Angle adjustable hydraulic slotter

Abstract

The present application relates to an angle-adjustable hydraulic slotting device, belonging to the technical field of hydraulic slotting. The device comprises a central control module, a data sensing module, an intelligent decision-making module, a mechanical execution module and a high-pressure water module. The data sensing module obtains geological data of the coal rock mass and state data of the device; 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 the target azimuth angle and inclination angle; the high-pressure water module sprays high-pressure water flow for water slot cutting after the device adjustment is completed. The present application can adapt to different geological characteristics and maintain high-efficiency operation, can flexibly adjust the hydraulic slotting angle, adjust the posture according to real-time geological data and target angle, and improve the slotting precision, operation stability and operation efficiency of the device under complex geological conditions.

Description

Technical Field

[0001] This invention belongs to the field of hydraulic slotting technology and relates to a hydraulic slotting device with a flexibly adjustable angle for complex geological conditions. Background Technology

[0002] With the deepening of resource extraction, hydraulic fracturing technology is being used more and more widely in the fields of oil, natural gas, and mineral extraction. However, traditional hydraulic fracturing technology faces increasing challenges, especially in complex geological environments, where it exhibits instability. For example: 1) Differences in hardness among different rock strata affect the penetration ability and effectiveness of water flow during fracturing. In hard rock strata, water flow is difficult to extend efficiently; while in soft rock strata, the fracturing is prone to over-expansion, leading to excessive fragmentation and unstable crack formation. 2) The distribution of natural fractures in coal and rock masses is often irregular. These fractures may guide the direction of water flow during hydraulic fracturing, resulting in a less stable fracturing path than expected. In coal and rock strata with many fractures, the effect of hydraulic fracturing may be limited to the expansion of fractures, failing to form a stable fracturing surface in the surrounding solid rock strata. 3) The mineral composition varies greatly in different coal and rock strata. The hardness, brittleness, conductivity and other properties of the minerals are different. These will affect the effect of hydraulic cutting. For example, in coal and rock strata containing high-hardness minerals (such as quartz, feldspar, etc.), the cutting efficiency of the water flow is low. In coal and rock strata containing soft minerals such as clay, the water flow may spread excessively, which will increase the difficulty of cutting control.

[0003] In complex geological environments, the control and adjustment of the hydraulic kerf angle is particularly important. However, traditional hydraulic kerf equipment does not perform ideally in this regard, and its kerf effect and operational stability are gradually failing to meet actual field requirements. This is mainly reflected in the following aspects:

[0004] (1) In complex geological environments, the structure and physical properties of coal and rock masses exhibit significant spatial heterogeneity. Differences in physical properties such as hardness, fracture distribution, mineral composition, and porosity of coal and rock strata can significantly reduce the efficiency and effectiveness of slotting operations. Traditional hydraulic slotting equipment designs typically assume that the physical properties of coal and rock masses are relatively uniform, but this assumption often does not hold true in actual mining operations;

[0005] (2) Under different geological conditions, the angle adjustment (especially the rotation angle and pitch angle) of hydraulic slotting equipment often cannot respond to changes in the geological environment in real time. For example, the tilt angle of coal and rock strata may cause the operating direction of the equipment to deviate, and traditional hydraulic slotting equipment often cannot flexibly adjust the angle to cope with different coal and rock strata structures and geological conditions. Summary of the Invention

[0006] In view of this, the purpose of the present invention is to provide an angle-adjustable hydraulic slitting device, which collects geological data of coal and rock strata and current status data of the device in real time through data sensing devices, and generates trajectory adjustment instructions based on the geological data and status data to adjust the angle of the hydraulic slitting device in real time, thereby realizing flexible adjustment of the hydraulic slitting angle in complex geological environments.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] An angle-adjustable hydraulic slitting device includes a central control module and a data sensing module, an intelligent decision-making module, a mechanical execution module, and a high-pressure water module, which are respectively connected to the central control module.

