A visual monitoring method for drilling and injection integrated construction

Abstract

The present application relates to the technical field of monitoring drilling and grouting integrated construction, and particularly relates to a visual monitoring method for drilling and grouting integrated construction. The present application can obtain the drilling shape in real time through a multispectral visual network, and periodically correct drilling operation parameters based on the drilling shape change rate, so as to more accurately adjust the drilling operation parameters based on the drilling condition, inject slurry into the stratum through the inner cavity of the drill rod connected with the grouting pump, and thus perform grouting operation at a suitable time, thereby improving the efficiency of drilling and grouting integrated construction. The construction state is determined based on the slurry diffusion radius, and whether to adjust the grouting pressure and the correction period of the drilling operation parameters is determined based on the construction state. The present application can be adjusted in time when the slurry flow path is blocked during drilling and grouting, thereby improving the drilling and grouting efficiency.

Description

Technical Field

[0001] This invention relates to the technical field of monitoring integrated drilling and injection construction, and in particular to a visual monitoring method for integrated drilling and injection construction. Background Technology

[0002] The introduction of visual inspection technology in integrated drilling and grouting construction stems from the uncontrollability of hidden works quality in traditional processes: since drilling and grouting are carried out entirely in complex underground strata, conventional monitoring methods (such as pressure gauges and flow meters) can only obtain indirect parameters and cannot directly observe key quality indicators such as borehole stability, grout diffusion morphology, and formation fracture filling effect. Visual inspection technology integrates high-pressure dustproof endoscopes or miniature camera probes into the drill pipe / drill bit, combined with downhole lighting and real-time image transmission systems, to directly acquire high-definition images of the borehole during drilling and grouting. This solves the pain points of lack of visualization of working conditions during segmented grouting, difficulty in controlling grouting blind spots, and delayed response to abnormal working conditions. It provides direct evidence for optimizing grouting parameters and timely intervention in formation defects, ultimately improving the reliability and controllability of hidden works quality.

[0003] Chinese Patent Publication No. CN116248838A discloses a drilling pile quality monitoring system based on computer vision technology. After the first batch of concrete is poured normally, the system calculates the required height for lifting the tremie pipe based on the real-time volume of concrete grout injected afterward and automatically completes the lifting of the tremie pipe. Simultaneously, four monitoring pipes are arranged at different heights around the pile. The ends of the monitoring pipes are transparent observation chambers containing miniature cameras, LED unidirectional light sources, and conical reflectors. Based on computer vision technology, the system automatically identifies possible abnormal events during the underwater concrete pouring process around the grouting pipes, adjusts the lifting speed and burial depth of the tremie pipe, and issues alarms to alert on-site technicians to take appropriate remedial measures.

[0004] Therefore, the existing technology has the following problems: it cannot adjust in time when the slurry flow path is blocked during the drilling process, resulting in low drilling efficiency. Summary of the Invention

[0005] Therefore, the present invention provides a visual monitoring method for integrated drilling and grouting construction, which overcomes the problem in the prior art that the grout flow path cannot be adjusted in time when it is blocked during the drilling and grouting process, resulting in low drilling and grouting efficiency.

[0006] To achieve the above objectives, the present invention provides a visual monitoring method for integrated drilling and grouting construction, comprising:

[0007] A multispectral visual network is used to generate borehole point clouds in real time to obtain the borehole shape, which includes the borehole depth and borehole diameter.

[0008] The borehole diameter change rate is calculated based on the borehole diameter, and the drilling operation parameters are periodically corrected based on the borehole diameter change rate, wherein the drilling operation parameters include at least the drilling speed.

[0009] Grouting operation is completed by injecting grout into the formation through the inner cavity of the drill pipe connected to the grouting pump at a preset grouting pressure.

[0010] The grout diffusion radius is determined by infrared thermal imaging tracking. The construction status is determined based on the grout diffusion radius within a preset time period. The grouting pressure is adjusted based on the construction status. Based on the construction status after adjusting the grouting pressure, it is determined whether to adjust the correction cycle of the drilling operation parameters.

