according to the azimuth angle and tool face angle of the drill pipe;

[0016] Trajectory discrimination module, which determines the running state of the drill pipe according to the three-dimensional coordinates of the drill pipe and the preset trajectory coordinates.

[0017] A control method for an automatic drilling system with dynamic correction of drill pipe trajectory, which is controlled by the automatic drilling system with dynamic correction of drill pipe trajectory described in any one of the above, includes:

[0018] S1: Obtain the azimuth angle of the drill pipe when it stops drilling through the signal monitoring mechanism, and determine the three-dimensional coordinates of the drill pipe when it stops drilling;

[0019] S2: Compare the three-dimensional coordinates of the drill pipe when it stops drilling with the preset trajectory coordinates, and determine the Euclidean distance deviation of the drill pipe when it stops drilling according to the comparison result;

[0020] S3: Determine the target angle of the three-dimensional electronic compass according to the Euclidean distance deviation, and adjust the pulse control signal of the three-dimensional electronic compass until the elbow angle of the three-dimensional electronic compass rotates to the target angle;

[0021] S4: Construct a flow-current correlation curve through the pulse control signal of the three-dimensional electronic compass and the current change of the servo motor, determine the rock stratum hardness according to the flow-current correlation curve, and adjust the propulsion force of the multiplication oil cylinder according to the rock stratum hardness.

[0022] Furthermore, determine the X-axis coordinate of the drill pipe when it stops drilling through the stretching length of the wire rope sensor, determine the Y-axis coordinate of the drill pipe when it stops drilling through the azimuth angle of the three-dimensional electronic compass, and determine the Z-axis coordinate of the drill pipe when it stops drilling through the three-axis accelerometer of the three-dimensional electronic compass. Specifically:

[0023]

[0024] Among them: Xd is the X-axis coordinate when the drill pipe stops drilling, Y d is the Y-axis coordinate when the drill pipe stops drilling, Z d is the Z-axis coordinate of the drill rod when drilling stops, N is the number of connected drill rods, L is the nominal length of a single drill rod, Δx is the real-time extension of the pull rope sensor, ψ raw is the original output azimuth of the three-dimensional electronic compass, Δψ mag is the magnetic declination compensation value of the three-dimensional electronic compass, Δψ align is the installation deviation compensation angle of the three-dimensional electronic compass, a x is the axial acceleration component of the drill pipe, a y is the acceleration component perpendicular to the drill pipe axis and in the horizontal direction, a z is the acceleration component perpendicular to the drill pipe axis and in the vertical direction.

[0025] Furthermore, determining the Euclidean distance deviation of the drill rod when drilling is stopped includes:

[0026] S2.1: Discretize the preset trajectory coordinates according to preset intervals to obtain corresponding discrete coordinate points, and determine, from the discrete coordinate points, the design discrete coordinate points corresponding to the three-dimensional coordinates of the drill rod when drilling is stopped using a nearest neighbor search algorithm;

[0027] S2.2: Based on the three-dimensional coordinates of the drill pipe when drilling is stopped and the designed discrete coordinate points, obtain the horizontal deviation and vertical deviation of the drill pipe and drill bit, specifically:

[0028]

[0029] Where: ΔY is the horizontal deviation of the drill bit, ΔZ is the vertical deviation of the drill bit, Z d is the Z-axis coordinate when the drill rod stops drilling, Y d is the Y-axis coordinate when the drill pipe stops drilling, Z s To design the Z-axis coordinate corresponding to the discrete coordinate point, Y s is the Y-axis coordinate corresponding to the designed discrete coordinate point;

[0030] S2.3: Determine the Euclidean distance deviation of the drill rod when drilling is stopped based on the horizontal deviation and vertical deviation of the drill rod and drill bit, specifically:

[0031]

[0032] Where: D is the Euclidean distance deviation when the drill pipe stops drilling, ω Y is the weight factor corresponding to the horizontal deviation, ΔY is the horizontal deviation of the drill bit, ΔZ is the vertical deviation of the drill bit, ω Z is the weight factor corresponding to the vertical deviation.