[0009] The data sensing module acquires geological data of the coal and rock mass and equipment status data, including the current azimuth, dip angle, and angular velocity of the equipment. The intelligent decision-making module generates trajectory adjustment commands based on the geological data and status data. The mechanical execution module adjusts the equipment attitude based on the trajectory adjustment commands, so that the equipment is adjusted to the target azimuth and dip angle. After the equipment adjustment is completed, the high-pressure water module sprays high-pressure water to cut the water joint.

[0010] The intelligent decision-making module includes a data fusion submodule, an angle calculation submodule, and a trajectory planning submodule. The data fusion submodule fuses geological data and state data and generates the joint surface normal vector of the coal and rock strata. The angle calculation submodule calculates the target azimuth and dip angle based on the minimum principal stress direction of the current coal and rock strata and the joint surface normal vector. The trajectory planning submodule generates trajectory adjustment instructions based on the target azimuth and dip angle, as well as the current azimuth, dip angle, and angular velocity of the equipment.

[0011] Furthermore, the data sensing module includes a millimeter-wave radar for acquiring point cloud data inside the coal and rock mass, a multispectral imager for acquiring mineral spectral characteristics, a rotary encoder for acquiring the current azimuth angle of the equipment, an inclination sensor for acquiring the current tilt angle of the equipment, and an IMU inertial sensor for acquiring the current angular velocity of the equipment.

[0012] Furthermore, the data fusion submodule performs data fusion on geological data, including point cloud data and mineral spectral features, as well as attitude data, including current azimuth, dip angle, and angular velocity, including:

[0013] Outlier points were removed from the point cloud data inside the coal and rock mass using a radius filter to eliminate discrete noise points; reflectance normalization was performed based on the reflectance of a standard whiteboard, and radiometric correction was applied to the mineral spectral characteristics.

[0014] The processed point cloud data and mineral spectral characteristics of the coal and rock mass are spatially registered using the ICP algorithm to obtain registered data, i.e. data in a consistent spatial coordinate system.

[0015] The joint regions of coal and rock strata are segmented based on the registration data. Then, a subset of the joint surface point cloud is extracted. The RANSAC algorithm is used to perform plane fitting on the subset of the joint surface point cloud to obtain the joint surface normal vector.

[0016] Furthermore, the angle calculation submodule calculates the target azimuth and dip angle based on the minimum principal stress direction and joint surface normal vector of the current coal and rock strata, including:

[0017] First, the direction of the minimum principal stress of the current coal and rock strata is obtained; then, based on the principles of fracture mechanics, the jet direction vector is calculated using the joint surface normal vector and the direction of the minimum principal stress. The jet direction is the optimal expansion direction of the hydraulic cut under specific pressure and stress; finally, the jet direction vector is transformed into the equipment coordinate system to solve the target azimuth and dip angle.

[0018] Furthermore, the trajectory planning submodule generates trajectory adjustment instructions based on the target azimuth and tilt angles, as well as the device's current azimuth, tilt angles, and angular velocity, including:

[0019] Based on the target azimuth and tilt angles, and combined with the current azimuth, tilt angles, and angular velocity of the equipment, the Dijkstra path planning algorithm is used to generate a preliminary path from the current equipment attitude to the target azimuth and tilt angles.

[0020] The trajectory is optimized using a particle swarm optimization algorithm, which optimizes the speed and acceleration of angle adjustment.

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

[0022] Furthermore, the mechanical actuation module includes a rotary actuation submodule for adjusting the rotational attitude of the equipment, a pitch actuation submodule for adjusting the pitch attitude of the equipment, and a manual control submodule for manual intervention control.

[0023] Furthermore, the rotary execution submodule includes a hydraulic motor, a gear reducer, and an absolute encoder; the hydraulic motor provides rotary driving force; the gear reducer converts the high-speed output of the hydraulic motor into a low-speed, high-torque output to regulate the rotational speed; and the absolute encoder provides real-time feedback on the rotational angle of the device.

[0024] The pitch execution submodule includes dual synchronous hydraulic cylinders, 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 dual synchronous hydraulic cylinders control the pitch movement of the equipment; the displacement sensor detects the displacement of the hydraulic cylinder and provides signal feedback.

