Angle-adjustable hydraulic slotting equipment

Abstract

The invention relates to angle-adjustable hydraulic slotting equipment, and belongs to the technical field of hydraulic slotting. The equipment comprises a central control module, a data sensing module, an intelligent decision module, a mechanical execution module and a high-pressure water module. The data sensing module is used for acquiring geological data of coal and rock mass and state data of equipment; the intelligent decision-making module generates a trajectory adjustment instruction according to the geological data and the state data; the mechanical execution module adjusts the equipment attitude based on the track adjustment instruction to adjust the equipment to a target azimuth angle and an inclination angle; the high-pressure water module sprays high-pressure water flow for water seam cutting after equipment adjustment is completed. The device can adapt to different geological characteristics and keep efficient operation, the hydraulic slotting angle can be flexibly adjusted, the posture is adjusted according to real-time geological data and the target angle, and the slotting precision, the operation stability and the operation efficiency of the device under the complex geological condition are improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of hydraulic slotting, and relates to a hydraulic slotting device with adjustable angle for complex geology. BACKGROUND

[0002] With the deepening of resource exploitation, hydraulic slotting technology is increasingly widely used in the fields of oil, natural gas and mineral exploitation. However, traditional hydraulic slotting technology is facing more and more challenges, especially in complex geological environments. The hydraulic slotting technology has instability, for example: 1) The hardness difference of different rock layers affects the penetration ability and effect of water flow during slotting. In hard rock layers, water flow is difficult to expand efficiently; while in soft rock layers, slotting is easy to over-expand, leading to excessive fragmentation and unstable crack formation. 2) The distribution of natural cracks in coal rock mass is often irregular. These cracks may guide the expansion direction of water flow during hydraulic slotting, resulting in an unexpected stable slotting path; in coal rock layers with more cracks, the effect of hydraulic slotting may be limited to the expansion of cracks, and it is difficult to form a stable slotting surface in the surrounding solid rock layers. 3) The mineral composition in different coal rock layers differs greatly, and the hardness, brittleness, electrical conductivity and other characteristics of minerals are different, which will affect the effect of hydraulic slotting, such as in coal rock layers containing high hardness minerals (such as quartz, feldspar, etc.), the cutting efficiency of water flow is low, while in coal rock layers containing soft minerals such as clay, the expansion of water flow may be excessive, leading to increased difficulty in slotting control.

[0003] In complex geological environments, the control and adjustment of the angle of hydraulic slotting are particularly important, but the traditional hydraulic slotting equipment performs poorly in this regard, and its performance in slotting effect and operation stability gradually fails to meet the actual needs of the site, mainly reflected in:

[0004] (1) In complex geological environments, the structure and physical properties of coal rock mass show great spatial heterogeneity. The hardness, crack distribution, mineral composition and porosity of coal rock layers and other physical properties may greatly reduce the efficiency and effect of slotting operation. The design of traditional hydraulic slotting equipment usually assumes that the physical properties of coal rock mass are relatively uniform, but in actual mining process, this assumption often does not hold;

[0005] (2) Under different geological conditions, the angle adjustment (especially the rotation angle and the pitch angle) of the hydraulic slotting equipment often cannot respond to the changes in the geological environment in real time. For example, the inclination angle of coal rock layers may cause the operation direction of the equipment to deviate, and the traditional hydraulic slotting equipment often cannot flexibly adjust the angle to respond to different coal rock structure and geological conditions. SUMMARY

[0006] Therefore, the present application aims to provide an angle-adjustable hydraulic slotting device, which can collect coal rock stratum geological data and device current state data in real time through a data sensing device, generate trajectory adjustment instructions based on the geological data and the state data, and adjust the angle of the hydraulic slotting device in real time, so as to realize flexible adjustment of the hydraulic slotting angle in a complex geological environment.

[0007] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0008] An angle-adjustable hydraulic slotting device comprises a central control module and a data sensing module, an intelligent decision-making module, a mechanical execution module and a high-pressure water module connected with the central control module respectively.

