Coal mine underground complex terrain composite directional drilling system and method

Abstract

The invention relates to the technical field of coal mine underground drilling, and discloses a coal mine underground complex terrain composite directional drilling system and method, and the system comprises a ground control terminal, an underground control unit, a communication module, a data input and processing module, a system and parameter optimization module, a simulation and verification module, an output and storage module, and a drilling data feedback module. According to the compound directional drilling system and method for the underground complex terrain of the coal mine, in the working treatment process of the compound directional drilling system, the drilling track is directionally simulated in advance so as to bypass a crushing zone at a proper inclination angle and direction, the problems of drilling tool jamming and hole collapse caused by rock crushing are avoided, and meanwhile, information transmission of an underground control unit is matched, so that the drilling efficiency is improved. The information transmitted by the overground control terminal is accurately sent into the drilling equipment, so that the information feedback of the measurement-while-drilling equipment is matched to enable the drilling track to more accurately accord with the preset path, the target position can be accurately reached even under the complex geological condition, and the hit rate of drilling is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underground coal mine drilling, in particular to a system and method for composite directional drilling in complex terrain in underground coal mines. Background Art

[0002] As the depth and scope of coal mining continue to expand, underground geological conditions are becoming increasingly complex. When facing complex terrain, such as faults, folds, fracture zones and other geological structures, conventional drilling equipment may be unable to adapt to sudden changes in the strata, resulting in borehole deviation, drill sticking, and even damage to the drill tool. With the deepening of the concept of coal mine safety production and efficient mining, the requirements for the intelligence and efficiency of the drilling system are constantly increasing. The existing directional system has poor flexibility in adjusting the drilling trajectory when facing multiple target points. When it is necessary to switch from one borehole branch to another to detect different areas, the trajectory conversion cannot be achieved quickly and accurately. As a result, the traditional coal mine underground drilling system has many limitations when facing complex terrain, such as:

[0003] Ordinary drilling equipment is difficult to accurately control the drilling trajectory. When encountering geological structures such as faults and folds, the borehole is prone to deflection. With traditional drilling methods, it is difficult to ensure that the drilling trajectory can accurately follow the predetermined path through complex strata to reach the target location, affecting the effectiveness of gas extraction, water exploration and drainage, etc., and the slag removal effect of traditional drilling systems is poor. Especially in the case of complex drilling trajectories, rock cuttings are easy to accumulate, further increasing the drilling risk and the confirmation of the construction position, making it difficult to accurately reach the target location for drilling, affecting the safe production and efficient mining of coal mines.

[0004] In response to the above problems, it is urgent to carry out innovative design based on the original coal mine drilling system. Summary of the Invention

[0005] The purpose of the present invention is to provide a composite directional drilling system and method for complex terrain in coal mines, so as to solve the problem raised in the above background technology that when encountering geological structures such as faults and folds, the borehole is prone to deviation, and it is difficult to ensure that the drilling trajectory can accurately follow the predetermined path through the complex strata to reach the target position with the traditional drilling method. In addition, the increased accumulation of rock cuttings in the well affects the drilling process and the establishment of the drilling construction position, which easily leads to the deviation of the drilling channel.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solutions: a system and method for composite directional drilling in complex terrain in underground coal mines, comprising a ground control terminal, an underground control unit, a communication module, a data input and processing module, a system and parameter optimization module, a simulation and verification module, an output and storage module, and a drilling data feedback module;

[0007] The ground control terminal is connected to the communication module via wireless communication, and the communication module is in signal communication with the downhole control unit via wireless communication, and the downhole control unit is in signal communication with the drilling data feedback module via electrical signals;

[0008] The data input and processing module is provided with a data processing submodule, and the data input of the data processing submodule is connected to the data by a data input interface, and the data input of the data processing submodule is sent in by an external input device;

[0009] The system and parameter optimization module includes a drill bit and drill rod selection submodule, a guide submodule, a power submodule and a slag removal submodule;

[0010] The simulation and verification module includes a drilling process simulation submodule and a solution verification and optimization submodule;

[0011] The output and storage module is connected to the simulation and verification module, and the output and storage module is connected to the signal line, and the output and storage module includes a solution data output submodule and a data storage and management submodule;

[0012] The drilling data feedback module consists of a wireless transmission module and a measurement while drilling device, and the measurement while drilling device is installed and connected to the drill bit in the mine.