[0025] The manual control submodule includes a manual control panel, a feedback display, and an electrical control interface. The manual control panel allows operators to directly control the rotation and pitch adjustments of the equipment. The feedback display shows the current rotation and pitch angles of the equipment in real time. The electrical control interface is used to transmit the control commands output from the manual control panel to the central control module, and the central control module controls each actuator to execute the control commands.

[0026] Furthermore, 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 performing cutting.

[0027] Furthermore, the power submodule includes a three-cylinder plunger pump, a variable frequency motor, and an energy storage and pressure stabilizing tank; the variable frequency motor drives the plunger pump to pressurize the atmospheric pressure water to the set pressure, and the pressure pulsation is absorbed by the energy storage and pressure stabilizing tank during the pressurization process;

[0028] The delivery submodule includes a high-pressure hose, a rotary joint, and a drill pipe. The high-pressure hose is connected to the drill pipe through the rotary joint, so that the internal channel of the high-pressure hose is connected to the central channel of the drill pipe.

[0029] The execution submodule includes a slotter with an integrated diamond nozzle. The slotter is connected to the drill pipe. High-pressure water flows through the high-pressure hose, the drill pipe, and the internal channels of the slotter before being ejected from the diamond nozzle.

[0030] The beneficial effects of this invention are as follows: The hydraulic slotting device with adjustable angle proposed in this invention improves the adaptability, accuracy and stability of hydraulic slotting technology under complex geological conditions by integrating multi-source data perception and intelligent decision-making.

[0031] This invention acquires multi-dimensional information such as the internal structure of coal and rock mass, mineral composition, and equipment posture in real time through a data sensing module, and uses an intelligent decision-making module for data fusion and dynamic path planning. It can accurately identify geological heterogeneity, autonomously calculate the optimal jet direction and operating angle, realize real-time optimization and adjustment of hydraulic slotting angle, and dynamically adapt to the physical characteristics of different coal seams in complex geological environments.

[0032] Furthermore, this invention employs a mechanical execution module to respond to trajectory adjustment commands, and uses a hydraulic and servo control system to precisely adjust the equipment's rotation and pitch attitude, ensuring that the jet direction always maintains an optimal relationship with the minimum principal stress and joint surface. This overcomes the cutting deviation problems caused by differences in rock hardness, natural fracture guidance, and varying mineral composition. Simultaneously, this invention supports manual intervention, ensuring operational continuity under abnormal conditions. The overall equipment of this invention possesses a high degree of self-adaptability, enabling stable and efficient hydraulic cutting in various complex coal and rock strata, significantly improving fracture control quality and resource extraction efficiency.

[0033] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0034] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein:

[0035] Figure 1 This is a structural block diagram of an angle-adjustable hydraulic slit cutting device according to an embodiment of the present invention;

[0036] Figure 2 This refers to the data fusion and processing process;

[0037] Figure 3 A flowchart illustrating the process of calculating azimuth and tilt angles for the angle calculation submodule;

[0038] Figure 4 A flowchart illustrating the process of generating trajectory adjustment instructions for the trajectory planning submodule. Detailed Implementation

[0039] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0040] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the invention. To better illustrate the embodiments of the invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0041] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present invention. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0042] To address the problems of existing hydraulic slotting equipment that assume relatively uniform physical properties of coal and rock masses and whose angle adjustments cannot respond in real time to changes in the geological environment, one embodiment of the present invention provides an angle-adjustable hydraulic slotting device for complex geological conditions, such as... Figure 1 As shown, it includes a central control module, and a data sensing module, an intelligent decision-making module, a mechanical execution module, and a high-pressure water module, all connected to the central control module. The data sensing module is used to acquire geological data of the coal and rock mass and equipment status data. The geological data includes point cloud data and mineral spectral characteristics within the coal and rock mass, while the equipment status data includes the current azimuth, current dip angle, and current angular velocity of the equipment.

[0043] The data sensing module includes a millimeter-wave radar for acquiring point cloud data inside the coal and rock mass, a multispectral imager for acquiring mineral spectral characteristics, a rotary encoder for acquiring the current azimuth angle of the equipment, an inclination sensor for acquiring the current tilt angle of the equipment, and an IMU inertial sensor for acquiring the current angular velocity of the equipment.