[0009] The data sensing module obtains geological data of a coal rock mass and state data of the device, and the state data of the device includes a current azimuth angle, a tilt angle and an angular velocity; the intelligent decision-making module generates trajectory adjustment instructions based on the geological data and the state data; the mechanical execution module adjusts the device posture based on the trajectory adjustment instructions, so that the device is adjusted to a target azimuth angle and a target tilt angle; and the high-pressure water module sprays high-pressure water flow for water slot cutting after the device is adjusted.

[0010] The intelligent decision-making module comprises a data fusion sub-module, an angle solving sub-module and a trajectory planning sub-module; the data fusion sub-module fuses the geological data and the state data, and generates a coal rock stratum joint surface normal vector; the angle solving sub-module solves the target azimuth angle and the target tilt angle based on the minimum principal stress direction of the current coal rock stratum and the joint surface normal vector; and the trajectory planning sub-module generates the trajectory adjustment instructions according to the target azimuth angle and the target tilt angle, and the current azimuth angle, the current tilt angle and the current angular velocity of the device.

[0011] Further, the data sensing module comprises a millimeter wave radar for obtaining point cloud data inside the coal rock mass, a multispectral imager for obtaining mineral spectral features, a rotary encoder for obtaining the current azimuth angle of the device, a tilt angle sensor for obtaining the current tilt angle of the device, and an IMU inertial sensor for obtaining the current angular velocity of the device.

[0012] Further, the data fusion sub-module fuses the geological data including the point cloud data and the mineral spectral features, and the posture data including the current azimuth angle, the current tilt angle and the current angular velocity, which comprises:

[0013] The radius filter is adopted to remove outliers of the point cloud data inside the coal rock mass, so as to remove discrete noise points; the reflectivity normalization processing is performed based on the standard whiteboard reflectivity, so as to perform radiation correction on the mineral spectral features;

[0014] The processed point cloud data inside the coal rock mass and the mineral spectral features are spatially registered through the ICP algorithm, so as to obtain registration data, i.e. data in a consistent spatial coordinate system.

[0015] Based on the registration data, the coal rock stratum joint area is segmented, and then a joint surface point cloud subset is extracted, a plane fitting is performed on the joint surface point cloud subset using a RANSAC algorithm, and a joint surface normal vector is obtained.

[0016] Further, the angle solver module solves the target azimuth and inclination angle based on the minimum principal stress direction of the current coal rock stratum and the joint surface normal vector, including:

[0017] First, the minimum principal stress direction of the current coal rock stratum is obtained; then, based on the principle of fracture mechanics, the jet direction vector is calculated from the joint surface normal vector and the minimum principal stress direction, the jet direction being the best expansion direction of the hydraulic slotting under a certain pressure and stress; finally, the jet direction vector is converted to the device coordinate system to solve the target azimuth and inclination angle.

[0018] Further, the trajectory planning submodule generates trajectory adjustment instructions according to the target azimuth and inclination angle, and the current azimuth, inclination angle and angular velocity of the device, including:

[0019] According to the target azimuth and inclination angle, combined with the current azimuth, inclination angle and angular velocity of the device, a preliminary path from the current device attitude to the target azimuth and inclination angle is generated using the Dijkstra path planning algorithm;

[0020] The trajectory is optimized using a particle swarm dynamic optimization algorithm to optimize the speed and acceleration of the angle adjustment;

[0021] Based on the optimized trajectory, a set of instructions is generated, including device rotation angle adjustment, device pitch angle adjustment, speed and acceleration adjustment, and inclination torque adjustment, i.e. trajectory adjustment instructions.

[0022] Further, the mechanical execution module includes a rotation execution submodule for adjusting the rotation attitude of the device, a pitch execution submodule for adjusting the pitch attitude of the device, and a manual control submodule for manual intervention control.