[0013] The above technical solution is adopted to facilitate the provision of composite directional drilling work for coal mines under complex terrain.

[0014] Preferably, the underground control unit is installed underground in the coal mine, and the underground control unit is connected to the communication equipment of the coal mine drilling rig via a data line.

[0015] By adopting the above technical solution, an underground control unit installed in an underground coal mine is used for signal transmission and processing.

[0016] Preferably, the communication module receives electrical signals from the downhole control unit and the drilling data feedback module, and the communication module feeds back the received data to the ground control terminal, and the communication module is connected to the output and storage module via data.

[0017] With the above technical solution, the communication module is used to connect the feedback of above-ground and underground information, which facilitates system processing.

[0018] Preferably, the data in the data input and processing module is corresponding information obtained from geological exploration of the region.

[0019] The above technical solution is used to obtain the geological conditions of the corresponding drilling area and to accurately provide a simulation environment.

[0020] Preferably, the data of the drill bit and drill rod selection submodule, the guide submodule, the power submodule and the slag removal submodule in the system and parameter optimization module are synchronized with the data of the simulation and verification module.

[0021] By adopting the above technical solution, different equipment is selected to assist in simulating the conditions during the drilling process.

[0022] Preferably, the drilling process simulation submodule in the simulation and verification module receives data input and the processing module obtains geological information of geological exploration.

[0023] By adopting the above technical solution, the geological information of geological exploration facilitates the simulation and verification module to generate the corresponding geological terrain for drilling simulation.

[0024] Preferably, the output and storage module structure receives data from the drilling data feedback module through the communication module, and the data storage and management submodule is connected to the ground control terminal.

[0025] By adopting the above technical solution, each drilling operation is recorded through the output and storage module structure, so as to facilitate the model simulation of the drilling process.

[0026] Preferably, the wireless transmission module provided in the drilling data feedback module receives drill bit status data from a while drilling measurement device.

[0027] By adopting the above technical solution, the data of the drill bit operation is transmitted and processed through the wireless transmission module.

[0028] A method for complex terrain composite directional drilling in a coal mine, applied to any of the above-mentioned complex terrain composite directional drilling systems in a coal mine, comprises:

[0029] Step 1: Pre-drilling preparation

[0030] Collect geological data and hydrogeological conditions from geological exploration, build a 3D geological model of the acquisition area, and accurately determine the target location, design depth, and ideal drilling trajectory of the borehole;

[0031] Select suitable composite directional drilling equipment based on geological conditions and drilling design requirements, and conduct comprehensive debugging and testing of the selected equipment on the ground to ensure that all components function normally, are firmly connected, and that parameter settings are accurate;

[0032] Step 2: Initial Drilling Phase

[0033] According to the pre-designed drilling trajectory, the angle and direction of the bend joint in the guidance system are accurately adjusted. During the drilling process, the inclination and azimuth of the borehole are monitored in real time, and the data is quickly transmitted to the ground control system;

[0034] The ground control system performs real-time comparative analysis of the measurement while drilling data received and the designed trajectory. If there is a deviation in the drilling trajectory, the required eccentricity and direction of the eccentric are calculated based on the deviation.

[0035] Step 3: Drilling trajectory adjustment stage

[0036] According to the formation information fed back by the measurement while drilling device and the geological data acquired in advance, the lithology and hardness of the current formation are judged in real time and the corresponding drilling mode is switched;

[0037] The measurement while drilling device continuously monitors parameters such as the inclination, azimuth and depth of the borehole during the drilling process, and transmits the data in real time to the ground control system to assist the bend joint and eccentric to make trajectory adjustments;

[0038] Step 4: Branch drilling construction stage

[0039] During branch drilling, the main borehole drilling operation is suspended according to the pre-planned branch borehole location and design parameters. After data feedback, the guidance system is adjusted through the ground control system to prepare for the start of branch drilling.