[0011] Furthermore, the process of determining the construction state based on the slurry diffusion radius within a preset time period and adjusting the grouting pressure based on the construction state includes: when the construction state is determined to be a first state, adjusting the grouting pressure based on the ratio of the slurry diffusion radius to the preset radius; wherein, the first state is the unqualified construction state, and the first state is the construction state corresponding to when the slurry diffusion radius is less than the preset radius.

[0012] Furthermore, the grouting pressure is increased based on the ratio of the slurry diffusion radius to the preset radius, and the increase in grouting pressure is inversely proportional to the ratio.

[0013] Furthermore, by integrating the borehole morphology and the borehole operation parameters to simulate the fracture network, the geological permeability parameters at the borehole location are obtained; the grouting pressure is increased based on the ratio of the permeability parameters to the preset permeability parameters, and the increase in grouting pressure is inversely proportional to the ratio.

[0014] Further, after adjusting the grouting pressure, the grout diffusion radius is re-detected; if the grout diffusion radius is less than the preset radius, the 2D pixel coordinates of the drill rod are obtained using a wide-angle camera, and the distance values ​​between the key points of the drill rod and the laser sensor are obtained using a laser rangefinder. The 2D pixel coordinates of the drill rod and the distance values ​​are then fused to obtain three-dimensional coordinates. Based on the three-dimensional coordinates, the spatial vector of the drill rod axis is reconstructed to detect whether the average value of the drilling angle deviation within a preset time is controlled within the preset deviation value.

[0015] Furthermore, if the average value of the drilling angle deviation is not within the preset range, the drilling speed is reduced based on the difference between the average value of the drilling angle deviation and the preset deviation value, and the reduction in drilling speed is proportional to the difference.

[0016] Furthermore, the preset addition value of nano-SiO2 is increased based on the drilling speed, and the increase in the preset addition value of nano-SiO2 is inversely proportional to the drilling speed.

[0017] Furthermore, the cumulative grouting volume is calculated, and the drilling speed is reduced based on the ratio of the cumulative grouting volume to the preset grouting volume, with the reduction in drilling speed being inversely proportional to the ratio; if the ratio of the cumulative grouting volume is greater than the preset ratio, a drilling stop operation is performed.

[0018] Furthermore, the slurry diffusion radius after adjusting the drilling speed is detected. If the slurry diffusion radius is less than the preset radius, the drilling speed is adjusted at least once until the number of adjustments is equal to the preset number or the slurry diffusion radius is greater than or equal to the preset radius when the number of adjustments is less than the preset number. Then the adjustment is stopped.

[0019] Furthermore, if the slurry diffusion radius is smaller than the preset radius after the adjustment is stopped, the correction cycle of the drilling operation parameters is reduced based on the ratio of the slurry diffusion radius after the adjustment is stopped to the preset radius, and the reduction in the correction cycle is inversely proportional to the ratio.

[0020] Compared with existing technologies, the advantages of this invention lie in its ability to acquire borehole morphology in real time through a multispectral visual network and periodically correct borehole operating parameters based on the borehole morphology change rate. This allows for more accurate adjustment of borehole operating parameters based on borehole conditions. By analyzing the borehole conditions, grout is injected into the formation through the drill rod cavity connected to the grouting pump, thus enabling grouting operations at appropriate times and improving the efficiency of integrated drilling and grouting construction. The invention also determines the construction status based on the grout diffusion radius and determines whether to adjust the grouting pressure and the correction cycle of borehole operating parameters based on the construction status. Furthermore, this invention promptly adjusts the grout flow path when obstruction occurs during drilling and grouting, thereby improving drilling and grouting efficiency.

[0021] Furthermore, the present invention adjusts the grouting pressure based on the construction status, which can increase the grouting pressure directly to increase the driving force of the grout, thereby expanding the diffusion range of the grout and increasing the diffusion radius of the grout, thus further improving the efficiency of integrated drilling and grouting construction.

[0022] Furthermore, the present invention adjusts the grouting pressure based on the grout diffusion radius and the preset radius, which can more accurately adjust the grouting pressure so that the grouting pressure matches the current grouting situation, thereby further improving the grouting efficiency and further improving the efficiency of drilling and grouting integrated construction.

