Long-tube-shed automatic deviation rectification drilling rig and use method

Abstract

The application discloses a long-tube-shed automatic deviation rectifying drilling machine and a use method, and relates to the technical field of drilling machines. The application discloses a long-tube-shed automatic deviation rectifying drilling machine and a use method, and relates to the technical field of drilling machines. The IMU obtains drilling posture data of a drill bit, and the drilling posture data is transmitted to a data processing terminal in real time. The data processing terminal processes the drilling posture data, obtains the posture and the distance of the drill bit, and maps the processed data to a BIM model to obtain an actual drilling path trajectory. The deviation rectifying system comprises an adjusting sleeve on a drill rod, four stepping motors are fixed on the inner wall of the adjusting sleeve in a uniform circumferential manner, the stepping motors are connected to push rods of a circumferential sliding rail of the drill rod through a screw structure and a force transmission rod, and the data processing terminal is connected to the stepping motors. According to the comparison result, the corresponding stepping motor is controlled to rectify the drill rod. The drilling posture data of the drill bit is obtained through the IMU, the posture and the distance data of the drill bit are calculated, the BIM model is combined to display the actual path trajectory of the drill bit, and the actual path trajectory is compared with the design. The comparison result is fed back to the deviation rectifying system to rectify the drill rod.

Description

Technical Field

[0001] This invention belongs to the field of drilling technology, specifically relating to an automatic deviation correction drilling rig for long pipe roofs and its usage method. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] When constructing long pipe roofs with a long drilling distance, the drill bit may encounter uneven strata, which can cause the drill rod to bend significantly due to insufficient rigidity. This can change the drilling direction of the drill bit. If this is not detected and addressed in time, it can lead to a skewed borehole that fails to meet construction standards, requiring rectification.

[0004] Currently, there are two main approaches to dealing with borehole deviation. One is prevention, which involves adding components to stabilize the drill bit's direction, such as adding fixing accessories to the drill rod to reduce bending and ensure the stability of the drill bit's forward direction. The other approach is remediation, which involves filling the deviated hole after deviation has already occurred.

[0005] To address the aforementioned issues, existing technology discloses a deviation correction device based on a large-diameter, ultra-long pile drilling rig. This device corrects deviation by installing a hydraulic device on the outside of the drill rod, and sets up a measuring unit to monitor the orientation and amount of deviation of the drill rod on the ground. When the verticality meets the specifications or design requirements, the deviation correction operation can be stopped.

[0006] While the above solution can achieve correction during construction, it still has the following problems:

[0007] The above scheme monitors the drill rod located outside the borehole. When the drill rod outside the borehole is deviated, the drill bit inside the borehole has already deviated. Therefore, the above scheme cannot detect whether the drill bit is deviated and cannot correct it in time. The above scheme uses hydraulic cylinders for correction, which is suitable for large-diameter boreholes. However, the diameter of long pipe roof boreholes is small. Using hydraulic cylinders for correction will cause the diameter of the drill rod to become smaller, resulting in insufficient strength of the drill rod. Summary of the Invention

[0008] In view of this, the purpose of the present invention is to provide an automatic correction drilling machine and its usage method for long pipe roofs. The structural design and usage method of the automatic correction drilling machine can solve the problem that the prior art cannot detect whether the drill bit is deviated and cannot perform timely correction; at the same time, it can also solve the problem that if hydraulic cylinder correction is used for long pipe roof drilling with a small diameter, the diameter of the drill rod will become smaller, resulting in insufficient strength of the drill rod.

[0009] To achieve the above objectives, the present invention adopts the following technical solution:

[0010] Firstly, an automatic deviation correction drilling rig for long pipe roofs is provided, including a deviation sensing system and a deviation correction system.

[0011] The correction system includes an adjusting sleeve, on the inner wall of which are four stepper motors. The output ends of the stepper motors are connected to a circumferential slide rail via a lead screw structure. The circumferential slide rail is mounted on the drill pipe. The adjusting sleeve is fitted onto the drill pipe.

