Safety control method and system of coal mine directional drilling machine

Abstract

The application provides a safety control method and system of a directional drilling machine for coal mines, and belongs to the technical field of mine drilling machine control, which comprises the following steps: obtaining drilling rod temperature data, torque data, axial pressure data, rotating speed data and axial displacement data to determine whether the directional drilling machine has a fault, whether the drilling rod needs to be replaced, drilling machine control parameters in the next monitoring period, and whether the drilling rod needs to be replaced before going to the next drilling position. According to the application, whether the directional drilling machine has a fault and whether the drilling rod needs to be replaced can be automatically determined based on multiple measured data, whether the control parameters of the directional drilling machine need to be adjusted can be determined based on actual data, and whether the drilling rod needs to be replaced before drilling operation of the next drilling hole is performed can be determined after drilling operation of one drilling hole is completed, so that the probability of damage of the drilling rod or the directional drilling machine in the process of drilling operation is reduced, the judgment accuracy is improved, the probability of equipment damage is reduced, and the construction efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of mining drilling rig control technology, and in particular to a safety control method and system for a directional drilling rig used in coal mines. Background Technology

[0002] In related technologies, directional drilling rigs for coal mines can perform steps such as underground water exploration and drainage, gas discharge, or ventilation under manual control, and complete drilling operations during these steps. However, during the drilling operation, it is usually the manual labor that judges whether the directional drilling rig has malfunctioned and whether the drill rod needs to be replaced based on historical experience. This judgment method relies on human experience and has a high error rate. If the directional drilling rig malfunctions or the drill rod needs to be replaced but has not been replaced, it is easy to delay the construction progress and may cause equipment damage. Summary of the Invention

[0003] This invention provides a safety control method and system for directional drilling rigs used in coal mines, which can solve the technical problems that related technologies rely on human experience and have a high error rate in judgment. In cases where the directional drilling rig malfunctions or the drill rod needs to be replaced but has not been replaced, the construction progress is easily delayed and the equipment may be damaged.

[0004] According to a first aspect of the present invention, a safety control method for a directional drilling rig used in coal mines is provided, comprising:

[0005] Obtain multiple drill hole locations;

[0006] During the drilling process at the i-th borehole position, at multiple moments within multiple monitoring cycles, drill rod temperature data, torque data, axial pressure data, rotational speed data, and axial displacement data are acquired, where i is a positive integer;

[0007] At the end of each monitoring cycle, based on at least one of the torque data, axial pressure data, rotational speed data, and axial displacement data acquired during the monitoring cycle, it is determined whether the directional drilling rig has malfunctioned.

[0008] In the absence of a malfunction, determine whether the drill pipe needs to be replaced based on the drill pipe temperature data;

[0009] Based on the torque data, axial pressure data, rotational speed data, and axial displacement data obtained during the monitoring cycle, set the drilling rig control parameters for the next monitoring cycle;

[0010] After drilling at the i-th borehole position is completed, the drill rod temperature data, torque data, axial pressure data, rotation speed data, and axial displacement data obtained during multiple monitoring cycles during the drilling process at the i-th borehole position are used to determine whether the drill rod needs to be replaced.

[0011] If the drill rod needs to be replaced, move to the (i+1)th drilling position after replacing the drill rod to continue drilling;

[0012] Otherwise, move directly to the (i+1)th drilling position to begin drilling.

[0013] According to the present invention, at the end of each monitoring cycle, a determination is made as to whether the directional drilling rig has malfunctioned based on at least one of the torque data, axial pressure data, rotational speed data, and axial displacement data acquired during the monitoring cycle, including:

[0014] The average drilling speed within the monitoring period is determined based on the axial displacement data at multiple times during the monitoring period.

[0015] The average torque data for the monitoring period is determined based on torque data at multiple points within the monitoring period.

[0016] The average value of the axial pressure data within the monitoring period is determined based on the axial pressure data at multiple times within the monitoring period.

[0017] The average speed data within the monitoring period is determined based on the speed data at multiple times within the monitoring period.

[0018] Perform a fault test if at least one of the following conditions is met:

[0019] The relative deviation between the average drilling speed and the set drilling speed is greater than or equal to the drilling speed error threshold.

[0020] The relative deviation between the average torque data and the set torque is greater than or equal to the torque error threshold.