[0023] Furthermore, the present invention adjusts the grouting pressure based on the geological permeability parameters of the borehole location, which can solve the problem that the grout is difficult to diffuse when the permeability is poor, thus reducing the diffusion radius, thereby further improving the grouting efficiency and further improving the efficiency of drilling and grouting integrated construction.

[0024] Furthermore, if the construction status is still unqualified after adjusting the grouting pressure, the present invention determines whether the small grout diffusion radius is caused by a large deviation in the drilling angle. This allows for more accurate adjustments based on the cause, thereby further improving the efficiency of integrated drilling and grouting construction.

[0025] Furthermore, after determining that the large borehole angle deviation is due to the slurry diffusion radius being smaller than the preset radius, the present invention adjusts the drilling speed based on the difference between the average value of the borehole angle deviation within a preset time period and the preset deviation value. This can reduce the impact of angle deviation by matching the drilling speed, thereby further improving the efficiency of integrated drilling and grouting construction.

[0026] Furthermore, the present invention, based on adjusting the preset addition value of nano-SiO2 according to the drilling speed, can prevent grout loss and enhance grout diffusion, thereby further improving grouting efficiency and further improving the efficiency of integrated drilling and grouting construction.

[0027] Furthermore, this invention adjusts the drilling speed based on the cumulative grouting volume, which can more accurately adjust the drilling speed to extend the grouting time of a single hole when the grouting volume is lower than expected, thereby improving the grouting penetration efficiency and further improving the efficiency of integrated drilling and grouting construction.

[0028] Furthermore, after re-detecting the slurry diffusion radius, the present invention repeatedly adjusts the drilling speed at least once until it meets the stopping condition. By adjusting the drilling speed multiple times, the slurry diffusion radius can be further increased, thereby further improving the efficiency of integrated drilling and grouting construction.

[0029] Furthermore, the present invention adjusts the correction cycle of the borehole operating parameters based on the slurry diffusion radius after the adjustment is stopped. By adjusting the correction cycle of the borehole operating parameters, the operating parameters of the borehole can be better matched with the current borehole conditions, thereby making the grouting operation more effective and further improving the efficiency of integrated drilling and grouting construction. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of the visual monitoring system for integrated drilling and grouting construction according to an embodiment of the present invention;

[0031] Figure 2 This is a flowchart illustrating the steps of the visual monitoring method for integrated drilling and grouting construction according to an embodiment of the present invention.

[0032] Figure 3 This is a flowchart illustrating the steps of processing the slurry diffusion radius based on the comparison results between the slurry diffusion radius and the preset radius within a preset time period, according to an embodiment of the present invention.

[0033] Figure 4 This is a flowchart illustrating the steps for determining the grout diffusion radius based on the comparison between the grout pressure after adjustment and the preset radius, as described in an embodiment of the present invention. Detailed Implementation

[0034] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0035] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0036] It should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0037] Please see Figure 1 As shown, it is a structural schematic diagram of the visual monitoring system for integrated drilling and grouting construction according to an embodiment of the present invention.

[0038] The system includes an acquisition unit, a correction unit, a grouting unit, and an analysis unit.

[0039] The acquisition unit is used to generate borehole point clouds in real time using a multispectral vision network to obtain the borehole shape, wherein the borehole shape includes the borehole depth and the borehole diameter.

[0040] The correction unit is connected to the acquisition unit and is used to calculate the orifice diameter change rate based on the orifice diameter, and to periodically correct the drilling operation parameters based on the orifice diameter change rate, wherein the drilling operation parameters include at least the drilling speed.

[0041] The grouting unit is connected to the correction unit and is used to inject grout into the formation through the drill pipe cavity connected to the grouting pump at a preset grouting pressure to complete the grouting operation.

[0042] The analysis unit is connected to the grouting unit. It is used to determine the grout diffusion radius by infrared thermal imaging, determine the construction status based on the grout diffusion radius within a preset time period, adjust the grouting pressure based on the construction status, and determine whether to adjust the correction cycle of the drilling operation parameters based on the construction status after adjusting the grouting pressure.