[0012] The deviation sensing system includes an inertial measurement unit (IMU) at the front end of the drill bit, which is connected to a data processing terminal running the BIM model. The IMU transmits the drill bit attitude data to the data processing terminal in real time to obtain the drill bit's attitude and path. The processed data is mapped into the BIM model and compared with the design target path trajectory of the long pipe shed to obtain the deviation between the target path trajectory and the measured position, as well as the current correction orientation.

[0013] The data processing terminal is connected to a stepper motor, which controls the corresponding stepper motor to correct the drill rod according to the correction direction.

[0014] Preferably, the circumferential slide rail includes an inner rail and an outer rail, with several balls sandwiched between the inner and outer rails. The inner rail is fixed to the drill rod, and four push rods are evenly arranged on the outer circumferential outer wall of the outer rail. The output end of the stepper motor is connected to the push rods through a lead screw structure.

[0015] Preferably, the stepper motor and the lead screw structure are fixed on the inner wall of the adjusting sleeve. The output end of the stepper motor is connected to the lead screw structure lever. An arc-shaped groove is opened on the sliding block of the lead screw structure. A short rod is set at one end of the force transmission rod facing the arc-shaped groove. The short rod is inserted into the arc-shaped groove and slidably connected to the arc-shaped groove. The other end of the force transmission rod is hinged to the end of the push rod away from the drill rod.

[0016] Preferably, a fulcrum rod is provided on the inner wall of the adjusting sleeve. The fulcrum rod is hinged to the rod body of the force transmission rod. The fulcrum rod is located between the stepper motor and the circumferential slide rail. The long arm section is between the fulcrum rod and the sliding block, and the short arm section is between the fulcrum rod and the push rod.

[0017] Preferably, the design target path trajectory of the long pipe shed is measured and recorded on-site using a total station or other high-precision positioning technology before construction begins, to obtain the design axis and spatial reference coordinates, and then loaded into the BIM model together with the design information of the long pipe shed.

[0018] Preferably, the drill bit's attitude is obtained by integrating the three-axis angular velocity measured by the IMU, and the drill bit's path is calculated by integrating the acceleration data twice; the calculation results are then filtered and mapped into the BIM model.

[0019] Preferably, the stepper motors in the two directions closest to the correction direction jointly generate the correction force. , specifically, ;

[0020] In the formula:

[0021] The angle from the first stepper motor to the counterclockwise direction of the correction force;

[0022] The correction optimization value is a dynamic variable during the drilling process, starting at zero. When the continuous comparison of trajectory deviation exceeds the limit, the system will increase ξ by a set ratio to enhance the correction force. Conversely, when the correction is successful and the deviation is reduced to below the preset threshold, the ξ value gradually decays back to the initial level, achieving sensitive and stable correction response.

[0023] The force applied counterclockwise to the first stepper motor is the reverse extension line of the correction force.

[0024] The force applied to the first stepper motor is the force extended clockwise from the reverse extension line of the correction force.

[0025] Secondly, the above-mentioned method for using an automatic deviation correction drilling rig for long pipe roofs is provided, and the specific steps are as follows:

[0026] Before construction begins, obtain the design axis and spatial reference coordinates; load the design information, design axis and spatial reference coordinates of the long pipe shed into the BIM model to obtain the design target path trajectory.

[0027] During drilling operations, the IMU synchronously acquires data and continuously outputs drill bit attitude data to the data processing terminal; drilling is paused after a certain step length.

[0028] The data processing terminal processes the drill bit attitude data and maps the processed data to the BIM model in real time to obtain the actual drilling path trajectory of the drill bit.

[0029] The actual drilling path trajectory is compared with the design target path trajectory. If the trajectory matches, drilling continues; if it does not match, the deviation and the current correction orientation are calculated to generate a comparison result. Then, the corresponding stepper motor is controlled to correct the drill rod, so that the drill rod direction continuously approaches the design axis.

[0030] After drilling a certain step length, if the set position is not reached, the trajectory comparison continues to determine whether correction is needed; if the set position has been reached, the correction ends, until drilling ends.