[0044] Millimeter-wave radar determines the shape, cracks, and layered structure of coal and rock masses by analyzing reflected echoes. It outputs a three-dimensional coordinate matrix, with each point containing x, y, and z coordinates and reflection intensity data. In this embodiment, continuous wave (CW) millimeter-wave radar technology is employed to ensure accurate capture of coal and rock mass features at different depths under complex coal and rock strata conditions. Millimeter-wave signals with a frequency range of 30 GHz to 300 GHz are used to provide high-precision three-dimensional point cloud data.

[0045] The multispectral imager outputs spectral curves from 400 to 2500 nm, with each spectral band providing reflectance information for different materials on the surface of the coal and rock mass, used to infer the type and distribution of minerals. Through spectral reflectance data, the types of minerals and their physical properties (such as hardness and brittleness) within the coal and rock mass can be inferred, aiding the subsequent intelligent decision-making module in determining the appropriate angle for the cutting.

[0046] The current azimuth angle of the device is the rotation state of the device about its vertical axis. The rotary encoder senses the rotation of the device and converts the rotation angle into an electronic signal output. This electronic signal represents the current rotation angle of the device (usually the azimuth angle relative to a certain reference point).

[0047] The tilt sensor acquires the current tilt angle (pitch angle) of the device, which is the rotation angle of the device around its horizontal axis.

[0048] An IMU (Inertial Measurement Unit) acquires the current angular velocity of a device. An IMU includes a gyroscope and an accelerometer, and can provide information such as the device's rotational dynamics, acceleration, and attitude changes.

[0049] The intelligent decision-making module calculates the drilling angle based on geological data and equipment status data, and generates trajectory adjustment instructions. The intelligent decision-making module can perform adaptive angle calculations under complex geological conditions.

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

[0051] The data fusion submodule uses an FPGA processor, such as... Figure 2 As shown, the specific steps for data fusion are as follows:

[0052] SS1: Outlier removal from point cloud data within coal and rock masses, i.e., using a radius filter (setting the neighborhood radius R = 10cm, minimum number of neighboring points N). min =5) Remove discrete noise points; then perform radiometric correction on the mineral spectral characteristics, that is, perform reflectance normalization based on the standard whiteboard reflectance to ensure the accuracy of mineral reflectance data;

[0053] SS2: Spatial registration of the processed point cloud data and mineral spectral features of the coal and rock mass is performed using the ICP algorithm to obtain registered data, i.e., data in a consistent spatial coordinate system, ensuring the spatial consistency of the structural features and mineral distribution information of the coal and rock strata.

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

[0055] The angle calculation submodule uses a GPU-accelerated calculator, such as... Figure 3 As shown, the specific steps for calculating the angle are as follows:

[0056] A1: By querying the existing geostress database, the direction of the minimum principal stress of the current coal and rock strata can be obtained. The direction of the minimum principal stress usually determines the direction of crack propagation.

[0057] A2: Based on the principles of fracture mechanics (the optimal cutting direction should be perpendicular to the direction of the minimum principal stress and parallel to the joint surface), the jet direction vector is calculated using the joint surface normal vector and the direction of the minimum principal stress. This jet direction refers to the optimal propagation direction of the hydraulic cut under specific pressure and stress. The jet direction vector J must be perpendicular to both the joint surface normal vector N(x,y,z) and the direction of the minimum principal stress σ3(x,y,z). Therefore, the jet direction vector J can be directly solved by cross product: J = N × σ3. The components of the jet direction vector can then be calculated using the following formulas:

[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] Normalize the cross product result J to a unit vector J u Then, based on 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: Transform the jet direction vector to the device coordinate system, i.e., based on the jet direction vector J f The components are used to calculate the target azimuth (range 0–360°) and tilt (range 0–90°).