[0043] Specifically, the process of generating borehole point clouds in real time using a multispectral vision network to obtain borehole morphology involves: integrating a multispectral camera array at the front end of the drill rod, including a visible light sensor, an infrared sensor, and a laser sensor, to capture clear images and spectral data. During drilling, the drill rod rotates, and the multispectral cameras continuously capture ring-shaped images of the borehole wall at high frequency. A basic 3D point cloud is generated through stereo vision matching, and the data obtained from infrared thermal maps, visible light textures, and laser ranging are mapped to the point cloud coordinates. These coordinates are then stitched together in real time using a SLAM algorithm to create a borehole point cloud model with multidimensional information, thereby obtaining the borehole morphology.

[0044] Please see Figure 2 The diagram shown is a flowchart of the steps of the visual monitoring method for integrated drilling and grouting construction according to an embodiment of the present invention.

[0045] The steps involved in visual monitoring during integrated drilling and grouting construction include:

[0046] S1, the drilling point cloud is generated in real time by the acquisition unit using a multispectral visual network to obtain the drilling shape, wherein the drilling shape includes the hole depth and the hole diameter.

[0047] S2, the correction unit connected to the acquisition unit calculates the orifice diameter change rate based on the orifice diameter, and periodically corrects the drilling operation parameters based on the orifice diameter change rate, wherein the drilling operation parameters include at least the drilling speed;

[0048] S3, the grouting unit connected to the correction unit injects grout into the formation through the drill pipe cavity connected to the grouting pump at a preset grouting pressure to complete the grouting operation;

[0049] S4, the analysis unit connected to the grouting unit determines the grout diffusion radius by infrared thermal imaging, determines the construction status based on the grout diffusion radius within a preset time period, adjusts the grouting pressure based on the construction status, and determines whether to adjust the correction cycle of the drilling operation parameters based on the construction status after adjusting the grouting pressure.

[0050] Specifically, firstly, a multispectral vision network is used to obtain the borehole morphology. Based on the borehole morphology, the drilling operation parameters are periodically adjusted to ensure that the drilling operation can be carried out effectively. Then, the grouting time is determined based on the borehole morphology and drilling operation parameters. After grouting, drilling can only continue after the grout has solidified. In other words, the timing of grouting needs to comprehensively evaluate the borehole morphology and real-time drilling parameters. After grouting is completed, drilling can only continue after the grout reaches the designed solidification strength (usually ≥0.5MPa).

[0051] Please see Figure 3The diagram shows a flowchart illustrating the steps of processing the grout diffusion radius within a preset time period and a preset radius according to an embodiment of the present invention. The process of determining the construction state based on the grout diffusion radius within a preset time period and adjusting the grouting pressure based on the construction state includes: when the construction state is determined to be a first state, adjusting the grouting pressure based on the ratio of the grout diffusion radius to the preset radius; wherein, the first state is an unqualified construction state, and the first state is the construction state corresponding to when the grout diffusion radius is less than the preset radius.

[0052] Specifically, taking segmented grouting in sandy geology as an example, the preset radius of grout diffusion is L0 = 0.5 cm. The comparison process between the grout diffusion radius L and the preset radius L0 is as follows:

[0053] If the grout diffusion radius L is greater than or equal to the preset radius L0, it indicates that the current construction status is qualified.

[0054] If the slurry diffusion radius L is less than the preset radius L0, it indicates that the current construction state is unqualified, and the current construction state is determined as the first state.

[0055] Specifically, when the construction state is determined to be the first state, the driving force of the grout is directly increased by increasing the grouting pressure, thereby expanding the diffusion range of the grout and increasing the grout diffusion radius. The grouting pressure is adjusted based on the ratio of the grout diffusion radius to the preset radius, where the preset ratio Q0 = 0.85. The comparison process between the ratio Q0 and the preset ratio Q is as follows:

[0056] If the ratio Q of the grout diffusion radius to the preset radius is less than or equal to the preset ratio Q0, the grouting pressure will be adjusted to 2.1 times the original grouting pressure.

[0057] If the ratio Q of the grout diffusion radius to the preset radius is greater than the preset ratio Q0, the grouting pressure will be adjusted to 1.4 times the original grouting pressure.