[0031] Preferably, when drilling begins, since the first drilling distance is short, no casing is used for correction, and only data is recorded; after every two sections of construction, a signal repeater is added inside the casing to ensure stable data collection at the drill bit.

[0032] Preferably, the drilling process is a continuous closed loop process. Every time a certain drilling step is made, it goes through a cycle of data acquisition, trajectory comparison, deviation calculation, and stepper motor correction, ensuring that the drilling accuracy is continuously improved.

[0033] Compared with the prior art, the advantages and positive effects of this invention are:

[0034] This invention acquires the drilling attitude data of the drill bit by integrating an inertial measurement unit at the front end of the drill bit, then calculates the drill bit's attitude and path data, displays the actual path trajectory of the drill bit in conjunction with a BIM model, compares it with the design, and feeds it back to the correction system to correct the drill rod. It can detect the drilling rod and drill bit deviation in real time, and make high-frequency adjustments and corrections during the drilling process, which can correct deviations in a timely manner and reduce the construction time consumed by pausing correction due to hole deviation. It uses a small stepper motor + lead screw structure + push rod to apply thrust to the drill rod to achieve correction, and the stepper motor is arranged in the direction of drilling, which solves the problem that the diameter of the drill rod will be reduced and the drill rod strength will be insufficient when using hydraulic cylinder correction for long pipe roof drilling with small hole diameter. Attached Figure Description

[0035] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0036] Figure 1 This is a schematic diagram of the correction drilling rig in Embodiment 1 or 2 of the present invention;

[0037] Figure 2 This is the invention Figure 1 Side view;

[0038] Figure 3 This is a flowchart of the operation of the correction drilling rig according to Embodiment 1 or Embodiment 2 of the present invention;

[0039] Figure 4 This is a schematic diagram of the corrective force analysis of Embodiment 1 or Embodiment 2 of the present invention;

[0040] Figure 5 This is a schematic diagram of the force analysis at both ends of the force transmission rod in Embodiment 1 or Embodiment 2 of the present invention;

[0041] In the picture:

[0042] 1. Drill bit; 11. Inertial measurement unit; 2. Drill rod; 21. Adjusting sleeve; 22. Stepper motor; 221. Lead screw structure; 222. Force transmission rod; 23. Circular slide rail; 231. Inner ring rail; 232. Outer ring rail; 233. Ball bearing; 234. Push rod. Detailed Implementation

[0043] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0044] The present invention will now be described in detail with reference to the accompanying drawings.

[0045] Example 1

[0046] This embodiment discloses an automatic deviation correction drilling rig for long pipe roofs, such as... Figure 1 As shown, it includes a skew sensing system and a skew correction system. Specifically, the skew sensing system includes an inertial measurement unit 11 (IMU) integrated at the front end of the drill bit 1, which is used to acquire drill bit attitude data in real time. The skew correction system includes an adjusting sleeve 21 set on the drill rod 2. The adjusting sleeve 21 contains four stepper motors 22. The output end of the stepper motors 22 is connected to a circumferential slide rail 23 through a lead screw structure 221. The circumferential slide rail 23 is set on the drill rod 2.

[0047] Specifically, a bearing-type circumferential slide rail 23 is installed on the drill pipe 2, such as... Figure 2 As shown, the circumferential slide rail 23 includes an inner ring rail 231 and an outer ring rail 232. Several balls 233 are sandwiched between the inner ring rail and the outer ring rail. The outer ring rail can rotate relative to the inner ring rail. The inner ring rail is fixedly mounted on the drill pipe. Four push rods 234 are evenly arranged on the circumferential outer wall of the outer ring rail.