[0033] Further, adjusting the pulse control signal of the three-dimensional electronic compass includes:

[0034] S3.1: Obtain the correction angle of the three-dimensional electronic compass according to the horizontal deviation and vertical deviation of the drill pipe bit, and at the same time, determine the target angle of the three-dimensional electronic compass according to the correction angle. Specifically:

[0035] θ too = 180° + θ cor

[0036] where: θ too is the target angle of the three-dimensional electronic compass, and θ cor is the correction angle of the three-dimensional electronic compass;

[0037] S3.2: Obtain the angle deviation of the three-dimensional electronic compass according to the target angle and actual angle of the three-dimensional electronic compass, and determine the pulse control signal of the three-dimensional electronic compass according to the angle deviation and Euclidean distance deviation. Specifically:

[0038]

[0039] where: y is the pulse control signal of the three-dimensional electronic compass, K p is the proportional gain coefficient, Δθ is the angle deviation of the three-dimensional electronic compass, K i is the integral gain coefficient, K d is the differential gain coefficient, and t is the running time.

[0040] Further, the formula for obtaining the correction angle of the three-dimensional electronic compass is specifically:

[0041] θ cor = arctan2(ΔZ, ΔY)

[0042] where: θ cor is the correction angle of the three-dimensional electronic compass, ΔY is the horizontal deviation of the drill pipe bit, and ΔZ is the vertical deviation of the drill pipe bit.

[0043] Further, compare the Euclidean distance deviation with a preset deviation threshold, and adjust the gain coefficient in the pulse control signal according to the comparison result. Specifically:

[0044] When the Euclidean distance deviation is greater than the preset deviation threshold, increase the gain coefficient in the pulse control signal. When the Euclidean distance deviation is less than the preset deviation threshold, decrease the gain coefficient in the pulse control signal. Otherwise, the gain coefficient in the pulse control signal remains unchanged.

[0045] Further, adjusting the propulsion force of the multiplier cylinder includes:

[0046] S4.1: Construct a flow - current correlation curve for different rock formations according to the actual water output flow of the high - pressure water pump, the real - time working current of the servo motor, and the rock formation type;

[0047] S4.2: Divide the rock formation types according to the flow - current correlation curve, including hard rock formations, soft rock formations, and transition zones;

[0048] S4.3: Adjust the propulsion force of the multiplier cylinder according to the rock formation type and the pulse control signal of the 3D electronic compass.

[0049] Further, in the flow - current correlation curve, compare the actual water output flow with the preset flow threshold range, the real - time working current with the preset current threshold range, and divide the rock formation types according to the comparison results. Specifically:

[0050] When the actual water output flow is less than the lower threshold of the preset flow and the real - time working current is greater than the upper threshold of the preset current, the rock formation type is a hard rock formation; when the actual water output flow is greater than the upper threshold of the preset flow and the real - time working current is less than the lower threshold of the preset current, the rock formation type is a soft rock formation; otherwise, the rock formation type is a transition zone.

[0051] Compared with the prior art, the beneficial effects of the present invention are:

[0052] Firstly: Through the 3D electronic compass and the wire - rope sensor, the present invention can obtain and feedback the spatial coordinates of the drill pipe in real - time, and at the same time, correct the trajectory by combining the Euclidean distance deviation and adaptively adjust the Euclidean distance deviation according to the type of rock formation, so as to not only reduce the drilling trajectory deviation, but also effectively suppress the phenomenon of drill bit floating up;

[0053] Secondly: By constructing the flow - current correlation curve, the present invention divides the rock formation types, and at the same time, real - time monitors the vibration spectrum of the drill bit through the vibration sensor to identify rock formation fissures, so as to not only reduce the sticking - drill rate, but also improve the drilling speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 is the system block diagram of the automatic drilling system in the present invention;

[0055] Figure 2 is the flow - current correlation curve diagram in the present invention;