[0058] Specifically, in this embodiment of the invention, the fracture network is simulated by integrating the borehole morphology and the borehole operation parameters to obtain the geological permeability parameters at the borehole location; the grouting pressure is increased based on the ratio of the permeability parameters to the preset permeability parameters, and the increase in grouting pressure is inversely proportional to the ratio.

[0059] Specifically, the process of simulating a fracture network by integrating the borehole morphology and borehole operating parameters to obtain the geological permeability parameters at the borehole location involves constructing a fracture network model using machine learning algorithms, combining rock mechanics and fluid dynamics theories to simulate the spatial distribution and connectivity of fractures, and finally using a permeability inversion method to calculate the geological permeability parameters at the borehole location. This will not be elaborated further.

[0060] Specifically, when the geological permeability parameter is less than 10 -5 When the flow rate is cm / s, the grout is difficult to diffuse, resulting in a grout diffusion radius smaller than the preset radius. Therefore, it is necessary to adjust the grouting pressure based on the geological permeability parameters to increase the grout diffusion radius. The preset ratio R0 of the permeability parameter to the preset permeability parameter is 0.71. The specific comparison process between the ratio R of the permeability parameter to the preset permeability parameter and the preset ratio R0 is as follows:

[0061] If the ratio R of the permeation parameter to the preset permeation parameter is less than or equal to the preset ratio R0, the grouting pressure will be adjusted to 2.9 times the original grouting pressure, where the original grouting pressure is the grouting pressure adjusted based on the grout diffusion radius.

[0062] If the ratio R of the permeation parameter to the preset permeation parameter is greater than the preset ratio R0, the grouting pressure will be adjusted to 1.8 times the original grouting pressure, where the original grouting pressure is the grouting pressure adjusted based on the grout diffusion radius.

[0063] Please see Figure 4 The diagram shows the steps of determining the grout diffusion radius based on the comparison between the adjusted grouting pressure and the preset radius in an embodiment of the present invention. After adjusting the grouting pressure, the grout diffusion radius is re-detected. If the grout diffusion radius is smaller than the preset radius, the 2D pixel coordinates of the drill rod are obtained using a wide-angle camera, and the distance values ​​between key points of the drill rod and the laser sensor are obtained using a laser rangefinder. The 2D pixel coordinates and distance values ​​are then fused to obtain three-dimensional coordinates. Based on these three-dimensional coordinates, the spatial vector of the drill rod axis is reconstructed to detect whether the average value of the borehole angle deviation within a preset time period is controlled within a preset deviation value.

[0064] Specifically, if the grout diffusion radius is still smaller than the preset radius after adjusting the grouting pressure, then check whether the average value of the drilling angle deviation within the preset time period is controlled within the preset range. If the average value of the drilling angle deviation is greater than the preset deviation value, it indicates that the reason why the grout diffusion radius is smaller than the preset radius is due to a problem with the operating parameters during drilling.

[0065] Specifically, the drill rod generates significant centrifugal force during high-speed rotation. In boreholes with existing angular deviations, this centrifugal force exacerbates radial oscillation during drilling, causing the drill bit to continuously collide with the lower side of the borehole wall, accelerating the deflection. Therefore, it is necessary to reduce the drilling speed to address the angular deviation problem and thereby increase the slurry diffusion radius. The preset difference T0 between the average borehole angular deviation and the preset deviation value is 0.5°. The comparison process between the average borehole angular deviation and the preset deviation value T0 is as follows:

[0066] If the difference T between the average value of the drilling angle deviation and the preset deviation value is less than or equal to the preset difference T0, the drilling speed during drilling will be adjusted to 0.71 times the original drilling speed.

[0067] If the difference T between the average value of the drilling angle deviation and the preset deviation value is greater than the preset difference T0, the drilling speed will be adjusted to 0.55 times the original drilling speed.

[0068] Specifically, grout loss occurs during the grouting process, reducing the grout's diffusion. Therefore, it is necessary to increase the preset addition value of nano-SiO2 to prevent grout loss and enhance grout diffusion. The preset drilling speed U0 = 17 cm / min. The comparison process between drilling speed U and the preset drilling speed U0 is as follows:

[0069] If the drilling speed U is less than or equal to the preset drilling speed U0, the shear force is weakened and the nano-SiO2 is more evenly dispersed. It is necessary to consider increasing the preset addition amount to a greater extent to fully activate the lubrication performance. In this case, the preset addition value of nano-SiO2 should be adjusted to 2.5 times the original preset addition value.