[0023] Further, the rotation execution submodule includes a hydraulic motor, a gear reducer and an absolute encoder; the hydraulic motor provides a rotary driving force; the gear reducer converts the high speed output of the hydraulic motor into a low speed, high torque output to adjust the rotation speed; the absolute encoder feeds back the rotation angle of the device in real time;

[0024] The pitch execution submodule includes a double synchronous hydraulic cylinder, a servo proportional valve and a displacement sensor; the servo proportional valve adjusts the flow and pressure of the hydraulic oil according to the input signal to control the extension and retraction of the hydraulic cylinder; the double synchronous hydraulic cylinder controls the pitch action of the device; the displacement sensor detects the displacement of the hydraulic cylinder and feeds back the signal;

[0025] The manual control sub-module comprises a manual control panel, a feedback display and an electric control interface; the manual control panel is used for directly controlling the rotation and pitch adjustment of the equipment by an operator; the feedback display is used for displaying the current rotation angle and pitch angle of the equipment in real time; and the electric control interface is used for transmitting the control instruction output by the manual control panel to the central control module and controlling each actuator to execute the control instruction through the central control module.

[0026] Further, the high-pressure water module comprises a power sub-module for providing driving power, a conveying sub-module for providing conveying function and an execution sub-module for executing cutting.

[0027] Further, the power sub-module comprises a three-cylinder plunger pump, a variable frequency motor and an energy storage pressure stabilizing tank; the variable frequency motor drives the plunger pump to pressurize the normal-pressure water to a set pressure, and the energy storage pressure stabilizing tank absorbs pressure pulsation during the pressurizing process;

[0028] The conveying sub-module comprises a high-pressure hose, a rotary joint and a drill rod; the high-pressure hose is connected with the drill rod through the rotary joint, so that the internal passage of the high-pressure hose is communicated with the central passage of the drill rod;

[0029] The execution sub-module comprises a slotter integrated with a diamond nozzle; the slotter is connected with the drill rod; the high-pressure water flows through the internal flow passages of the high-pressure hose, the drill rod and the slotter, and is discharged from the diamond nozzle.

[0030] The water force slotting equipment for complex geology has the advantages that through the fusion of multi-source data sensing and intelligent decision-making, the adaptability, precision and stability of the water force slotting technology under complex geological conditions are improved.

[0031] The multi-dimensional information such as the internal structure of the coal rock mass, the mineral composition and the equipment posture is acquired in real time by the data sensing module, the data fusion and dynamic path planning are carried out by the intelligent decision-making module, the geological heterogeneity can be accurately identified, the optimal jet flow direction and operation angle are autonomously calculated, the real-time optimization and adjustment of the water force slotting angle are realized, and the physical properties of different coal seams under complex geological environments are dynamically adapted.

[0032] In addition, the mechanical execution module is adopted to respond to the trajectory adjustment instruction, the rotation and pitch posture of the equipment is adjusted with high precision through the hydraulic and servo control system, the jet flow direction is ensured to always have the optimal relationship with the minimum principal stress and the joint surface, the slotting deviation problems caused by the hardness difference of the rock stratum, the natural fracture orientation and the changeable mineral composition are overcome, meanwhile, the manual intervention is supported, the operation continuity under abnormal working conditions can be guaranteed, the overall equipment has high self-adaptability, the stable and efficient water force slotting in various complex coal rock strata can be realized, and the crack control quality and resource mining efficiency are greatly improved.

[0033] Additional advantages, objects, and features of the application will be apparent to those skilled in the art upon examination of the following specification. It is intended that the application not be limited by the disclosed implementation, but that it include all such variations and modifications to the full extent allowed by law. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to make the objectives, technical solutions and advantages of the present application clearer, the preferred embodiments of the present application will be described in detail below with reference to the drawings, in which:

[0035] Figure 1 A structure block diagram of an angle-adjustable hydraulic slotting device provided by an embodiment of the present application is shown in FIG. 1.

[0036] Figure 2 A fusion processing procedure of data is shown in FIG. 3.

[0037] Figure 3 A flowchart for calculating azimuth and inclination by an angle resolver module is shown in FIG. 4.