[0056] Figure 3 is the three - dimensional feature space diagram of rock formation classification in the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0057] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0058] Referring to Figure 1 , this embodiment provides an automatic drilling system for dynamically correcting the drill pipe trajectory. The automatic drilling system includes a self-propelled mechanism, a signal monitoring mechanism, a signal processing mechanism, a multiplying sliding mechanism, and an automatic calibration mechanism. In this embodiment, an ultrasonic radar, an infrared vision sensor, and a crawler tag identifier are provided in the self-propelled mechanism. Specifically, the ultrasonic radar and the infrared vision sensor are used to scan the roadway environment, and according to the scanning results, each three-dimensional coordinate in the roadway environment is obtained. At the same time, according to the obtained three-dimensional coordinates, a three-dimensional point cloud map is constructed. And in the three-dimensional point cloud map, the three-dimensional coordinate corresponding to the current position can be obtained through the crawler tag identifier.

[0059] Furthermore, a three-dimensional electronic compass, a vibration sensor, and a servo motor are provided in the signal monitoring mechanism. Specifically, through the three-dimensional electronic compass, the azimuth angle and the tool face angle of the drill bit at the end of the drill pipe can be obtained. At the same time, through the vibration sensor, the vibration signal of the drill bit at the end of the drill pipe can be obtained. At the same time, the bottom hole resistance of the rock formation is obtained through the current change of the servo motor.

[0060] Furthermore, the signal processing mechanism is used to determine and send a path planning instruction according to the three-dimensional point cloud map and the three-dimensional coordinate corresponding to the current position, and at the same time determine and send a path trajectory correction instruction according to the drill pipe azimuth angle, the tool face angle, the vibration signal, and the bottom hole resistance of the rock formation. In this embodiment, the signal processing mechanism includes a data fusion module, a dynamic correction module, and a trajectory discrimination module. Specifically, the data fusion module is used to determine the state of the rock formation according to the vibration signal and the bottom hole resistance of the rock formation. The dynamic correction module is used to determine the compensation angle of the three-dimensional electronic compass according to the drill pipe azimuth angle and the tool face angle. The trajectory discrimination module is used to determine the running state of the drill pipe according to the three-dimensional coordinate of the drill pipe and the preset trajectory coordinate.

[0061] Furthermore, a multiplying oil cylinder and a pull rope sensor are provided in the multiplying sliding mechanism. Specifically, according to the path planning instruction, the pushing force of the multiplying oil cylinder is adjusted, and at the same time, the three-dimensional coordinate of the drill pipe is obtained through the pull rope sensor.

[0062] Furthermore, an encoder and a hydraulic servo motor are provided in the automatic calibration mechanism. Specifically, the angle of the drill pipe is adjusted according to the path track correction instruction and the three-dimensional coordinates of the drill pipe.

[0063] Reference Figure 2 and Figure 3 Moreover, this embodiment also provides a control method for an automatic drilling system with dynamic correction of drill pipe trajectory. This control method controls the above-provided automatic drilling system with dynamic correction of drill pipe trajectory, and specifically includes the following steps:

[0064] Step S1: Through the signal monitoring mechanism, obtain the azimuth angle when the drill pipe stops drilling, and determine the three-dimensional coordinates of the drill pipe when it stops drilling. Specifically, obtain the vibration signal of the drill bit through a vibration sensor, and determine the root mean square value of the vibration signal. At the same time, within a preset sampling window, obtain the change state of the root mean square value within the sampling window, and determine the state of the drill bit according to the change state.

[0065] During the specific implementation process, set the preset sampling window to 1 ms. At the same time, within 10 consecutive windows, when the root mean square value of the vibration signal drops from greater than 1000 g to 50 g and below, it indicates that the state of the drill bit is stopped drilling.