[0063] The trajectory planning submodule is a motion controller, such as... Figure 4 As shown, the specific steps for generating trajectory adjustment instructions are as follows:

[0064] A1: Based on the target azimuth and tilt data, and combined with the equipment's current attitude information (current azimuth, current tilt, and current angular velocity), the Dijkstra path planning algorithm is used to generate a preliminary path from the current equipment attitude to the target azimuth and tilt. Specifically, the Dijkstra path planning algorithm discretizes the equipment attitude space into nodes, and the transfer cost between nodes = angle change × time coefficient + geological risk penalty; then, starting from the current attitude node (azimuth θ, tilt θ...), a preliminary path is generated from the target azimuth and tilt. Starting from the current pose node, search for the minimum cost path from the current pose node to the target pose node;

[0065] A2: The trajectory is further optimized using the particle swarm optimization algorithm to optimize the speed and acceleration of angle adjustment and avoid excessively rapid angle changes to prevent equipment vibration or instability.

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

[0067] First, the initial adjustment path generated by Dijkstra's algorithm is received (e.g., azimuth 30°→60°, tilt 5°→20°). Then, physical constraints are set, i.e., binding the device parameters (maximum rotational speed and maximum acceleration). Candidate schemes are generated by randomly creating multiple velocity-acceleration combinations (e.g., rapid high acceleration, uniform slow adjustment, etc.). Each combination is treated as a particle, and each particle is scored. The scoring criteria include the total adjustment time (the shorter the better) and acceleration fluctuation (the smoother the change, the better). For example, Scheme B: 10 seconds of adjustment but sudden acceleration → low score (prone to device jitter), Scheme B: 12 ​​seconds of adjustment but smooth acceleration → high score (stability priority). Finally, the particles move towards their own historical best scheme and learn from the current best scheme of the group. The evaluation-learning process is repeated, gradually eliminating schemes with large vibrations or long time consumption, converging to the global optimal solution, and outputting the optimized trajectory.

[0068] A3: Based on the optimized trajectory, generate a set of instructions including equipment rotation angle adjustment (ensuring the equipment is adjusted to the target rotation angle), equipment pitch angle adjustment (ensuring the equipment is adjusted to the target pitch angle), angle adjustment speed and acceleration adjustment (ensuring the smoothness of the angle adjustment process), and tilt torque adjustment (controlling the tilt of the equipment during the adjustment process to ensure stable operation);

[0069] A4: The extended Kalman filter fuses sensor data from the data sensing module for real-time trajectory correction. The extended Kalman filter can effectively fuse data from different sensors and correct the motion trajectory of the device in real time, ensuring that the device performs operations according to the optimized trajectory.

[0070] The mechanical execution module adjusts the device attitude according to the trajectory adjustment command. It includes a rotary execution submodule for adjusting the device's rotation attitude, a pitch execution submodule for adjusting the device's pitch attitude, and a manual control submodule for manual intervention control.

[0071] The rotary execution submodule includes a hydraulic motor, a gear reducer, and an absolute encoder. The hydraulic motor provides high torque and stable rotational output, thus providing the rotational driving force. The gear reducer converts the high speed of the hydraulic motor into a low-speed, high-torque output, effectively regulating the rotational speed and ensuring the equipment rotates at a precise speed. The absolute encoder provides real-time feedback on the equipment's rotation angle, maintaining high accuracy, even after a power outage or equipment restart, accurately recording the angle position. During operation, the mechanical execution module receives trajectory adjustment commands. When the hydraulic motor receives the control signal, it begins to rotate. During this process, the gear reducer converts the high-speed rotation of the hydraulic motor into a low-speed, high-torque rotation. The equipment's rotation is precisely adjusted by the gear reducer, and the rotary encoder provides real-time feedback on the current rotation angle, ensuring the equipment reaches the predetermined rotation angle. Once the equipment reaches the target angle, the rotary execution submodule stops working, and the equipment prepares for the next operation.