[0040] For branch borehole drilling operations, the appropriate drilling method is selected and drilling parameters are adjusted according to the lithology and hardness of the strata encountered in the branch borehole. Synchronous data feedback is used to compare the branch borehole trajectory changes with the designed trajectory in real time.

[0041] Step 5: Drilling completion and equipment recovery

[0042] When the drilling reaches the predetermined depth and the task is completed, the drilling is confirmed to have met the completion conditions based on the depth data and geological information fed back by the measurement while drilling device;

[0043] After stopping drilling, keep the flushing pump running for a while to ensure that all the remaining cuttings in the borehole are discharged;

[0044] After completing the borehole measurement and cuttings cleaning, the recovery of the composite directional drilling equipment begins. The equipment is thoroughly cleaned, inspected and maintained, the drill bit is inspected for wear and repaired or replaced, and the drill pipe is inspected for flaws.

[0045] The above technical solution is used to clarify the drilling operation steps and processes in the drilling system.

[0046] Preferably, in the branch drilling construction stage, after the main borehole is drilled to a specified depth, the drilling operation of the main borehole is suspended, and then the initial drilling of the branch borehole is carried out.

[0047] The above technical solution is used to assist in the front-to-back sequence replacement process of drilling work.

[0048] Compared with the prior art, the present invention has the following beneficial effects: the composite directional drilling system and method for complex terrain in underground coal mines:

[0049] 1. The geological and hydrological information acquired before drilling is used to construct a simulated three-dimensional image, making the stratum displacement in the fault area of ​​the coal mine more obvious. During the operation of the composite directional drilling system, the drilling trajectory is simulated in advance to bypass the broken zone with the appropriate inclination and azimuth, avoiding drill sticking and hole collapse caused by rock crushing. With the information transmission of the underground control unit, the information transmitted by the ground control terminal is accurately sent to the drilling equipment. With the information feedback of the drilling measurement equipment, the drilling trajectory is more accurately in line with the preset path. Even under complex geological conditions, the target position can be accurately reached, the drilling hit rate is improved, and ineffective drilling is reduced. With the precise control and predictive simulation of the drilling work, it further provides strong technical support for coal mining and disaster prevention under different geological conditions, and expands the construction scope of underground coal mine drilling operations.

[0050] 2. The communication module, downhole control unit and drilling data feedback module form the main communication means for remote operation and control, enabling operators to perform drilling operations in a relatively safe location, avoiding the safety risks brought by direct operation in dangerous areas such as gas outbursts and roof collapse. The simulation and verification module simulates the drilling work of the drilling equipment in advance, further improving the drilling accuracy. The expected goal can be achieved with fewer holes and shorter drilling lengths, reducing material consumption and equipment wear in drilling construction, and saving drilling costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 This is a schematic diagram of the modules in the composite directional drilling system of the present invention;

[0052] Figure 2 This is a detailed schematic diagram of the composite directional drilling system module of the present invention;

[0053] Figure 3 This is a schematic diagram of the relationship between the modules of the composite directional drilling system of the present invention;

[0054] Figure 4 It is a schematic flow chart of the composite directional drilling method of the present invention. DETAILED DESCRIPTION

[0055] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0056] See also Figure 1-Figure 4 The present invention provides a complex terrain composite directional drilling system for underground coal mines, comprising: a ground control terminal, an underground control unit, a communication module, a data input and processing module, a system and parameter optimization module, a simulation and verification module, an output and storage module, and a drilling data feedback module;

[0057] The ground control terminal is connected to the communication module via wireless communication, and the communication module is connected to the downhole control unit signal by wireless communication. The downhole control unit is connected to the drilling data feedback module by electrical signals. The downhole control unit is installed underground in the coal mine, and the downhole control unit is connected to the communication equipment of the coal mine drilling rig via a data line. The communication module receives electrical signals from the downhole control unit and the drilling data feedback module, and the communication module feeds back the received data to the ground control terminal, and the communication module is connected to the output and storage module via data.