[0038] Figure 4 A flowchart for generating trajectory adjustment instructions by a trajectory planning module is shown in FIG. 5. DETAILED DESCRIPTION

[0039] The present application can be implemented or applied in other different specific embodiments, and the details in the specification can be modified or changed based on different views and applications without departing from the spirit of the present application. It should be noted that the diagrams provided in the following embodiments only schematically illustrate the basic concept of the present application, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0040] The drawings are only used for exemplary illustration, and the representation is only a schematic diagram, not a physical diagram, and should not be understood as a limitation on the present application. In order to better illustrate the embodiments of the present application, some components in the drawings can be omitted, enlarged or reduced, and do not represent the actual size of the product. It is understandable for those skilled in the art that some known structures and their descriptions in the drawings can be omitted.

[0041] The same or similar reference numerals in the drawings of the embodiments of the present application correspond to the same or similar components; in the description of the present application, it is understood that if the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "front", "back" and the like are based on the orientations or positional relationships shown in the drawings, they are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the terms describing the positional relationship in the drawings are only used for exemplary illustration, and cannot be understood as a limitation on the present application, for those skilled in the art, the specific meanings of the above terms can be understood according to the specific circumstances.

[0042] In view of the problems that the existing hydraulic slotting equipment assumes that the physical properties of the coal rock mass are relatively uniform, and the angle adjustment cannot respond to the changes in the geological environment in real time, an embodiment of the present application provides an angle-adjustable hydraulic slotting equipment for complex geology, as shown in Figure 1 The angle-adjustable hydraulic slotting equipment for complex geology comprises a central control module, and a data sensing module, an intelligent decision module, a mechanical execution module and a high-pressure water module connected with the central control module respectively. The data sensing module is used to acquire geological data of the coal rock mass and state data of the equipment. The geological data comprises internal point cloud data and mineral spectral features of the coal rock mass, and the state data of the equipment comprises a current azimuth angle of the equipment, a current inclination angle of the equipment and a current angular velocity of the equipment.

[0043] The data sensing module comprises a millimeter wave radar used to acquire the internal point cloud data of the coal rock mass, a multispectral imager used to acquire the mineral spectral features, a rotary encoder used to acquire the current azimuth angle of the equipment, an inclination angle sensor used to acquire the current inclination angle of the equipment and an IMU inertial sensor used to acquire the current angular velocity of the equipment.

[0044] The millimeter wave radar judges the shape, cracks and layered structure of the coal rock mass through reflected echoes, and outputs a three-dimensional coordinate matrix, each point containing x, y, z coordinates and reflected intensity data. In the embodiment, continuous wave (CW) millimeter wave radar technology is adopted to ensure that the characteristics of the coal rock mass at different depths can be accurately captured under complex coal rock layer conditions, and millimeter wave signals with a frequency range of 30GHz to 300GHz are adopted to provide high-precision three-dimensional point cloud data.

[0045] The multispectral imager outputs a spectral curve of 400-2500nm, each spectral band providing reflectivity information of different substances on the surface of the coal rock mass, which is used to infer the type and distribution of minerals. Through the spectral reflection data, the types and physical properties (such as hardness, brittleness, etc.) of the minerals in the coal rock mass can be inferred, which helps the subsequent intelligent decision module to determine the appropriate angle of slotting.

[0046] The current azimuth of the device, i.e. the rotation state of the device around its vertical axis, is obtained by a turn encoder which senses the rotation of the device and converts the rotation angle into an electronic signal representing the current turn angle (usually the azimuth angle relative to a certain reference point) of the device.

[0047] The current inclination of the device, i.e. the rotation angle of the device around its horizontal axis, is obtained by an inclination sensor.

[0048] The current angular velocity of the device is obtained by an IMU inertial sensor, which contains a gyroscope and an accelerometer and can provide information such as the rotational dynamics, acceleration and attitude change of the device.

[0049] The intelligent decision module calculates the drilling angle according to the geological data and the state data of the device, and generates a trajectory adjustment instruction. The intelligent decision module can perform adaptive angle calculation in the face of complex geological conditions.

[0050] The intelligent decision module includes a data fusion sub-module for fusing geological data, an angle calculation sub-module for calculating angles, and a trajectory planning sub-module for generating trajectory adjustment instructions.