[0066] Furthermore, obtain the X-axis coordinate of the drill pipe when it stops drilling through the stretching length of the wire rope sensor, determine the Y-axis coordinate of the drill pipe when it stops drilling through the azimuth angle of the three-dimensional electronic compass, and at the same time, obtain the acceleration components of the drill pipe in different directions through the three-axis accelerometer of the three-dimensional electronic compass, and determine the corresponding Z-axis coordinate of the drill pipe when it stops drilling. That is, the three-dimensional coordinates of the drill pipe when it stops drilling are specifically:

[0067]

[0068] Where: X d is the X-axis coordinate of the drill pipe when it stops drilling, Y d is the Y-axis coordinate of the drill pipe when it stops drilling, Z d is the Z-axis coordinate of the drill pipe when it stops drilling, N is the number of connected drill pipes, L is the nominal length of a single drill pipe, Δx is the real-time elongation of the wire rope sensor, ψ raw is the original output azimuth angle of the three-dimensional electronic compass, Δψ mag is the magnetic declination compensation value of the three-dimensional electronic compass, Δψ align is the installation deviation compensation angle of the three-dimensional electronic compass, a x is the acceleration component in the axial direction of the drill pipe, a y is the acceleration component in the horizontal direction perpendicular to the drill pipe axis, a z is the acceleration component in the vertical direction perpendicular to the drill pipe axis.

[0069] In the process of specific implementation, the number of connected drill pipes is 2, the elongation of the draw-wire sensor is 2.5 m, and the comparison value for every 1 m of the advancement distance measured by the laser rangefinder is 0.998 m. Then, the real-time elongation of the draw-wire sensor is 2.495 m, that is, the corresponding X-axis coordinate is 8.495 m. Further, the original output azimuth angle of the 3D electronic compass is 182.3°, the magnetic declination compensation value is -7°, and the installation deviation compensation angle is -0.1°. Therefore, the corresponding Y-axis coordinate is 175.2°. Further, the acceleration component in the axial direction of the drill pipe is 0.5g, the acceleration component in the horizontal direction perpendicular to the drill pipe axis is 0.3g, and the acceleration component in the vertical direction perpendicular to the drill pipe axis is 0.8g. Then, the corresponding Z-axis coordinate is 30.3°.

[0070] Step S2: Compare the 3D coordinates of the drill pipe when it stops drilling obtained in step S1 with the preset trajectory coordinates, and determine the Euclidean distance deviation of the drill pipe when it stops drilling according to the comparison result. Specifically as follows:

[0071] Step S2.1: Discretize the preset trajectory coordinates according to the preset interval, obtain the corresponding discrete coordinate points, and determine the designed discrete coordinate point corresponding to the 3D coordinates of the drill pipe when it stops drilling from the discrete coordinate points through the nearest neighbor search algorithm.

[0072] In the process of specific implementation, when the preset trajectory is a straight line, after discretizing the preset trajectory coordinates, the starting point and the ending point of the corresponding discrete coordinate points are: (0, 0, 0) and (10, 2, 1).

[0073] Step S2.2: Obtain the horizontal deviation and vertical deviation of the drill pipe bit corresponding to the 3D coordinates of the drill pipe when it stops drilling obtained in step S1 and the 3D coordinates of the designed discrete coordinate point determined in step S2.1. Specifically:

[0074]

[0075] Where: ΔY is the horizontal deviation of the drill pipe bit, ΔZ is the vertical deviation of the drill pipe bit, Z d is the Z-axis coordinate of the drill pipe when it stops drilling, Y d is the Y-axis coordinate of the drill pipe when it stops drilling, Z s is the Z-axis coordinate corresponding to the designed discrete coordinate point, Y s is the Y-axis coordinate corresponding to the designed discrete coordinate point;

[0076] Step S2.3: Determine the Euclidean distance deviation of the drill pipe when it stops drilling according to the horizontal deviation and vertical deviation obtained in step S2.2, and in combination with the type of rock formation. Specifically:

[0077]

[0078] Where: D is the Euclidean distance deviation when the drill pipe stops drilling, ω Y is the weight factor corresponding to the horizontal deviation, ΔY is the horizontal deviation of the drill bit of the drill pipe, ΔZ is the vertical deviation of the drill bit of the drill pipe, ω Z is the weight factor corresponding to the vertical deviation.