[0021] The relative deviation between the average axial pressure data and the set pressure data is greater than or equal to the pressure error threshold.

[0022] The relative deviation between the average speed data and the set speed is greater than or equal to the speed error threshold;

[0023] If none of the above conditions are met, then the directional drilling rig is confirmed to be functioning correctly.

[0024] According to the present invention, the fault test steps include:

[0025] Pause drilling;

[0026] The drill pipe is pulled back axially by the first preset distance;

[0027] The drill pipe rotation is controlled according to various test speeds, and the actual rotation speed of the drill pipe is detected.

[0028] Determine whether the directional drilling rig is malfunctioning based on the test speed and the actual speed.

[0029] According to the present invention, determining whether a directional drilling rig has malfunctioned based on the test rotational speed and the actual rotational speed includes:

[0030] After each change in test speed, determine the first time required for the drive unit of the directional drilling rig to reach the changed test speed, and determine the second time required for the drill rod to reach a stable speed based on the actual speed.

[0031] According to the formula

[0032]

[0033] Obtain the slippage failure coefficient ,in, The second duration corresponds to the j-th rotational speed change test. Let j be the first duration corresponding to the test rotational speed of the j-th transformation. The test speed is the speed after the j-th change in test speed. The stable speed after the j-th speed change test. The test speed is the speed after the (j-1)th change in test speed. Let be the stable rotational speed after the (j-1)th change test rotational speed, D[*] be the standard deviation function, N be the number of test rotational speeds, j≤N, and j and N are positive integers;

[0034] If the slippage failure coefficient exceeds the preset threshold, determine whether the directional drilling rig has malfunctioned.

[0035] According to the present invention, based on torque data, axial pressure data, rotational speed data, and axial displacement data acquired during the monitoring cycle, the drilling rig control parameters for the next monitoring cycle are set, including:

[0036] If there are no circumstances requiring fault testing, then there is no need to adjust the drilling rig control parameters;

[0037] If a fault test is required, obtain the maximum value among the following: the relative deviation between the average drilling speed and the set drilling speed; the relative deviation between the average torque data and the set torque; the relative deviation between the average axial pressure data and the set pressure data; and the relative deviation between the average rotational speed data and the set rotational speed.

[0038] According to the formula

[0039]

[0040] The system of equations to be fitted is obtained, where, To monitor the axial displacement data at time t within the monitoring period, To monitor the rotational speed data at time t within the monitoring period, To monitor the axial pressure data at time t within the monitoring period, To monitor the torque data at time t within the monitoring period, To monitor the axial displacement data at time t-1 within the monitoring period, To monitor the rotational speed data at time t-1 within the monitoring period, To monitor the axial pressure data at time t-1 within the monitoring period, To monitor the torque data at time t-1 within the monitoring period, To set the power within the monitoring period, This represents the maximum value of the axial pressure data. The time interval between adjacent moments. , , and The first coefficient to be fitted;

[0041] Based on torque data, axial pressure data, speed data, and axial displacement data at multiple moments within the monitoring period, the first coefficient to be fitted is solved to obtain the solution value of the first coefficient to be fitted.

[0042] Based on the solved values ​​of the first coefficients to be fitted, the target drilling displacement, and the maximum relative deviation, the drilling rig control parameters for the next monitoring cycle are determined.

[0043] According to the present invention, the drilling rig control parameters for the next monitoring cycle are determined based on the solved values ​​of the first coefficients to be fitted, the target drilling displacement, and the maximum relative deviation value, including:

[0044] According to the formula

[0045]

[0046] Determine the drilling rig control parameters for the next monitoring cycle. ,in, for The solution value, for The solution value, for The solution value, for The solution value, The maximum relative deviation value is given by n, where n is the number of moments within the monitoring period. Drilling displacement for the target.