[0058] The data input and processing module is provided with a data processing submodule, and the data input of the data processing submodule is connected to the data through the data input interface, and the data input of the data processing submodule is input by an external input device. The data in the data input and processing module is obtained from the corresponding information of the regional geological exploration;

[0059] The system and parameter optimization module includes the drill bit and drill rod selection submodule, the guidance submodule, the power submodule, and the slag removal submodule. The data of the drill bit and drill rod selection submodule, the guidance submodule, the power submodule, and the slag removal submodule in the system and parameter optimization module are synchronized with the data of the simulation and verification module;

[0060] The simulation and verification module includes a drilling process simulation submodule and a solution verification and optimization submodule. The drilling process simulation submodule in the simulation and verification module receives data input and the processing module obtains geological information from geological exploration;

[0061] The output and storage module is connected to the simulation and verification module, and the output and storage module is connected to the signal line. The output and storage module includes a program data output submodule and a data storage and management submodule. The output and storage module structure receives data from the drilling data feedback module from the communication module, and the data storage and management submodule is connected to the ground control terminal.

[0062] The drilling data feedback module is composed of a wireless transmission module and a measurement while drilling device, and the measurement while drilling device is installed and connected to the drill bit in the mine. The wireless transmission module set in the drilling data feedback module receives the drill bit status data from the measurement while drilling device;

[0063] The ground control terminal is connected to the data input and processing module, the system and parameter optimization module, the simulation and verification module, the output and storage module and the drilling data feedback module to form an integrated information exchange and processing terminal. When in use, the downhole control unit is installed underground to assist the communication of the drilling equipment and the two-way feedback of signals. According to the geological exploration data, the position, depth, trajectory and other parameters of the target borehole are determined, and the corresponding data are input into the ground control terminal through the data input interface and the external input device. At the same time, the drilling demand information including the purpose of the borehole, the target position, the designed depth, the expected drilling trajectory shape and the accuracy requirement are received, and the data processing submodule in the data input and processing module is jointly processed with the system and parameter optimization module and the simulation and verification module to generate a drilling construction plan.

[0064] The drill bit and drill rod data, guidance data, power data, and slag removal data within the system and parameter optimization module are used to assist the simulation and verification module in producing a preliminary drilling plan:

[0065] Select drill bit based on formation lithology information in geological data;

[0066] Determine key parameters of the drill pipe, such as material, outer diameter, and inner diameter, based on formation pressure, drilling depth, and slag removal requirements;

[0067] Design the components and parameters of the steering system based on the drilling trajectory accuracy requirements in the drilling requirements and the formation complexity assessment in the geological data;

[0068] Determine the type and parameters of the power system based on the formation hardness information in the geological data and the drilling speed requirements in the drilling requirements;

[0069] Design the composition and parameters of the slag removal system based on the formation characteristics in the geological data, such as the particle size and shape of the rock cuttings, and the drilling design parameters such as the borehole diameter, depth, trajectory shape, etc.

[0070] When the simulation and verification module constructs a drilling process simulation, the parameters of the drill bit, drill pipe, steering system, power system and slag removal system selected above, as well as geological data, are input into the simulation model for simulation operation. At the same time, key data during the simulation process is collected and fed back to the system and parameter optimization module.

[0071] In the simulation model, the drill bit and formation interaction model uses the cutting mechanics model for soft rock formations and the crushing mechanics model for hard rock formations;

[0072] The beam element model is used as the drill pipe mechanical model;

[0073] The kinematic model is used as the control model of the steering system. For the bent joint, according to its bending angle and the drill rod length L, the initial offset of the drill bit in the horizontal and vertical directions can be calculated as Δx = Lsinθ and Δy = L×(1-cosθ);

[0074] For the eccentric, the relationship between the eccentricity e and the lateral force F of the drill bit is established, such as F = k × e, where k is a coefficient related to factors such as the stiffness of the drill pipe, to simulate its adjustment effect on the drilling direction;

[0075] The power system model uses a motor dynamics model to simulate the downhole motor's speed, torque output, and power transmission with the drill bit. When the power system includes an impact generator for hard rock drilling, an impact generator model needs to be established.