[0079] It should be noted that the weight factor in this embodiment can be specifically set according to the type of rock formation, and the specific setting data can be set according to the weight coefficient table in the following table. Specifically:

[0080] Rock formation type Weight factor for horizontal deviation Weight factor for vertical deviation Soft rock formation 1.0 1.0 Transition zone 1.2 1.0 Hard rock formation 1.0 1.5

[0081] During the specific implementation process, the horizontal deviation of the drill bit of the drill pipe is 20 mm, the vertical deviation of the drill bit of the drill pipe is 10 mm, and the type of rock formation is hard rock formation, then the corresponding Euclidean distance deviation is 25 mm.

[0082] Step S3: According to the Euclidean distance deviation determined in step S2.3, determine the target angle of the 3D electronic compass, and adjust the pulse control signal of the 3D electronic compass until the elbow angle of the 3D electronic compass rotates to the target angle. Specifically as follows:

[0083] Step S3.1: According to the horizontal deviation and vertical deviation of the drill bit of the drill pipe obtained in step S2.2, obtain the correction angle of the 3D electronic compass. Specifically:

[0084] θ cor = arctan2(ΔZ, ΔY)

[0085] Where: θ cor is the correction angle of the 3D electronic compass, ΔY is the horizontal deviation of the drill bit of the drill pipe, and ΔZ is the vertical deviation of the drill bit of the drill pipe.

[0086] Furthermore, according to the obtained correction angle of the 3D electronic compass, determine the target angle of the 3D electronic compass. Specifically:

[0087] θ too = 180° + θ cor

[0088] Where: θ too is the target angle of the 3D electronic compass, and θ cor is the correction angle of the 3D electronic compass;

[0089] During the specific implementation process, when the horizontal deviation of the drill pipe bit is +50 mm and the vertical deviation of the drill pipe bit is -30 mm, the correction angle of the corresponding three-dimensional electronic compass is -30.96°, that is, the target angle of the corresponding three-dimensional electronic compass is 149°.

[0090] Step S3.2: Obtain the angle deviation of the three-dimensional electronic compass based on the target angle of the three-dimensional electronic compass obtained in Step S3.1 and the actual angle obtained in real time, and determine the pulse control signal of the three-dimensional electronic compass according to the angle deviation and the Euclidean distance deviation. Specifically:

[0091]

[0092] Where: y is the pulse control signal of the three-dimensional electronic compass, K p is the proportional gain coefficient, Δθ is the angle deviation of the three-dimensional electronic compass, K i is the integral gain coefficient, K d is the differential gain coefficient, and t is the running time.

[0093] During the specific implementation process, the target angle of the three-dimensional electronic compass is 149°, and the actual angle obtained in real time is 120°. Then the corresponding angle deviation is -29°, that is, the pulse control signal of the corresponding three-dimensional electronic compass is -6.15°, that is, control the drill bit elbow to rotate 6.15° to the left and complete the adjustment within 0.3 seconds.

[0094] It should be noted that during the process of determining the pulse control signal of the three-dimensional electronic compass, the Euclidean distance deviation can be compared with the preset deviation threshold, and the gain coefficient in the pulse control signal can be adjusted according to the comparison result. Specifically:

[0095] When the obtained Euclidean distance deviation is greater than the preset deviation threshold, the gain coefficient in the pulse control signal is increased. When the obtained Euclidean distance deviation is less than the preset deviation threshold, the gain coefficient in the pulse control signal is decreased. Otherwise, the gain coefficient in the pulse control signal remains unchanged. It should be noted that during the process of adjusting the gain coefficient, it can be specifically adjusted according to actual needs.

[0096] Step S4: Construct a flow-current correlation curve based on the pulse control signal of the three-dimensional electronic compass obtained in Step S3.2 and the current change of the servo motor, and determine the rock formation hardness according to the flow-current correlation curve, and adjust the propulsion force of the multiplier cylinder according to the rock formation hardness. Specifically as follows:

[0097] Step S4.1: Construct a flow-current correlation curve of different rock formations according to the actual water output flow of the high-pressure water pump, the real-time working current of the servo motor, and the rock formation type.