[0048] like Figure 1 As shown, the end of the push rod 234 furthest from the outer ring rail is connected to the output end of the stepper motor 22 via a lead screw structure 221 and a force transmission rod 222. Specifically, the stepper motor 22 and the lead screw structure 221 are fixed on the inner wall of the adjusting sleeve 21. The output end of the stepper motor 22 is connected to the lead lever of the lead screw structure 221 to drive the lead lever. A sliding block is threaded onto the lead lever of the lead screw structure 221, and the output end of the stepper motor 22 drives the sliding block to move through the lead lever. An arc-shaped groove is formed on the sliding block, and the force transmission rod 222... One end of the force transmission rod 222 is provided with a short rod facing the arc groove. The short rod is inserted into the arc groove and slidably connected to the arc groove. The other end of the force transmission rod 222 is hinged to the end of the push rod 234. A fulcrum rod is provided on the inner wall of the adjusting sleeve 21. The fulcrum rod is hinged to the rod body of the force transmission rod 222. The fulcrum rod is located between the stepper motor 22 and the circumferential slide rail 23. The length between the fulcrum rod and the sliding block (the long arm section between the fulcrum rod and the sliding block) is greater than the distance between the fulcrum rod and the circumferential slide rail 23 (the short arm section between the fulcrum rod and the push rod).

[0049] It should be noted that the radius of the arc groove is equal to the length of the force transmission rod 222 between the fulcrum rod and the arc groove.

[0050] When the stepper motor 22 rotates, causing the sliding block of the lead screw structure 221 to tend to move relative to the stepper motor 22, the sliding block causes the force transmission rod 222 to rotate to a certain extent relative to the fulcrum rod. This causes the end of the force transmission rod 222 near the arc groove to move away from the circumferential slide rail 23, while the end of the force transmission rod 222 hinged to the push rod 234 moves towards the circumferential slide rail 23. At this time, a certain compressive force can be generated on the circumferential slide rail 23, thereby generating a certain thrust on the drill rod 2 and correcting the drill rod 2's deviation.

[0051] By setting a circumferential slide rail, the adjusting sleeve 21 can move axially with the drill rod, but it cannot rotate with the drill rod. In addition, the stepper motor 22 ultimately drives the push rod to apply thrust to the drill rod, and the ball bearings can reduce the impact of the push rod's compression on the drill rod's rotation.

[0052] In this embodiment, since drilling is being performed on a long pipe roof with a relatively small borehole diameter, the stepper motor is positioned along the drilling direction, and a stepper motor + lead screw structure + push rod is used to apply thrust to the drill rod. Because the stepper motor is small and compact, it is suitable for installation in confined spaces. The screw structure and push rod are purely mechanical, making them less prone to damage. If hydraulic correction is used, the following drawbacks exist: the output end of the hydraulic device needs to be perpendicular to the drill rod, but the limited borehole size necessitates a smaller drill rod diameter, resulting in insufficient drill rod strength. Furthermore, hydraulic devices present challenges such as sealing difficulties, oil leakage risks, hydraulic stability issues, and larger size.

[0053] Four stepper motors 22 are arranged in a circular array on the inner wall of the adjusting sleeve 21. Specifically, the four stepper motors 22 are located at the top, bottom, left, and right of the drill rod 2, respectively. Each stepper motor 22 is connected to a push rod and is connected to a pulse-controlled stepper motor driver.

[0054] In this embodiment, the tail diameter of the tapered drill bit is greater than the diameter of the drill rod 2, and equal to the outer diameter of the adjusting sleeve 21.

[0055] Understandably, the end of the drill rod furthest from the drill bit is connected to the power source of the drilling rig, which drives the drill rod and drill bit to rotate and drill.

[0056] The skew sensing system also includes a data processing terminal, which comprises a computer, an embedded microcontroller (MCU), and a wireless communication module. The computer processes and compares trajectory data from the BIM model and transmits correction commands to the MCU. The MCU connects to a stepper motor driver; upon receiving commands, the MCU drives the corresponding stepper motor driver, which in turn controls the rotation of the corresponding stepper motor 22 based on pulse modulation signals. The wireless communication module receives data collected by the inertial measurement unit 11.

[0057] like Figure 3 As shown, before construction begins, on-site measurements are taken using a total station or other high-precision positioning technology to record the initial points, obtain the design axis and spatial reference coordinates, and then load them into the BIM model along with the design information of the long pipe shed to construct the design target path trajectory of the long pipe shed.