[0072] The pitch execution submodule includes dual synchronous hydraulic cylinders, a servo proportional valve, and a displacement sensor. The dual synchronous hydraulic cylinders control the pitch movement of the equipment, ensuring stability and precise adjustment in the pitch direction. The servo proportional valve adjusts the flow and pressure of the hydraulic oil according to the trajectory adjustment command, precisely controlling the extension and retraction of the hydraulic cylinders, thereby adjusting the equipment's pitch angle. The displacement sensor detects the displacement of the hydraulic cylinders and provides signal feedback, ensuring the equipment adjusts to the predetermined pitch angle. When the equipment is operating, after the rotary execution submodule stops working, the pitch execution submodule begins operation. According to the trajectory adjustment command, the servo proportional valve adjusts the flow and pressure of the hydraulic oil in the dual synchronous hydraulic cylinders, driving the cylinders to move synchronously and achieving pitch adjustment. After pitch adjustment is complete, the hydraulic system remains stationary, ensuring the equipment reaches the required pitch angle, ready for hydraulic slitting operations.

[0073] The manual control submodule is used for manual intervention and fine-tuning in special circumstances. It is commonly used in emergency operations, commissioning phases, or when the automatic control system malfunctions, ensuring that equipment operation can continue. The manual control submodule includes a manual control panel, a feedback display, and an electrical control interface. The manual control panel allows the operator to directly control the equipment's rotation and pitch adjustments. The feedback display shows the equipment's current rotation angle, pitch angle, and other information in real time. The electrical control interface transmits control commands from the manual control panel to the central control module, which then controls various actuators such as servo proportional valves, dual synchronous hydraulic cylinders, hydraulic motors, and gear reducers. The electrical control interface connects manual and automatic control, ensuring that manually issued control signals do not conflict with automatic control during manual operation.

[0074] The high-pressure water module is used to allow operators to issue control commands via a manual control submodule after the equipment's posture has been adjusted, and to perform water cuts at a set angle under the control of the central control module. It includes a power submodule for providing driving power, a conveying submodule for providing conveying function, and an execution submodule for performing the cutting.

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

[0076] The delivery submodule includes a high-pressure hose, a rotary joint, and a drill pipe. The high-pressure hose is connected to the drill pipe through the rotary joint, so that the internal channel of the high-pressure hose is connected to the central channel of the drill pipe.

[0077] The execution submodule includes a slotter with an integrated diamond nozzle, which is connected to the drill pipe, thereby allowing high-pressure water to flow through the high-pressure hose, the drill pipe, the internal flow channel of the slotter, and out of the diamond nozzle (water flow velocity > 800 m / s).