[0098] Step S4.2: Divide the rock stratum types according to the flow-current correlation curve, including hard rock stratum, soft rock stratum and transition zone.

[0099] Reference Figure 2 , Figure 2 is the flow-current correlation curve diagram in this embodiment. It can be seen from Figure 2 that the hard rock stratum is located in the area of low flow rate (<30 L / min) and high current (>8 A). At this time, the drill bit resistance is large, and the propulsion speed needs to be reduced. The soft rock stratum is located in the area of high flow rate (>45 L / min) and low current (<5 A). At this time, the drill bit is easy to penetrate, and intermittent drilling is required. The transition zone is between the hard rock stratum and the soft rock stratum. At this time, parameters need to be dynamically adjusted. At the same time, the current corresponding to the hard rock stratum rises sharply with the decrease of the flow rate, and the current corresponding to the soft rock stratum is stable at a low level.

[0100] Specifically, compare the actual water output flow rate with the preset flow rate threshold range, the real-time working current and the preset current threshold range, and divide the rock stratum types according to the comparison results. Specifically:

[0101] When the obtained actual water output flow rate is less than the lower threshold of the preset flow rate and the obtained real-time working current is greater than the upper threshold of the preset current, the corresponding rock stratum type is the hard rock stratum. When the obtained actual water output flow rate is greater than the upper threshold of the preset flow rate and the obtained real-time working current is less than the lower threshold of the preset current, the corresponding rock stratum type is the soft rock stratum. Otherwise, the corresponding rock stratum type is the transition zone.

[0102] Reference Figure 3 , Figure 3 is the three-dimensional characteristic space diagram of rock stratum classification in this embodiment. It can be seen from Figure 3 that the soft rock stratum is concentrated in the area of low flow rate (20 - 35 L / min), high current (50 - 70 A) and medium-high vibration (5 - 10 g). The hard rock stratum is concentrated in the area of high flow rate (45 - 60 L / min), low current (20 - 30 A) and low vibration (1 - 4 g). The transition zone is concentrated in the area of medium flow rate (30 - 50 L / min), high current (40 - 60 A) and high vibration (8 - 15 g).

[0103] Step S4.3: Adjust the propulsion force of the multiplier oil cylinder according to the rock stratum type and the pulse control signal of the three-dimensional electronic compass.

[0104] In the process of specific implementation, when the rock formation type is hard rock, the advancing speed is reduced to 50% of the designed value. For example, it is reduced from 1 m / min to 0.5 m / min. At the same time, the flushing flow rate is increased by 10%. For example, it is increased from 30 L / min to 33 L / min to prevent the drill bit from overheating. Further, when the rock formation type is soft rock, the advancing speed is advanced according to the designed value, and the drilling is paused for 2 seconds every 0.3 m of penetration to allow the flushing fluid to fully protect the wellbore wall.

[0105] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended embodiments and their equivalents.

Claims

1. An automatic drilling system for dynamically correcting the drill pipe trajectory, characterized in that, It includes: A self - walking mechanism that scans the roadway environment through ultrasonic radars and infrared vision sensors, constructs a three - dimensional point cloud map according to the scanning results, and obtains the three - dimensional coordinates corresponding to the current position in the three - dimensional point cloud map through a crawler tag identifier; A signal monitoring mechanism that obtains the drill pipe azimuth angle, tool face angle, and vibration signal through a three - dimensional electronic compass and a vibration sensor, and obtains the bottom - hole resistance of the rock formation through the current change of the servo motor; A signal processing mechanism that determines and sends a path planning instruction according to the three - dimensional point cloud map and the three - dimensional coordinates corresponding to the current position, and simultaneously determines and sends a path orbit correction instruction according to the drill pipe azimuth angle, tool face angle, vibration signal, and the bottom - hole resistance of the rock formation; A multiplying sliding mechanism that adjusts the propulsion force of the multiplying oil cylinder according to the path planning instruction and obtains the three - dimensional coordinates of the drill pipe through a rope - pulling sensor; An automatic calibration mechanism that adjusts the drill pipe angle according to the path orbit correction instruction and the three - dimensional coordinates of the drill pipe through an encoder and a hydraulic servo motor.