[0051] The data fusion sub-module uses an FPGA processor, as shown in Figure 2 The specific steps of fusing data are as follows:

[0052] SS1: Outlier points in the point cloud data inside the coal rock mass are removed, i.e. discrete noise points are removed using a radius filter (set the neighborhood radius R = 10 cm, the minimum number of neighborhood points N min = 5); then the mineral spectral features are radiometrically corrected, i.e. reflectance normalization processing is performed based on the standard whiteboard reflectivity to ensure the accuracy of the mineral reflectance data;

[0053] SS2: The processed point cloud data inside the coal rock mass and the mineral spectral features are spatially registered by ICP algorithm to obtain registration data, i.e. data in a consistent spatial coordinate system, to ensure the spatial consistency of the structural features of the coal rock layer and the mineral distribution information;

[0054] SS3: Based on the registration data, the coal rock layer joint region is segmented, then the joint surface point cloud subset is extracted, and the RANSAC (Random Sample Consensus) algorithm is used to fit the plane of the joint surface point cloud subset to obtain the joint surface normal vector.

[0055] The angle calculation sub-module uses a GPU accelerated calculator, as shown in Figure 3 The specific steps of calculating the angle are as follows:

[0056] A1: Obtain the minimum principal stress direction of the current coal rock stratum by querying the existing in-situ stress database. The minimum principal stress direction usually determines the crack propagation direction;

[0057] A2: Based on the principle of fracture mechanics (the optimal cutting direction should be perpendicular to the minimum principal stress direction and parallel to the joint surface), the jet direction vector is calculated based on the joint surface normal vector and the minimum principal stress direction. The jet direction refers to the optimal propagation direction of the hydraulic cutting under a specific pressure and stress. The jet direction vector J needs to be perpendicular to the joint surface normal vector N(x, y, z) and the minimum principal stress direction σ3(x, y, z). Then the jet direction vector J can be directly solved by cross multiplication: J = N x σ3. Then the components of the jet direction vector can be calculated by the following formula respectively:

[0058] J x =N y ×σ 3,z -N z ×σ 3,y

[0059] J y =N z ×σ 3,x -N x ×σ 3,z

[0060] J z =N x ×σ 3,y -N y ×σ 3,x

[0061] The cross multiplication result J is normalized to a unit vector J u . Then according to the ratio of fluid pressure to ground stress, a fine tuning coefficient k is introduced to obtain the jet direction vector J f :

[0062] J f =J u +k(N×σ3)A3: Convert the jet direction vector to the device coordinate system, that is, according to the components of the jet direction vector J f , calculate the target azimuth angle (value range 0-360°) and inclination angle (value range 0-90°).

[0063] The trajectory planning submodule is a motion controller, as shown in Figure 4 , and the specific steps of generating trajectory adjustment instructions are as follows:

[0064] A1: Based on the data of target azimuth and inclination angle, and combined with the current attitude information of the device (current azimuth, current inclination angle and current angular velocity), a preliminary path from the current device attitude to the target azimuth and inclination angle is generated using the Dijkstra path planning algorithm. Specifically, the Dijkstra path planning algorithm discretizes the device attitude space into nodes, and the transition cost between nodes = angle change amount x time coefficient + geology risk penalty. Then, starting from the current attitude node (azimuth θ, inclination angle φ), the minimum cost path from the current attitude node to the target attitude node is searched. ) is searched.

[0065] A2: The trajectory is further optimized using a particle swarm dynamic optimization algorithm to optimize the speed and acceleration of angle adjustment, avoiding rapid angle changes to prevent device vibration or instability.

[0066] The process of the particle swarm dynamic optimization algorithm for further optimizing the trajectory is as follows:

[0067] First, the preliminary adjustment route generated by the Dijkstra algorithm is received (for example: azimuth 30°→60°, inclination 5°→20°), and then the physical constraints are set, i.e. the parameters of the bound device (maximum rotation speed and maximum acceleration). A candidate scheme is generated, i.e. multiple sets of speed-acceleration combinations are randomly created (for example, fast high acceleration, uniform speed slow adjustment, etc.), each combination is taken as a particle, and each particle is scored, with the scoring criteria including adjustment total time (the shorter the better) and acceleration fluctuation (the smoother the better), for example: 10 seconds of time consumption but acceleration mutation → low score (easy to cause device vibration), scheme B: 12 seconds of time consumption but smooth acceleration → high score (stability priority); Finally, the particles converge to the global optimal solution by gradually eliminating the schemes with large vibration or long time consumption, and output the optimized trajectory.