[0078] In summary, this invention proposes a hydraulic slotting device with a flexible adjustable angle for complex geological conditions. The device acquires geological data of the rock mass and equipment status data through a data sensing module. Based on this data, an intelligent decision-making module integrates the data, and then utilizes an angle calculation submodule and a trajectory planning submodule to calculate and generate precise angle adjustment commands based on real-time geological data. This allows the device to adapt to different geological characteristics and maintain efficient operation. Furthermore, it provides flexible angle control, enabling the device to precisely adjust its posture according to real-time geological data and the target angle, avoiding poor slotting results due to improper angles. This improves the slotting accuracy, operational stability, and operational efficiency of the hydraulic slotting device in complex geological environments.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An angle-adjustable hydraulic slitting device, characterized in that, It includes a central control module and data sensing, intelligent decision-making, mechanical execution, and high-pressure water modules connected to the central control module. The data sensing module acquires geological data of the coal and rock mass and equipment status data, including the equipment's current azimuth, dip angle, and angular velocity. The intelligent decision-making module generates trajectory adjustment commands based on the geological and status data. The mechanical execution module adjusts the equipment's attitude based on the trajectory adjustment commands, bringing the equipment to the target azimuth and dip angle. After the equipment adjustment is complete, the high-pressure water module sprays high-pressure water to cut the water joint. The intelligent decision-making module includes a data fusion submodule, an angle calculation submodule, and a trajectory planning submodule. The data fusion submodule fuses geological data and state data and generates the normal vector of the coal and rock strata joint surface. The angle calculation submodule calculates the target azimuth and dip angle based on the minimum principal stress direction of the current coal and rock strata and the joint surface normal vector. The trajectory planning submodule generates trajectory adjustment instructions based on the target azimuth and dip angle, as well as the current azimuth, dip angle, and angular velocity of the equipment. The trajectory planning submodule generates trajectory adjustment instructions based on the target azimuth and tilt angles, as well as the device's current azimuth, tilt angles, and angular velocity, including: Based on the target azimuth and tilt angles, and combined with the current azimuth, tilt angles, and angular velocity of the equipment, the Dijkstra path planning algorithm is used to generate a preliminary path from the current equipment attitude to the target azimuth and tilt angles. The trajectory is optimized using a particle swarm optimization algorithm, which optimizes the speed and acceleration of angle adjustment. Based on the optimized trajectory, a set of instructions is generated, including equipment rotation angle adjustment, equipment pitch angle adjustment, speed and acceleration adjustment, and tilt torque adjustment, i.e. trajectory adjustment instructions; The mechanical actuation module includes a rotary actuation submodule for adjusting the rotational attitude of the equipment, a pitch actuation submodule for adjusting the pitch attitude of the equipment, and a manual control submodule for manual intervention control. The rotary actuator submodule includes a hydraulic motor, a gear reducer, and an absolute encoder; the hydraulic motor provides the rotary driving force; the gear reducer converts the high-speed output of the hydraulic motor into a low-speed, high-torque output to regulate the rotational speed; and the absolute encoder provides real-time feedback on the rotational angle of the device. The pitch execution submodule includes dual synchronous hydraulic cylinders, 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 dual synchronous hydraulic cylinders control the pitch movement of the equipment; the displacement sensor detects the displacement of the hydraulic cylinder and provides signal feedback. The manual control submodule includes a manual control panel, a feedback display, and an electrical control interface. The manual control panel allows operators to directly control the rotation and pitch adjustments of the equipment. The feedback display shows the current rotation and pitch angles of the equipment in real time. The electrical control interface is used to transmit the control commands output from the manual control panel to the central control module, and the central control module controls each actuator to execute the control commands.

2. The hydraulic slitting device according to claim 1, characterized in that, The data sensing module includes a millimeter-wave radar for acquiring point cloud data inside the coal and rock mass, a multispectral imager for acquiring mineral spectral characteristics, a rotary encoder for acquiring the current azimuth angle of the equipment, an inclination sensor for acquiring the current tilt angle of the equipment, and an IMU inertial sensor for acquiring the current angular velocity of the equipment.

3. The hydraulic slitting device according to claim 2, characterized in that, The data fusion submodule performs data fusion on geological data, including point cloud data and mineral spectral features, as well as attitude data, including current azimuth, dip angle, and angular velocity. This includes: Outlier points were removed from the point cloud data inside the coal and rock mass using a radius filter to eliminate discrete noise points; reflectance normalization was performed based on the reflectance of a standard whiteboard, and radiometric correction was applied to the mineral spectral characteristics. The processed point cloud data and mineral spectral characteristics of the coal and rock mass are spatially registered using the ICP algorithm to obtain registered data, i.e. data in a consistent spatial coordinate system. The joint regions of coal and rock strata are segmented based on the registration data. Then, a subset of the joint surface point cloud is extracted. The RANSAC algorithm is used to perform plane fitting on the subset of the joint surface point cloud to obtain the joint surface normal vector.

4. The hydraulic slitting device according to claim 1, characterized in that, 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 performing cutting.

5. The hydraulic slitting device according to claim 4, characterized in that, The power submodule includes a three-cylinder plunger pump, a variable frequency motor, and an energy storage and pressure stabilizing tank; the variable frequency motor drives the plunger pump to pressurize the atmospheric pressure water to the set pressure, and the pressure pulsation is absorbed by the energy storage and 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 to the drill pipe through the rotary joint, so that the internal channel of the high-pressure hose is connected to the central channel of the drill pipe. The execution submodule includes a slotter with an integrated diamond nozzle. The slotter is connected to the drill pipe. High-pressure water flows through the high-pressure hose, the drill pipe, and the internal channels of the slotter before being ejected from the diamond nozzle.

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