[0058] In this embodiment, the inertial measurement unit 11 is connected to the wireless communication module of the data processing terminal, and can use ZigBee communication technology in the 2.4GHz band for wireless transmission. Specifically, the IMU collects attitude data (including three-axis acceleration and three-axis angular velocity) in real time, sends the data to the signal repeater at the tail of the drill pipe, then transmits it to the wireless communication module of the ground data processing terminal, and finally transmits it to the computer.

[0059] During drilling, the real-time acquired drill bit attitude data is transmitted to the computer at the data processing terminal. The computer processes this data to obtain the drill bit attitude (the angular change of the drill bit in three-dimensional space, obtained by integrating the three-axis angular velocity measured by the IMU) and the path (the actual displacement path of the drill bit, calculated by integrating the acceleration data twice). Then, the drill bit attitude and path are mapped into the BIM model and compared with the design target path trajectory of the long pipe shed to obtain the difference between the design target path trajectory and the measured position. The comparison result including the deviation between the design target path trajectory and the measured position and the current correction orientation is calculated.

[0060] The data processing terminal can control the corresponding stepper motor in the adjusting sleeve 21 to perform correction based on the deviation between the acquired design target path trajectory and the measured position, and the current correction orientation. Specifically, the computer of the data processing terminal transmits the correction command to the MCU. After receiving the command, the MCU drives the corresponding stepper motor driver, which then controls the stepper motor to rotate according to the pulse modulation signal.

[0061] Specifically, drill bit attitude data typically consists of three-axis acceleration and angular velocity. Quaternions are used to calculate the drill bit's attitude, specifically the quaternion attitude in the inertial coordinate system at the current moment. The calculation formula is:

[0062] ;

[0063] In the formula:

[0064] Angular velocity vector ω(t) = [ωx, ωy, ωz] × t;

[0065] .

[0066] When calculating the drill bit's path, the acceleration data obtained from the IMU needs to be integrated twice. The acquired acceleration is based on the IMU coordinate system and denoted as... The acceleration in the inertial coordinate system is denoted as , The calculation formula is:

[0067] ;

[0068] In the formula:

[0069] current posture The corresponding rotation matrix; through the current quaternion The calculation shows that the vector in the inertial measurement unit coordinate system is transformed to the inertial coordinate system.

[0070] b is the accelerometer bias (obtained through static calibration);

[0071] g is the gravitational acceleration in the inertial frame of reference, typically... ;

[0072] Then at each time step The speed is updated to [value], and the position is updated to [value]. ;

[0073] In the formula:

[0074] The current time; The sampling period; Acceleration in an inertial coordinate system; The speed at the current moment; The displacement at the current moment, For the updated speed, This is the displacement after the update.

[0075] Next, the calculated IMU coordinates are mapped to BIM coordinates using a calibration matrix to obtain multiple time-series points. Then, a third-order Butterworth low-pass filter is used to remove high-frequency jitter and integration noise during the IMU integration process. The third-order Butterworth low-pass filter, with its maximum flat frequency response, is used to independently filter the time-series coordinate data of the trajectory points in the X, Y, and Z three-dimensional channels, with a cutoff frequency set to 2Hz to effectively preserve the path change trend and suppress high-frequency jitter in the sampling. Finally, the data is resampled at 0.05m intervals to reduce the impact of inconsistent drilling speed on the fitting.

[0076] The drill bit's attitude and path obtained above are mapped onto the BIM model to obtain the actual forward path trajectory of the drill bit. The actual forward path trajectory of the drill bit can be observed intuitively in the BIM model, and the difference between the two and the design target path trajectory can be calculated. The offset between the design target path trajectory and the measured position, as well as the current correction orientation, can be calculated.

[0077] Based on the current correction orientation and the calculated deviation, the data processing terminal sends adjustment commands to the corresponding stepper motor in the adjusting sleeve, causing the drill rod direction to continuously approach the design axis until drilling is completed.