[0047] According to the present invention, after drilling at the i-th borehole position is completed, based on the drill rod temperature data, torque data, axial pressure data, rotational speed data, and axial displacement data acquired during multiple monitoring cycles during the drilling process at the i-th borehole position, it is determined whether the drill rod needs to be replaced, including:

[0048] According to the formula

[0049]

[0050] The equation to be fitted for the heating efficiency is obtained, where, For the drill pipe temperature data at time t during drilling at the i-th borehole position, This refers to the drill pipe temperature data at time t-1 during drilling at the i-th borehole location. This refers to the torque data at time t during drilling at the i-th borehole position. This refers to the rotational speed data at time t during drilling at the i-th borehole position. This refers to the axial pressure data at time t during drilling at the i-th borehole position. This refers to the torque data at time t during drilling at the i-th borehole position. This refers to the rotational speed data at time t during drilling at the i-th borehole position. This refers to the axial pressure data at time t during drilling at the i-th borehole position. This refers to the axial displacement data at time t during drilling at the i-th borehole position. This refers to the axial displacement data at time t-1 during drilling at the i-th borehole position. The time interval between adjacent moments. , , and The second coefficient to be fitted;

[0051] Based on the drill rod temperature data, torque data, axial pressure data, rotational speed data, and axial displacement data at multiple moments during the drilling process at the i-th borehole position, the second coefficient to be fitted is solved to obtain the solution value of the second coefficient to be fitted.

[0052] Based on the solved value of the second coefficient to be fitted and the temperature data at the last moment during the drilling process at the i-th borehole position, it is determined whether the drill rod needs to be replaced.

[0053] According to the present invention, determining whether the drill rod needs to be replaced based on the solved value of the second coefficient to be fitted and the temperature data at the last moment during drilling at the i-th borehole position includes:

[0054] According to the formula

[0055]

[0056] Obtain the predicted temperature at the end of the first monitoring cycle during drilling at borehole location i+1. ,in, This represents the average torque data at multiple moments during the drilling process at the i-th borehole position. Let be the average value of the rotational speed data at multiple moments during the drilling process at the i-th borehole position. This represents the average axial pressure data at multiple moments during the drilling process at the i-th borehole location. This represents the average drilling distance over multiple monitoring cycles during the drilling process at the i-th borehole location. for The solution value, for The solution value, for The solution value, for The solution value, This represents the temperature data at the last moment during the drilling process at the i-th borehole location, where n is the number of moments within the monitoring period.

[0057] if If the temperature exceeds the allowable temperature of the drill pipe, the drill pipe needs to be replaced.

[0058] According to a second aspect of the present invention, a safety control system for a directional drilling rig used in coal mines is provided, comprising:

[0059] The first acquisition module is used to acquire multiple borehole locations;

[0060] The second acquisition module is used to acquire drill rod temperature data, torque data, axial pressure data, rotational speed data and axial displacement data at multiple moments during multiple monitoring cycles in the drilling process at the i-th borehole position, where i is a positive integer;

[0061] The determination module is used to determine whether the directional drilling rig has malfunctioned at the end of each monitoring cycle, based on at least one of the torque data, axial pressure data, rotational speed data, and axial displacement data acquired during the monitoring cycle.

[0062] The first judgment module is used to determine whether the drill pipe needs to be replaced based on the drill pipe temperature data if no fault occurs.

[0063] The setting module is used to set the drilling rig control parameters for the next monitoring cycle based on the torque data, axial pressure data, speed data, and axial displacement data obtained during the monitoring cycle.

[0064] The second judgment module is used to determine whether the drill rod needs to be replaced after drilling at the i-th borehole position is completed, based on the drill rod temperature data, torque data, axial pressure data, rotation speed data and axial displacement data obtained during multiple monitoring cycles during the drilling process at the i-th borehole position.

[0065] The first drilling module is used to move to the (i+1)th drilling position for drilling after replacing the drill rod if the drill rod needs to be replaced.

[0066] The second drilling module, otherwise, directly moves to the (i+1)th drilling position to drill.

[0067] By adopting the above technical solution, the present invention can achieve the following technical effects:

[0068] According to the present invention, during each monitoring cycle of the directional drilling rig's drilling operation, it can automatically determine whether a directional drilling rig has malfunctioned, whether the drill rod needs to be replaced, and whether the control parameters of the directional drilling rig need to be adjusted based on actual data. Furthermore, it can determine whether the drill rod should be replaced before starting the next drilling operation after each hole is completed, thereby reducing the probability of drill rod or directional drilling rig damage during drilling operations, improving judgment accuracy, reducing equipment damage probability, and improving construction efficiency. When determining the slippage failure coefficient, the possibility of drill rod slippage can be described by three aspects: rotational speed, time required to reach stability, and time required for a unit change in rotational speed. This accurately describes the differences between the drill rod and the drive device in terms of rotational speed, stabilization time, and time required for a unit change in rotational speed when the drill rod is slipping, thus accurately describing the probability of slippage failure. When determining drilling rig control parameters, a set of equations to be fitted can be established by considering the relationship between the output efficiency of the drive unit and the drilling difficulty, as well as the relationship between drilling speed, output power, and axial pressure. Based on the solution results of these equations, the drilling rig control parameters for the next monitoring cycle are set. When setting these parameters, deviations between various data points and set values ​​during drilling are considered, thus providing a certain redundancy for the drilling results. This ensures that the target drilling displacement can still be achieved even when drilling difficulty is at its highest and errors exist, improving the accuracy of power settings and construction efficiency. When determining whether to replace the drill pipe, a temperature rise efficiency equation can be constructed by combining the rate at which heat is generated during the rotation of the drill pipe by the drive unit and the rate at which heat is carried away by the mud. The rate at which heat is carried away by the mud is determined by solving the relationship between mud discharge and borehole depth, improving the accuracy of heat calculation. Based on the temperature rise efficiency equation, the predicted temperature of the drill pipe at the end of the first monitoring cycle at the next borehole location can be calculated to determine whether the drill pipe can smoothly complete the drilling operation of the first monitoring cycle, thereby accurately determining whether the drill pipe needs to be replaced. Attached Figure Description

[0069] Figure 1 A schematic flowchart of a safety control method for a directional drilling rig used in coal mines according to an embodiment of the present invention is shown as an example.

[0070] Figure 2 An exemplary safety control system for a directional drilling rig used in coal mines according to an embodiment of the present invention is shown. Detailed Implementation

[0071] The technical solution of the present invention will be described in detail below with reference to specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0072] Figure 1 An exemplary flowchart illustrates a safety control method for a directional drilling rig used in coal mines according to an embodiment of the present invention, the method comprising:

[0073] Step S1: Obtain multiple drill hole locations;

[0074] Step S2: During the drilling process at the i-th borehole position, acquire drill rod temperature data, torque data, axial pressure data, rotational speed data, and axial displacement data at multiple moments within multiple monitoring cycles, where i is a positive integer;

[0075] Step S3: At the end of each monitoring cycle, determine whether the directional drilling rig has malfunctioned based on at least one of the torque data, axial pressure data, rotational speed data, and axial displacement data obtained during the monitoring cycle.

[0076] Step S4: If no fault occurs, determine whether the drill pipe needs to be replaced based on the drill pipe temperature data;

[0077] Step S5: Based on the torque data, axial pressure data, rotational speed data, and axial displacement data obtained during the monitoring cycle, set the drilling rig control parameters for the next monitoring cycle.

[0078] Step S6: After drilling at the i-th borehole position is completed, based on the drill rod temperature data, torque data, axial pressure data, rotation speed data and axial displacement data obtained during multiple monitoring cycles during the drilling process at the i-th borehole position, determine whether the drill rod needs to be replaced.

[0079] Step S7: If it is necessary to replace the drill rod, move to the (i+1)th drilling position after replacing the drill rod to begin drilling.

[0080] Step S8, otherwise, move directly to the (i+1)th drilling position to drill.

[0081] The safety control method for directional drilling rigs used in coal mines according to embodiments of the present invention can automatically determine whether a directional drilling rig has malfunctioned and whether the drill rod needs to be replaced based on multiple measured data during each monitoring cycle of the drilling operation. It can also determine whether the control parameters of the directional drilling rig need to be adjusted based on actual data. Furthermore, it can determine whether the drill rod should be replaced before drilling the next hole after each hole is completed, thereby reducing the probability of damage to the drill rod or the directional drilling rig during the drilling operation, improving the accuracy of judgment, reducing the probability of equipment damage, and improving construction efficiency.

[0082] According to one embodiment of the present invention, in step S1, multiple drilling positions can be set, and a directional drilling machine can be remotely controlled to perform drilling operations at multiple drilling positions via a drill rod.

[0083] According to one embodiment of the present invention, in step S2, during the drilling operation at the i-th drilling position, multiple monitoring cycles can be set. For example, the duration of each monitoring cycle is 5 minutes, 10 minutes, 20 minutes, etc., and the present invention does not limit this. Within the monitoring cycle, multiple moments can be included, and the time interval between adjacent moments is 10 seconds, 20 seconds, 30 seconds, etc., and the present invention does not limit the time interval between adjacent moments.