[0076] In the simulation of the flow of flushing fluid in the slag discharge channel and the discharge of cuttings, a fluid-particle two-phase flow model was selected based on the Navier-Stokes equations:

[0077]

[0078] where ρ is the fluid density, is the velocity vector, p is the pressure, μ is the viscosity, It is the external force that describes the flow of the flushing fluid

[0079] At the same time, the sedimentation velocity of the particles v s According to Stokes' law:

[0080]

[0081] ρ p is the particle density, ρ f is the fluid density, g is the acceleration of gravity, and d is the particle diameter. The slag removal effect is evaluated by simulating the movement trajectory of cuttings particles in the flushing fluid.

[0082] Through the step-by-step simulation calculations of the above model, key data within each time step is synchronously recorded, including the drill bit position, posture, cutting force, drill pipe deformation and stress, guidance system adjustment parameters, power system output parameters, and the flushing fluid pressure, flow rate, and cuttings discharge volume of the slag removal system. This data will be used for subsequent results analysis and solution verification.

[0083] The data collected by simulation is analyzed through the system and parameter optimization module, the drilling trajectory obtained by simulation is compared with the trajectory required by design, the trajectory deviation value is calculated, and it is evaluated whether the accuracy requirements of drilling requirements are met. When the simulation results do not meet the drilling requirements and performance index requirements, the relevant parameters in the system selection and parameter optimization module are adjusted according to the analyzed problems, and the simulation operation, data collection and result analysis and evaluation are carried out again to form a cyclic optimization process until the design scheme meets the drilling requirements and performance index requirements. After that, the drilling plan is output, and the above process information is sent to the output and storage module for storage, which is convenient for expanding the processing cases of complex terrain.

[0084] See also Figure 1-Figure 4 The present invention provides a composite directional drilling method for complex terrain in a coal mine, which is applied to the above-mentioned drilling system and includes:

[0085] Step 1: Pre-drilling preparation

[0086] Collect geological data and hydrogeological conditions from geological exploration, build a 3D geological model of the acquisition area, and accurately determine the target location, design depth, and ideal drilling trajectory of the borehole;

[0087] Select suitable composite directional drilling equipment based on geological conditions and drilling design requirements, and conduct comprehensive debugging and testing of the selected equipment on the ground to ensure that all components function normally, are firmly connected, and that parameter settings are accurate;

[0088] Step 2: Initial Drilling Phase

[0089] According to the pre-designed drilling trajectory, the angle and direction of the bend joint in the guidance system are accurately adjusted. During the drilling process, the inclination and azimuth of the borehole are monitored in real time, and the data is quickly transmitted to the ground control system;

[0090] The ground control system performs real-time comparative analysis of the measurement while drilling data received and the designed trajectory. If there is a deviation in the drilling trajectory, the required eccentricity and direction of the eccentric are calculated based on the deviation.

[0091] Step 3: Drilling trajectory adjustment stage

[0092] According to the formation information fed back by the measurement while drilling device and the geological data acquired in advance, the lithology and hardness of the current formation are judged in real time and the corresponding drilling mode is switched;

[0093] The measurement while drilling device continuously monitors parameters such as the inclination, azimuth and depth of the borehole during the drilling process, and transmits the data in real time to the ground control system to assist the bend joint and eccentric to make trajectory adjustments;

[0094] Step 4: Branch drilling construction stage

[0095] During branch drilling, the main borehole drilling operation is suspended according to the pre-planned branch borehole location and design parameters. After data feedback, the guidance system is adjusted through the ground control system to prepare for the start of branch drilling.

[0096] For branch borehole drilling operations, the appropriate drilling method is selected and drilling parameters are adjusted according to the lithology and hardness of the strata encountered in the branch borehole. Synchronous data feedback is used to compare the branch borehole trajectory changes with the designed trajectory in real time.

[0097] During the branch drilling construction phase, after the main borehole is drilled to the specified depth, the drilling operation of the main borehole is suspended, and then the branch borehole is started.