[0078] Specifically, the stepper motors in the two directions closest to the correction azimuth are controlled to generate correction force, such as... Figure 4 As shown, when the correction azimuth of drill rod 2 is slightly to the upper left, it is necessary to control the stepper motors in the two directions closest to the correction azimuth to work together to correct the deviation and generate a correction force. .

[0079] Specifically, ;

[0080] In the formula:

[0081] The angle from the first stepper motor to the counterclockwise direction of the correction force;

[0082] The correction optimization value is a dynamic variable during drilling, starting at zero. When the trajectory deviation exceeds the limit after multiple consecutive comparisons, the system will increase ξ by a set percentage to enhance the correction force. Conversely, when the correction is successful and the deviation is reduced to below the preset threshold, the ξ value gradually decays back to the initial level, achieving a sensitive and stable correction response. For example, if the threshold is set to 5cm, when the deviation exceeds this threshold for three consecutive comparisons, the correction force parameter ξ increases by 10%.

[0083] The force applied to the first stepper motor is counterclockwise along the reverse extension of the correction force line.

[0084] The force applied to the first stepper motor is the force in the direction of the reverse extension of the correction force, clockwise.

[0085] Take F1 as an example;

[0086] The formula for the thrust generated by the lead screw structure at this time is: ;

[0087] in, The thrust generated by the lead screw structure For the mechanical efficiency of the lead screw, For the lead screw, This is the torque required at the output of the stepper motor.

[0088] like Figure 5 As shown, force analysis reveals that the thrust generated by the lead screw structure... The force acting on the long arm end of the force transmission rod 222 can be decomposed into forces along the rod and forces perpendicular to the rod. The force along the rod is balanced by the fulcrum, while the force perpendicular to the rod is amplified by the long arm and generates a force at the short arm end. F s ’ ,get: ;

[0089] in F s ’ A force is generated at the end of the short arm, where a is the length of the long arm segment and b is the length of the short arm segment;

[0090] Then we can obtain:

[0091]

[0092] In the formula: Where K is the motor torque constant and I is the current;

[0093] The definition is as follows: with the fulcrum rod as the origin O, the coordinates of the contact point P between the long arm segment and the sliding block of the lead screw structure are... ,but , It can be done Calculation, where For the lead screw, This is the step angle of the stepper motor. m To subdivide the multiples, N This represents the cumulative number of pulses.

[0094] The magnitude of the correction force can be adjusted by changing the parameters of the stepper motor and the force applied by the lead screw structure connected to the stepper motor, so that the drill rod direction continuously approaches the design axis until drilling is completed.

[0095] Example 2

[0096] This embodiment discloses a method for using an automatic long pipe roof correction drilling rig, which employs the automatic long pipe roof correction drilling rig disclosed in Embodiment 1. The specific steps are as follows:

[0097] S1. Record initial positions: Before construction begins, obtain the design axis and spatial reference coordinates using a total station or other high-precision positioning technology;

[0098] S2. Constructing the BIM model: Load the design information, design axis and spatial reference coordinates of the long pipe shed into the BIM model to obtain the design target path trajectory of the long pipe shed.

[0099] S3. Start Drilling: The drilling rig begins drilling operations, the IMU synchronously acquires data, and continuously outputs drill bit attitude data to the data processing terminal; the drilling is paused after a certain step length.

[0100] S4. Trajectory Reproduction: The data processing terminal processes the acquired drill bit attitude data and maps the processed data to the constructed BIM model in real time to obtain the actual drilling path trajectory of the drill bit.

[0101] S5. Trajectory Comparison: Compare the actual drilling path trajectory with the design target path trajectory. If the actual drilling path trajectory matches the design target path trajectory, continue drilling; if the actual drilling path trajectory does not match the design target path trajectory, calculate the deviation and the current correction orientation of the drill rod.

[0102] Then, the corresponding stepper motor of the adjusting sleeve is controlled to correct the drill rod, so that the direction of the drill rod continuously approaches the design axis.

[0103] S6. Continue drilling: After drilling a certain step length, if the set position is not reached, continue to compare the trajectory to determine whether correction is needed; if the set position has been reached, the correction ends, until drilling ends.