2. The automatic drilling system for dynamically correcting the drill pipe trajectory according to claim 1, wherein The signal processing mechanism includes: A data fusion module that determines the state of the rock formation according to the vibration signal and the bottom - hole resistance of the rock formation; A dynamic correction module that determines the compensation angle of the three - dimensional electronic compass according to the drill pipe azimuth angle and the tool face angle; A trajectory discrimination module that determines the operating state of the drill pipe according to the three - dimensional coordinates of the drill pipe and the preset trajectory coordinates.

3. A control method for an automatic drilling system with dynamic correction of drill pipe trajectory, characterized in that, Controlled by the automatic drilling system for dynamic correction of drill pipe trajectory according to any one of claims 1 or 2, it includes: S1: Obtain the azimuth angle when the drill pipe stops drilling through the signal monitoring mechanism, and determine the three - dimensional coordinates when the drill pipe stops drilling; S2: Compare the three - dimensional coordinates when the drill pipe stops drilling with the preset trajectory coordinates, and determine the Euclidean distance deviation when the drill pipe stops drilling according to the comparison result; S3: Determine the target angle of the three - dimensional electronic compass according to the Euclidean distance deviation, and adjust the pulse control signal of the three - dimensional electronic compass until the elbow angle of the three - dimensional electronic compass rotates to the target angle; S4: Construct a flow - current correlation curve through the pulse control signal of the three - dimensional electronic compass and the current change of the servo motor, determine the rock formation hardness according to the flow - current correlation curve, and adjust the propulsion force of the multiplying oil cylinder according to the rock formation hardness.

4. The control method of the automatic drilling system for dynamically correcting the drill pipe trajectory according to claim 3, characterized in that, Determine the X - axis coordinate when the drill pipe stops drilling through the stretching length of the rope - pulling sensor, determine the Y - axis coordinate when the drill pipe stops drilling through the azimuth angle of the three - dimensional electronic compass, and determine the Z - axis coordinate when the drill pipe stops drilling through the three - axis accelerometer of the three - dimensional electronic compass. Specifically: Where: X d is the X-axis coordinate when the drill pipe stops drilling, Y d is the Y-axis coordinate when the drill pipe stops drilling, Z d is the Z-axis coordinate when the drill pipe stops drilling, N is the number of connected drill pipes, L is the nominal length of a single drill pipe, Δx is the real-time elongation of the pull rope sensor, ψ raw is the original output azimuth angle of the 3D electronic compass, Δψ mag is the magnetic declination compensation value of the 3D electronic compass, Δψ align is the installation deviation compensation angle of the 3D electronic compass, a x is the acceleration component in the axial direction of the drill pipe, a y is the acceleration component perpendicular to the drill pipe axis and in the horizontal direction, a z is the acceleration component perpendicular to the drill pipe axis and in the vertical direction.

5. The control method of the automatic drilling system for dynamically correcting the drill pipe trajectory according to claim 3, characterized in that, Determining the Euclidean distance deviation when the drill pipe stops drilling includes: S2.1: Discretize the preset trajectory coordinates according to a preset interval, obtain the corresponding discrete coordinate points, and determine the designed discrete coordinate point corresponding to the three - dimensional coordinates when the drill pipe stops drilling from the discrete coordinate points through the nearest - neighbor search algorithm; S2.2: Obtain the horizontal deviation and vertical deviation of the drill pipe bit according to the three - dimensional coordinates when the drill pipe stops drilling and the designed discrete coordinate point. Specifically: Where: ΔY is the horizontal deviation of the drill pipe bit, ΔZ is the vertical deviation of the drill pipe bit, Z d is the Z-axis coordinate when the drill pipe stops drilling, Y d is the Y-axis coordinate when the drill pipe stops drilling, Z s is the Z-axis coordinate corresponding to the designed discrete coordinate point, Y s is the Y-axis coordinate corresponding to the designed discrete coordinate point; S2.3: Determine the Euclidean distance deviation when the drill pipe stops drilling according to the horizontal deviation and vertical deviation of the drill pipe bit, specifically: Where: D is the Euclidean distance deviation when the drill pipe stops drilling, ω Y is the weight factor corresponding to the horizontal deviation, ΔY is the horizontal deviation of the drill pipe bit, ΔZ is the vertical deviation of the drill pipe bit, ω Z is the weight factor corresponding to the vertical deviation.