[0068] A3: Based on the optimized trajectory, a command set is generated containing device rotation angle adjustment (to ensure the device adjusts to the target rotation angle), device inclination angle adjustment (to ensure the device adjusts to the target inclination angle), angle adjustment speed and acceleration adjustment (to ensure the stability during angle adjustment), and inclination torque adjustment (to control the inclination of the device during adjustment to ensure stable operation).

[0069] A4: The trajectory is real-time corrected by fusing sensor data from the data perception module using extended Kalman filtering, which can effectively fuse data from different sensors and real-time correct the device's motion trajectory, ensuring that the device performs operations according to the optimized trajectory.

[0070] The mechanical execution module adjusts the device posture according to the trajectory adjustment instruction, which includes a rotation execution submodule for adjusting the rotation posture of the device, a pitch execution submodule for adjusting the pitch posture of the device, and a manual control submodule for manual intervention control.

[0071] The rotation execution submodule includes a hydraulic motor, a gear reducer, and an absolute encoder. The hydraulic motor can provide large torque and stable rotation output, thereby providing rotation driving force; the gear reducer converts the high rotation speed of the hydraulic motor into low rotation speed and large torque output, thereby effectively adjusting the rotation speed and enabling the device to rotate at an accurate speed; and the absolute encoder can real-time feedback the rotation angle of the device and maintain high accuracy, and can accurately record the angle position even after power failure or device restart. During device operation, the mechanical execution module receives the trajectory adjustment instruction, and the hydraulic motor starts driving rotation after receiving the control signal. During this process, the gear reducer converts the high rotation speed of the hydraulic motor into low rotation speed and high torque rotation, the rotation of the device is accurately adjusted through the gear reducer, the rotation encoder real-time feedbacks the current rotation angle, and the device reaches the predetermined rotation angle. After the device rotates to the target angle, the rotation execution submodule stops working, and the device is ready for the next operation.

[0072] The pitch execution submodule includes a double synchronous hydraulic cylinder, a servo proportional valve, and a displacement sensor. The double synchronous hydraulic cylinder is used to control the pitch action of the device, ensuring the stability and accurate adjustment of the device in the pitch direction; the servo proportional valve adjusts the flow and pressure of the hydraulic oil according to the trajectory adjustment instruction, accurately controls the extension and retraction of the hydraulic cylinder, and thereby realizes the adjustment of the pitch angle of the device; and the displacement sensor is used to detect the displacement of the hydraulic cylinder and feedback the signal, ensuring that the device is adjusted at the predetermined pitch angle. During device operation, after the rotation execution submodule stops working, the pitch execution submodule starts working, the servo proportional valve adjusts the flow and pressure of the hydraulic oil in the double synchronous hydraulic cylinder according to the trajectory adjustment instruction, drives the synchronous movement of the hydraulic cylinder, and realizes the pitch adjustment of the device. After the pitch adjustment is completed, the hydraulic system remains static, ensuring that the device reaches the required pitch angle and is ready for the water jet slotting operation.

[0073] The manual control submodule is used for manual intervention and fine adjustment in special cases, and is commonly used for emergency operation, debugging stage or when the automatic control system fails, to ensure that the operation of the equipment can continue. The manual control submodule includes a manual control panel, a feedback display and an electric control interface. The manual control panel allows the operator to directly control the rotation and pitch adjustment of the equipment, the feedback display is used to display the current rotation angle, pitch angle and other information of the equipment in real time, and the electric control interface is used to transmit the control instructions output by the manual control panel to the central control module, so as to control the execution mechanism such as a servo proportional valve, a double synchronous hydraulic cylinder, a hydraulic motor and a gear reducer through the central control module. The manual control is connected with the automatic control through the electric control interface, so as to ensure that the control signals manually issued during manual control do not conflict with the automatic control.