[0104] In S3-S5, during the first drilling stage, due to the short drilling distance, no adjusting sleeve is used for correction; only data is recorded. After every two subsequent construction stages, a signal repeater is added inside the casing (also called the support steel sleeve) to ensure stable data collection at the drill bit.

[0105] The casing here is generally installed during drilling using a drilling-as-you-go process, meaning that the casing is installed after drilling two sections, and drilling continues after installation; the support steel sleeve can protect the drill pipe and intelligent components from borehole wall disturbances; the signal repeater is a wireless receiving and relaying device embedded in the casing, which can receive monitoring data transmitted by the IMU and transmit it to the data processing terminal.

[0106] The drilling process is a continuous closed loop. Every time the drilling reaches a certain step, it goes through a cycle of data acquisition, trajectory comparison, deviation calculation, and stepper motor correction to ensure that the drilling accuracy is continuously improved. In the BIM model, the actual hole-forming trajectory of the drill bit can be clearly displayed, and the correction process can also be visualized.

[0107] The data processing terminal (mainly a computer) can store historical construction data and perform data mining and intelligent optimization. By analyzing the deviation patterns of the drill bit and geological characteristics, it continuously optimizes the correction strategy, enabling subsequent drilling sections to converge to the design axis more quickly and improving overall construction efficiency.

[0108] Historical construction data includes: drill bit attitude, acceleration, angular velocity, etc. recorded by IMU, as well as construction process data: correction commands, drill thrust, torque, etc. Then, clustering and regression analysis are performed on the above data; the deviation distribution of the drill bit is excavated based on the construction history.

[0109] Furthermore, during the drilling construction of long pipe roofs, label vectors are generated for every 0.5m construction segment, forming a time-series database. The K-Means++ algorithm (cluster number K=3–5) is called to perform unsupervised clustering on all label vector samples, forming multiple clusters such as "soft rock-medium hard rock-hard rock + machine condition characteristics", and each cluster is automatically bound to a cluster identifier ID.

[0110] Within each cluster, at the drilling depth The independent variable is the maximum positional deviation. Using ridge regression as the dependent variable, a linear prediction model is obtained by performing ridge regression. After obtaining a and b, they are stored together with the cluster identifier ID as the basis for subsequent bias prediction.

[0111] Furthermore, a simple linear model is used to predict how the deviation changes with depth, and then reinforcement learning is used to iteratively learn the optimal deviation correction strategy to maximize the positional deviation. The instantaneous attitude angle deviation between the actual drilling direction and the designed axis direction. The single-axis compressive strength is used as the input quantity, and the number of pulse steps output by each stepper motor and the correction amplification factor are used as the input quantities. To control the amount of error and reduce bias, a deep deterministic policy gradient algorithm is used to train the optimal policy network, and the model is continuously corrected by feedback from actual conditions. This can be triggered immediately after accumulating 100 new sample records to ensure that the policy library always maintains the best correction parameters for the latest geological and mechanical conditions.

[0112] Furthermore, we will establish historical databases for different machine parameters and different stratigraphic types to provide some reference for other projects.