[0070] If the drilling speed U is greater than the preset drilling speed U0, the shear rate of the drilling fluid will increase significantly. Under the action of high shear force, the nano-SiO2 particles will form a "particle cluster" structure, which will cause the fluid viscosity to rise sharply. Therefore, it is necessary to strictly control the increase in the amount of nano-SiO2 added. The preset addition value of nano-SiO2 is adjusted to 1.3 times the original preset addition value.

[0071] Specifically, in this embodiment of the invention, the cumulative grouting volume is calculated, and the drilling speed is reduced based on the ratio of the cumulative grouting volume to a preset grouting volume, with the reduction in drilling speed inversely proportional to the ratio; if the ratio of the cumulative grouting volume is greater than the preset ratio, a drilling stop operation is performed.

[0072] Specifically, if the cumulative grouting volume is lower than the preset grouting volume, it indicates that the formation permeability coefficient is low and the voids are not filled enough. In this case, the drilling speed needs to be reduced to extend the grouting time per hole and improve the grout permeability efficiency. If the grouting volume per hole exceeds 120% of the preset grouting volume, it indicates that the fracture development is abnormal or the grout is lost. In this case, drilling needs to be stopped for inspection.

[0073] Specifically, if the preset ratio of the cumulative grouting volume to the preset grouting volume is V0 = 0.75, then the comparison process between the cumulative grouting volume to the preset grouting volume ratio V and the preset ratio V0 is as follows:

[0074] If the ratio V of the cumulative grouting volume to the preset grouting volume is less than or equal to the preset ratio V0, the drilling speed will be adjusted to 0.6 times the original drilling speed, where the original drilling speed is the drilling speed adjusted based on the difference between the average value of the borehole angle deviation and the preset deviation value.

[0075] If the ratio V of the cumulative grouting volume to the preset grouting volume is greater than the preset ratio V0, the drilling speed will be adjusted to 0.8 times the original drilling speed, where the original drilling speed is the drilling speed adjusted based on the difference between the average value of the borehole angle deviation and the preset deviation value.

[0076] Specifically, in this embodiment of the invention, the slurry diffusion radius is detected after the drilling speed is adjusted. If the slurry diffusion radius is less than the preset radius, the drilling speed is adjusted at least once until the number of adjustments is equal to the preset number or the slurry diffusion radius is greater than or equal to the preset radius when the number of adjustments is less than the preset number. In this case, the adjustment is stopped.

[0077] Specifically, the drilling speed is adjusted to detect the slurry diffusion radius. If the slurry diffusion radius is still less than the preset radius, the drilling speed adjustment operation is repeated at least once until the preset condition is met and the adjustment is stopped. The preset condition is that the number of adjustments is equal to the preset number, or the construction status is qualified when the number of adjustments is less than the preset number, that is, the slurry diffusion radius is detected to be greater than or equal to the preset radius.

[0078] Specifically, in this embodiment of the invention, if the slurry diffusion radius is less than the preset radius after the adjustment is stopped, the correction cycle of the drilling operation parameters is reduced based on the ratio of the slurry diffusion radius after the adjustment is stopped to the preset radius, and the reduction in the correction cycle is inversely proportional to the ratio.

[0079] Specifically, if the slurry diffusion radius is still smaller than the preset radius after adjustment is stopped, it indicates that the correction cycle of the borehole operating parameters is too long. This results in the failure to promptly correct the borehole operating parameters when abnormalities occur during the integrated drilling and grouting construction, causing the slurry diffusion radius to remain smaller than the preset radius. Therefore, the correction cycle of the borehole operating parameters is adjusted based on the ratio of the slurry diffusion radius after adjustment to the preset radius. The preset ratio W0 is 0.92. The comparison process between the ratio W0 and the preset ratio W0 is as follows:

[0080] If the ratio W of the slurry diffusion radius after the adjustment is stopped to the preset radius is less than or equal to the preset ratio W0, then the correction cycle of the drilling operation parameters will be adjusted to 0.6 times the original correction cycle.