[0074] The high-pressure water module is used to cut the water joint at a set angle under the control of the central control module after the posture of the equipment is adjusted by the operator issuing control instructions through the manual control submodule. The high-pressure water module includes a power submodule for providing driving power, a conveying submodule for providing conveying function and an execution submodule for executing cutting.

[0075] The power submodule includes a three-cylinder plunger pump, a variable frequency motor and an energy storage pressure stabilizing tank. When the equipment is working, the variable frequency motor drives the plunger pump to pressurize the normal pressure water to a set pressure, and in this process, the pressure pulsation is absorbed by the energy storage pressure stabilizing tank.

[0076] The conveying submodule includes a high-pressure hose, a rotary joint and a drill rod, the high-pressure hose is connected with the drill rod through the rotary joint, so that the internal passage of the high-pressure hose is communicated with the central passage of the drill rod.

[0077] The execution submodule includes a slit cutter integrated with a diamond nozzle, and the slit cutter is connected with the drill rod, so that the high-pressure water flows through the internal flow passages of the high-pressure hose, the drill rod and the slit cutter, and is sprayed from the diamond nozzle (water flow velocity > 800 m / s).

[0078] In summary, the present application provides a hydraulic slotting device with flexible angle adjustment for complex geology. The device obtains geological data of the rock mass and state data of the equipment through the data sensing module, and fuses the data through the intelligent decision module. Then, the angle calculation submodule and the trajectory planning submodule are used to calculate and generate accurate angle adjustment instructions based on real-time geological data, so that the device can adapt to different geological characteristics and maintain high efficiency. In addition, the device provides flexible angle control, which allows the device to accurately adjust the posture according to real-time geological data and target angle, avoiding poor slotting effect due to improper angle, and improving the slotting precision, operation stability and efficiency of the hydraulic slotting device in complex geological environment.

[0079] Finally, it is to be explained that the above embodiments are only used to illustrate the technical solutions of the present application but not to limit the present application. Although the present application is described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or equivalently replaced without departing from the purpose and scope of the present application, and all should be covered in the scope of the claims of the present application.

Claims

1. An angle adjustable hydraulic slotter apparatus, characterized by, The system comprises a central control module and a data sensing module, an intelligent decision module, a mechanical execution module and a high-pressure water module connected with the central control module respectively; the data sensing module acquires geological data of the coal rock mass and state data of the equipment, the state data of the equipment including current azimuth, inclination and angular velocity; the intelligent decision module generates trajectory adjustment instructions according to the geological data and the state data; the mechanical execution module adjusts the equipment posture based on the trajectory adjustment instructions, so that the equipment is adjusted to the target azimuth and inclination; the high-pressure water module sprays high-pressure water flow for water joint cutting after the equipment is adjusted. The intelligent decision module comprises a data fusion sub-module, an angle solving sub-module and a trajectory planning sub-module; the data fusion sub-module fuses the geological data and the state data and generates a coal rock stratum joint surface normal vector; the angle solving sub-module solves the target azimuth and inclination based on the minimum principal stress direction of the current coal rock stratum and the joint surface normal vector; the trajectory planning sub-module generates the trajectory adjustment instructions according to the target azimuth and inclination and the current azimuth, inclination and angular velocity of the equipment.

2. The hydraulic slotter apparatus of claim 1, wherein, The data sensing module comprises a millimeter wave radar for acquiring point cloud data inside the coal rock mass, a multispectral imager for acquiring mineral spectral features, a rotary encoder for acquiring the current azimuth of the equipment, an inclination sensor for acquiring the current inclination of the equipment and an IMU inertial sensor for acquiring the current angular velocity of the equipment.

3. The hydraulic slotter apparatus of claim 2, wherein, The data fusion sub-module fuses the geological data including the point cloud data and the mineral spectral features and the posture data including the current azimuth, inclination and angular velocity, including: The radius filter is used to remove outliers of the point cloud data inside the coal rock mass, so as to remove discrete noise points; the reflectivity normalization processing is performed based on the standard whiteboard reflectivity, so as to perform radiation correction on the mineral spectral features; The ICP algorithm is used to perform spatial registration on the processed point cloud data inside the coal rock mass and the mineral spectral features, so as to obtain registration data, i.e. data in a consistent spatial coordinate system; The coal rock stratum joint area is segmented based on the registration data, and then a joint surface point cloud subset is extracted, and the RANSAC algorithm is used to perform plane fitting on the joint surface point cloud subset, so as to obtain the joint surface normal vector.