[0113] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. An automatic deviation correction drilling machine for long pipe roofs, characterized in that, Including a skew sensing system and a skew correction system, The correction system includes an adjusting sleeve, on the inner wall of which are four stepper motors. The output ends of the stepper motors are connected to a circumferential slide rail via a lead screw structure. The circumferential slide rail is mounted on the drill pipe. The adjusting sleeve is fitted onto the drill pipe. The deviation sensing system includes an inertial measurement unit (IMU) at the front end of the drill bit, which is connected to a data processing terminal running the BIM model. The IMU transmits the drill bit attitude data to the data processing terminal in real time to obtain the drill bit's attitude and path. The processed data is mapped into the BIM model and compared with the design target path trajectory of the long pipe shed to obtain the deviation between the target path trajectory and the measured position, as well as the current correction orientation. The data processing terminal is connected to a stepper motor, which controls the corresponding stepper motor to correct the drill rod according to the correction direction; The circumferential slide rail includes an inner rail and an outer rail. Several balls are sandwiched between the inner rail and the outer rail. The inner rail is fixed on the drill rod. Four push rods are evenly arranged on the outer wall of the outer rail. The output end of the stepper motor is connected to the push rod through a lead screw structure. The stepper motor and lead screw structure are fixed on the inner wall of the adjusting sleeve. The output end of the stepper motor is connected to the lead screw structure lever. An arc-shaped groove is opened on the sliding block of the lead screw structure. A short rod is set at one end of the force transmission rod facing the arc-shaped groove. The short rod is inserted into the arc-shaped groove and slidably connected to the arc-shaped groove. The other end of the force transmission rod is hinged to the end of the push rod away from the drill rod. A fulcrum rod is provided on the inner wall of the adjusting sleeve. The fulcrum rod is hinged to the rod body of the force transmission rod. The fulcrum rod is located between the stepper motor and the circumferential slide rail. The long arm section is between the fulcrum rod and the sliding block, and the short arm section is between the fulcrum rod and the push rod. Controlling the stepper motors in the two directions closest to the correction direction to jointly generate the correction force. , specifically, ; In the formula: The angle from the first stepper motor to the counterclockwise direction of the correction force; The correction optimization value is a dynamic variable during the drilling process, starting at zero. When the continuous comparison of trajectory deviation exceeds the limit, the system will increase ξ by a set ratio to enhance the correction force. Conversely, when the correction is successful and the deviation is reduced to below the preset threshold, the ξ value gradually decays back to the initial level, achieving sensitive and stable correction response. The force applied to the first stepper motor is counterclockwise in the direction of the correction force. The force applied to the first stepper motor is clockwise, indicating the direction of the correction force.

2. The automatic deviation correction drilling rig for long pipe roofs as described in claim 1, characterized in that, Before construction begins, initial locations are measured and recorded on-site to obtain the design axis and spatial reference coordinates. These coordinates are then loaded into the BIM model along with the design information of the long pipe shed to obtain the design target path trajectory of the long pipe shed.

3. The automatic deviation correction drilling rig for long pipe roofs as described in claim 1, characterized in that, The drill bit's attitude is obtained by integrating the three-axis angular velocity measured by the IMU, and the drill bit's path is calculated by integrating the acceleration data twice. The calculation results are then filtered and mapped into the BIM model.

4. The method of using the automatic deviation correction drilling rig for long pipe roofs as described in any one of claims 1-3, characterized in that, The specific steps are as follows: Before construction begins, obtain the design axis and spatial reference coordinates; load the design information, design axis and spatial reference coordinates of the long pipe shed into the BIM model to obtain the design target path trajectory. During drilling operations, the IMU synchronously acquires data and continuously outputs drill bit attitude data to the data processing terminal; drilling is paused after a certain step length. The data processing terminal processes the drill bit attitude data and maps the processed data to the constructed BIM model in real time to obtain the actual drilling path trajectory of the drill bit and compare it with the design target path trajectory. If the trajectory is correct, drilling continues; if it is incorrect, the deviation and the current correction position of the drill rod are calculated; then the corresponding stepper motor is controlled to correct the drill rod so that the drill rod direction continuously approaches the design axis. After drilling a certain step length again, if the set position is not reached, the trajectory comparison continues to determine whether correction is needed; if the set position has been reached, the correction ends.

5. The method of using the automatic deviation correction drilling rig for long pipe roofs as described in claim 4, characterized in that, When drilling begins, since the first drilling distance is short, no adjusting sleeve is used for correction; only data is recorded. After every two drilling sections, a signal repeater is added inside the casing to ensure stable data collection at the drill bit.

6. The method of using the automatic deviation correction drilling rig for long pipe roofs as described in claim 4, characterized in that, The drilling process is a continuous closed loop. Every time the drilling reaches a certain step, it goes through a cycle of data acquisition, trajectory comparison, deviation calculation, and stepper motor correction to ensure that the drilling accuracy is continuously improved.

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