[0081] If the ratio W of the slurry diffusion radius after the adjustment is stopped to the preset radius is greater than the preset ratio W0, then the correction cycle of the drilling operation parameters will be adjusted to 0.83 times the original correction cycle.

[0082] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

[0083] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A visual monitoring method for drilling and injection integrated construction, characterized by, include: A multispectral visual network is used to generate borehole point clouds in real time to obtain the borehole shape, which includes the borehole depth and borehole diameter. The borehole diameter change rate is calculated based on the borehole diameter, and the drilling operation parameters are periodically corrected based on the borehole diameter change rate, wherein the drilling operation parameters include at least the drilling speed. Grouting operation is completed by injecting grout into the formation through the inner cavity of the drill pipe connected to the grouting pump at a preset grouting pressure. The grout diffusion radius is determined by infrared thermal imaging tracking. The construction status is determined based on the grout diffusion radius within a preset time period. The grouting pressure is adjusted based on the construction status. The correction cycle of the drilling operation parameters is then determined based on the construction status after adjusting the grouting pressure. The process of determining the construction status based on the grout diffusion radius within a preset time period, and adjusting the grouting pressure based on the construction status, includes: When the construction state is determined to be the first state, the grouting pressure is adjusted based on the ratio of the grout diffusion radius to the preset radius; Wherein, the first state is the unqualified construction state, and the first state is the construction state corresponding to when the slurry diffusion radius is less than the preset radius; The method further includes: By integrating the borehole morphology and the borehole operation parameters to simulate the fracture network, the geological permeability parameters at the borehole location can be obtained. The grouting pressure is increased based on the ratio of the permeability parameter to the preset permeability parameter, and the increase in grouting pressure is inversely proportional to the ratio. The method further includes: After adjusting the grouting pressure, the grout diffusion radius is re-detected; If the slurry diffusion radius is smaller than the preset radius, the 2D pixel coordinates of the drill rod are obtained using a wide-angle camera, and the distance values ​​between the key points of the drill rod and the laser sensor are obtained using a laser rangefinder. The 2D pixel coordinates of the drill rod and the distance values ​​are then fused to obtain the three-dimensional coordinates. The drill rod axis spatial vector is reconstructed based on three-dimensional coordinates to detect whether the average value of the drilling angle deviation within a preset time is controlled within a preset deviation value. The method further includes: If the average value of the drilling angle deviation is not within the preset range, the drilling speed is reduced based on the difference between the average value of the drilling angle deviation and the preset deviation value, and the reduction in drilling speed is proportional to the difference. The method further includes: Calculate the cumulative grouting volume and reduce the drilling speed based on the ratio of the cumulative grouting volume to the preset grouting volume, with the reduction in drilling speed being inversely proportional to the ratio; If the ratio of the cumulative grouting volume to the preset grouting volume is greater than the preset ratio, drilling will be stopped.

2. The visual monitoring method of the integrated drilling and injection construction according to claim 1, characterized in that, The grouting pressure is increased based on the ratio of the grout diffusion radius to the preset radius, and the increase in grouting pressure is inversely proportional to the ratio. 3.The visual monitoring method of the drilling and injection integrated construction according to claim 1, characterized in that, The preset addition value of nano-SiO2 is based on the increase in drilling speed, and the increase in the preset addition value of nano-SiO2 is inversely proportional to the drilling speed. 4.The visual monitoring method of the drilling and injection integrated construction according to claim 1, wherein, The slurry diffusion radius is detected after the drilling speed is adjusted. If the slurry diffusion radius is less than the preset radius, the drilling speed is adjusted at least once until the number of adjustments is equal to the preset number or the slurry diffusion radius is greater than or equal to the preset radius when the number of adjustments is less than the preset number. Then the adjustment is stopped. 5.The visual monitoring method for the drilling and injection integrated construction according to claim 4, characterized in that, If the slurry diffusion radius is less than the preset radius after the adjustment is stopped, the correction period of the operation parameter of the drilling hole is reduced based on a ratio of the slurry diffusion radius after the adjustment is stopped to the preset radius, and the reduction amplitude of the correction period is inversely proportional to the ratio.

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