6. The control method of the automatic drilling system for dynamically correcting the drill pipe trajectory according to claim 3, characterized in that, Adjust the pulse control signal of the three-dimensional electronic compass, including: S3.1: Obtain the correction angle of the three-dimensional electronic compass according to the horizontal deviation and vertical deviation of the drill pipe bit, and at the same time, determine the target angle of the three-dimensional electronic compass according to the correction angle, specifically: θ too = 180° + θ cor Where: θ too is the target angle of the 3D electronic compass, and θ cor is the correction angle of the 3D electronic compass; S3.2: Obtain the angle deviation of the three-dimensional electronic compass according to the target angle and actual angle of the three-dimensional electronic compass, and determine the pulse control signal of the three-dimensional electronic compass according to the angle deviation and Euclidean distance deviation, specifically: Where: y is the pulse control signal of the 3D electronic compass, K p is the proportional gain coefficient, Δθ is the angle deviation of the 3D electronic compass, K i is the integral gain coefficient, K d is the differential gain coefficient, and t is the running time.

7. The control method of the automatic drilling system for dynamically correcting the drill pipe trajectory according to claim 6, characterized in that The specific formula for obtaining the correction angle of the three-dimensional electronic compass is: θ cor = arctan 2(ΔZ, ΔY) Where: θ cor is the correction angle of the 3D electronic compass, ΔY is the horizontal deviation of the drill pipe bit, and ΔZ is the vertical deviation of the drill pipe bit.

8. The control method of the automatic drilling system for dynamically correcting the drill pipe trajectory according to claim 6, characterized in that, Compare the Euclidean distance deviation with a preset deviation threshold, and adjust the gain coefficient in the pulse control signal according to the comparison result, specifically: When the Euclidean distance deviation is greater than the preset deviation threshold, increase the gain coefficient in the pulse control signal; when the Euclidean distance deviation is less than the preset deviation threshold, decrease the gain coefficient in the pulse control signal; otherwise, the gain coefficient in the pulse control signal remains unchanged.

9. The control method of the automatic drilling system for dynamically correcting the drill pipe trajectory according to claim 3, characterized in that, Adjust the propulsion force of the multiplier cylinder, including: S4.1: Construct the flow-current correlation curve of different rock formations according to the actual water output flow of the high-pressure water pump, the real-time working current of the servo motor, and the rock formation type; S4.2: Divide the rock formation type according to the flow-current correlation curve, including hard rock formations, soft rock formations, and transition zones; S4.3: Adjust the propulsion force of the multiplier cylinder according to the rock formation type and the pulse control signal of the three-dimensional electronic compass.

10. The control method of the automatic drilling system for dynamically correcting the drill pipe trajectory according to claim 9, characterized in that, In the flow-current correlation curve, compare the actual water output flow with the preset flow threshold range, the real-time working current, and the preset current threshold range, and divide the rock formation type according to the comparison result, specifically: When the actual water output flow is less than the lower threshold of the preset flow and the real-time working current is greater than the upper threshold of the preset current, the rock formation type is a hard rock formation; when the actual water output flow is greater than the upper threshold of the preset flow and the real-time working current is less than the lower threshold of the preset current, the rock formation type is a soft rock formation; Otherwise, the rock formation type is the transition zone.

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