[0098] Step 5: Drilling completion and equipment recovery

[0099] When the drilling reaches the predetermined depth and the task is completed, the drilling is confirmed to have met the completion conditions based on the depth data and geological information fed back by the measurement while drilling device;

[0100] After stopping drilling, keep the flushing pump running for a while to ensure that all the remaining cuttings in the borehole are discharged;

[0101] After completing the borehole measurement and cuttings cleaning, the composite directional drilling equipment recovery work begins. The equipment is thoroughly cleaned, inspected, and maintained. The drill bit is inspected for wear and repaired or replaced. The drill pipe is tested for flaws.

[0102] Combined with the drawings in the specification Figure 4 As shown, through geological exploration of the area, stratigraphic information was obtained. Based on these geological data, a three-dimensional geological model was constructed to determine the drilling trajectory. According to the geological conditions and drilling design requirements, suitable composite directional drilling system equipment was selected. The drill bit, drill pipe, stabilizer, downhole motor, impactor, while-drilling measurement device and slag removal equipment were fully debugged and tested on the ground to ensure that all components were working properly, the while-drilling measurement device was calibrated correctly, and the data transmission was stable. When entering the initial drilling stage, the angle of the elbow was adjusted according to the drilling design trajectory, and the direction pointed to the predetermined starting direction. The ground operator calculated the required eccentricity of the eccentric according to the deviation, and controlled the eccentric to adjust it through the downhole control unit so that the drilling trajectory gradually returned to the predetermined route. After review, the trajectory accuracy of the initial drilling stage met the requirements, and drilling continued.

[0103] When branch drilling is required, the main borehole is suspended after reaching the predetermined depth. The ground operator adjusts the angle of the elbow to point in the direction of the branch drilling, sets the initial eccentricity and direction of the eccentric, and starts the branch drilling. The appropriate drilling method and parameters are selected according to the stratum conditions encountered in the branch drilling. During the branch drilling process, the trajectory changes are closely monitored and timely adjustments are made. Once the conditions for completion are confirmed, a stop drilling command is issued and the flushing fluid pump is kept running for 10 minutes to ensure that all cuttings are discharged.

[0104] Use the drilling measurement device to measure the drilling parameters. When the results show that the drilling trajectory accuracy is within the allowable range, the drilling diameter deviation is small, the formation penetration is good, and the drilling quality meets the requirements, the equipment is lifted from the underground to the surface in sequence and the equipment is thoroughly cleaned, inspected, and maintained.

[0105] The above-mentioned method can effectively cope with the complex geological conditions in coal mines, accurately control the drilling trajectory, improve drilling efficiency and quality, ensure the safety and efficiency of underground coal mine operations, and have significant economic and social benefits.

[0106] While the embodiments of the present invention have been shown and described, it will be apparent to those skilled in the art that various changes, modifications, substitutions, and alterations can be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. A complex terrain composite directional drilling system for underground coal mines, characterized by: include: Ground control terminal, downhole control unit, communication module, data input and processing module, system and parameter optimization module, simulation and verification module, output and storage module and drilling data feedback module; The ground control terminal is connected to the communication module via wireless communication, and the communication module is in signal communication with the downhole control unit via wireless communication, and the downhole control unit is in signal communication with the drilling data feedback module via electrical signals; The data input and processing module is provided with a data processing submodule, and the data input of the data processing submodule is connected to the data by a data input interface, and the data input of the data processing submodule is sent in by an external input device; The system and parameter optimization module includes a drill bit and drill rod selection submodule, a guide submodule, a power submodule and a slag removal submodule; The simulation and verification module includes a drilling process simulation submodule and a solution verification and optimization submodule; The output and storage module is connected to the simulation and verification module, and the output and storage module is connected to the signal line, and the output and storage module includes a solution data output submodule and a data storage and management submodule; The drilling data feedback module consists of a wireless transmission module and a measurement while drilling device, and the measurement while drilling device is installed and connected to the drill bit in the mine.

2. The complex terrain composite directional drilling system for underground coal mines according to claim 1, characterized in that: The underground control unit is installed underground in a coal mine, and is connected to the communication equipment of the coal mine drilling rig via a data line.