4. The hydraulic slotter apparatus of claim 3, wherein, The angle solving sub-module solves the target azimuth and inclination based on the minimum principal stress direction of the current coal rock stratum and the joint surface normal vector, including: Firstly, the minimum principal stress direction of the current coal rock stratum is acquired; then, the jet flow direction vector is calculated based on the joint surface normal vector and the minimum principal stress direction according to the principle of fracture mechanics, the jet flow direction being the best expansion direction of the hydraulic cutting under a specific pressure and stress; finally, the jet flow direction vector is converted to the equipment coordinate system, so as to solve the target azimuth and inclination.

5. The hydraulic slotter apparatus of claim 4, wherein, The trajectory planning sub-module generates the trajectory adjustment instructions according to the target azimuth and inclination and the current azimuth, inclination and angular velocity of the equipment, including: The Dijkstra path planning algorithm is used to generate a preliminary path from the current equipment posture to the target azimuth and inclination according to the target azimuth and inclination and in combination with the current azimuth, inclination and angular velocity of the equipment; The particle swarm dynamic optimization algorithm is used to optimize the trajectory, so as to optimize the speed and acceleration of the angle adjustment. Based on the optimized trajectory, a set of instructions containing device rotation angle adjustment, device pitch angle adjustment, speed and acceleration adjustment, and inclination torque adjustment, i.e. trajectory adjustment instructions, are generated.

6. The hydraulic slotter apparatus of claim 1, wherein, The mechanical execution module includes a rotation execution submodule for adjusting the rotation posture of the device, a pitch execution submodule for adjusting the pitch posture of the device, and a manual control submodule for manual intervention control.

7. The hydraulic slotter apparatus of claim 6, wherein, The rotation execution submodule includes a hydraulic motor, a gear reducer, and an absolute encoder; the hydraulic motor provides a rotary driving force; the gear reducer converts the high-speed output of the hydraulic motor into a low-speed, high-torque output to adjust the rotation speed; and the absolute encoder feeds back the rotation angle of the device in real time. The pitch execution submodule includes a double-synchronous hydraulic cylinder, a servo proportional valve, and a displacement sensor; the servo proportional valve adjusts the flow and pressure of hydraulic oil according to the input signal to control the extension and retraction of the hydraulic cylinder; the double-synchronous hydraulic cylinder controls the pitch action of the device; and the displacement sensor detects the displacement of the hydraulic cylinder and feeds back the signal. The manual control submodule includes a manual control panel, a feedback display, and an electric control interface; the manual control panel is used for the operator to directly control the rotation and pitch adjustment of the device; the feedback display displays the current rotation angle and pitch angle of the device in real time; and the electric control interface is used to transmit the control instructions output by the manual control panel to the central control module and execute the control instructions through the central control module.

8. The hydraulic slotter apparatus of claim 1, wherein, The high-pressure water module includes a power submodule for providing driving power, a delivery submodule for providing delivery function, and an execution submodule for executing cutting.

9. The hydraulic slotter apparatus of claim 8, wherein, The power submodule includes a three-cylinder plunger pump, a variable frequency motor, and an energy storage pressure stabilizing tank; the variable frequency motor drives the plunger pump to pressurize the normal pressure water to a set pressure, and absorbs pressure pulsation through the energy storage pressure stabilizing tank during the pressurization process; The delivery submodule includes a high-pressure hose, a rotary joint, and a drill pipe; the high-pressure hose is connected with the drill pipe through the rotary joint to make the internal passage of the high-pressure hose communicate with the central passage of the drill pipe; The execution submodule includes a slotting device integrated with a diamond nozzle; the slotting device is connected with the drill pipe, and the high-pressure water flows through the internal flow channels of the high-pressure hose, the drill pipe, and the slotting device, and is emitted from the diamond nozzle.

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