3. The complex terrain composite directional drilling system for underground coal mines according to claim 1, characterized in that: The communication module receives electrical signals from the downhole control unit and the drilling data feedback module, and feeds back the received data to the ground control terminal, and the communication module is connected to the output and storage module via data.

4. The complex terrain composite directional drilling system for underground coal mines according to claim 1, characterized in that: The data in the data input and processing module is obtained from the corresponding information of the geological exploration of the region.

5. The complex terrain composite directional drilling system for underground coal mines according to claim 1, characterized in that: The data of the drill bit and drill rod selection submodule, the guide submodule, the power submodule and the slag removal submodule in the system and parameter optimization module are synchronized with the data of the simulation and verification module.

6. The complex terrain composite directional drilling system for underground coal mines according to claim 1, characterized in that: The drilling process simulation submodule in the simulation and verification module receives data input and the processing module obtains geological information of geological exploration.

7. The complex terrain composite directional drilling system for underground coal mines according to claim 1, characterized in that: The output and storage module structure receives data from the drilling data feedback module through the communication module, and the data storage and management submodule is connected to the ground control terminal.

8. The complex terrain composite directional drilling system for underground coal mines according to claim 1, characterized in that: The wireless transmission module provided in the drilling data feedback module receives drill bit status data from the while drilling measurement device.

9. A method for complex terrain composite directional drilling in a coal mine, applied to any one of the above-mentioned complex terrain composite directional drilling systems in a coal mine, characterized in that: include: Step 1: Pre-drilling preparation Collect geological data and hydrogeological conditions from geological exploration, build a 3D geological model of the acquisition area, and accurately determine the target location, design depth, and ideal drilling trajectory of the borehole; Select suitable composite directional drilling equipment based on geological conditions and drilling design requirements, and conduct comprehensive debugging and testing of the selected equipment on the ground to ensure that all components function normally, are firmly connected, and that parameter settings are accurate; Step 2: Initial Drilling Phase According to the pre-designed drilling trajectory, the angle and direction of the bend joint in the guidance system are accurately adjusted. During the drilling process, the inclination and azimuth of the borehole are monitored in real time, and the data is quickly transmitted to the ground control system; The ground control system performs real-time comparative analysis of the measurement while drilling data received and the designed trajectory. If there is a deviation in the drilling trajectory, the required eccentricity and direction of the eccentric are calculated based on the deviation. Step 3: Drilling trajectory adjustment stage According to the formation information fed back by the measurement while drilling device and the geological data acquired in advance, the lithology and hardness of the current formation are judged in real time and the corresponding drilling mode is switched; The measurement while drilling device continuously monitors parameters such as the inclination, azimuth and depth of the borehole during the drilling process, and transmits the data in real time to the ground control system to assist the bend joint and eccentric to make trajectory adjustments; Step 4: Branch drilling construction stage During branch drilling, the main borehole drilling operation is suspended according to the pre-planned branch borehole location and design parameters. After data feedback, the guidance system is adjusted through the ground control system to prepare for the start of branch drilling. For branch borehole drilling operations, the appropriate drilling method is selected and drilling parameters are adjusted according to the lithology and hardness of the strata encountered in the branch borehole. Synchronous data feedback is used to compare the branch borehole trajectory changes with the designed trajectory in real time. Step 5: Drilling completion and equipment recovery When the drilling reaches the predetermined depth and the task is completed, the drilling is confirmed to have met the completion conditions based on the depth data and geological information fed back by the measurement while drilling device; After stopping drilling, keep the flushing pump running for a while to ensure that all the remaining cuttings in the borehole are discharged; After completing the borehole measurement and cuttings cleaning, the recovery of the composite directional drilling equipment begins. The equipment is thoroughly cleaned, inspected and maintained, the drill bit is inspected for wear and repaired or replaced, and the drill pipe is inspected for flaws.

10. The method for composite directional drilling in complex terrain in a coal mine according to claim 9, characterized in that: During the branch drilling construction phase, after the main borehole is drilled to a specified depth, the drilling operation of the main borehole is suspended, and then the branch borehole is initially drilled.

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