[0084] According to one embodiment of the present invention, the torque data is the measured value detected by the torque sensor, the axial pressure data is the measured value detected by the pressure sensor, the rotational speed data is the measured value detected by the rotational speed sensor, the axial displacement data is the measured value detected by the displacement sensor, and the temperature data is the measured value detected by the temperature sensor.

[0085] According to an embodiment of the present invention, in step S3, at the end of each monitoring cycle, it can be determined whether the directional drilling rig has malfunctioned based on at least one of the above measured data. For example, it can be determined whether the directional drilling rig's clamping of the drill rod is loose, or whether the drive device (e.g., internal combustion engine or electric motor) of the directional drilling rig has a power output failure.

[0086] According to an embodiment of the present invention, in step S3, at the end of each monitoring cycle, it is determined whether the directional drilling rig has malfunctioned based on at least one of the torque data, axial pressure data, rotational speed data, and axial displacement data acquired during the monitoring cycle. This includes: determining the average drilling speed during the monitoring cycle based on the axial displacement data at multiple moments during the monitoring cycle; determining the average torque data during the monitoring cycle based on the torque data at multiple moments during the monitoring cycle; determining the average axial pressure data during the monitoring cycle based on the axial pressure data at multiple moments during the monitoring cycle; determining the average rotational speed data during the monitoring cycle based on the rotational speed data at multiple moments during the monitoring cycle; and performing a fault test if at least one of the following conditions exists: the relative deviation between the average drilling speed and the set drilling speed is greater than or equal to a drilling speed error threshold; the relative deviation between the average torque data and the set torque is greater than or equal to a torque error threshold; the relative deviation between the average axial pressure data and the set pressure data is greater than or equal to a pressure error threshold; and the relative deviation between the average rotational speed data and the set rotational speed is greater than or equal to a rotational speed error threshold. If none of the above conditions exist, it is determined that the directional drilling rig has not malfunctioned.

[0087] According to one embodiment of the present invention, each sensor can detect measured data at multiple moments within a monitoring cycle, namely, axial displacement data, torque data, axial pressure data, and rotational speed data. The axial displacement data can be calculated; for example, the axial displacement data at the last moment of the monitoring cycle can be subtracted from the axial displacement data at the first moment, and the ratio of the difference obtained by the subtraction to the duration of the monitoring cycle is calculated to obtain the average drilling speed. For the other types of data, the average values ​​of the measured data at multiple moments can be calculated to obtain the average torque data, the average axial pressure data, and the average rotational speed data.

[0088] According to one embodiment of the present invention, if at least one of the following four conditions occurs: the relative deviation between the average drilling speed and the set drilling speed is greater than or equal to a drilling speed error threshold; the relative deviation between the average torque data and the set torque is greater than or equal to a torque error threshold; the relative deviation between the average axial pressure data and the set pressure data is greater than or equal to a pressure error threshold; or the relative deviation between the average rotational speed data and the set rotational speed is greater than or equal to a rotational speed error threshold, it indicates that an abnormal condition exists during drilling. This could be due to encountering a harder material during drilling or a malfunction in the directional drilling rig. Each relative deviation is the ratio of the absolute value of the difference between the average value and the set value to the set value. For example, the relative deviation between the average drilling speed and the set drilling speed is the ratio of the absolute value of the difference between the average drilling speed and the set drilling speed to the set drilling speed.

[0089] According to one embodiment of the present invention, if none of the above situations occur, the directional drilling rig is not malfunctioning and has not encountered a harder material, and is drilling smoothly. However, if at least one of the above situations occurs, it may be that a harder material has been encountered during drilling, or it may be that the directional drilling rig is malfunctioning, requiring further fault testing.

[0090] According to one embodiment of the present invention, the fault testing steps include: pausing the drilling process; retracting the drill rod axially backward by a first preset distance; controlling the rotation of the drill rod according to multiple test speeds and detecting the actual rotation speed of the drill rod; and determining whether the directional drilling rig has malfunctioned based on the test speed and the actual rotation speed.

[0091] According to one embodiment of the present invention, during fault testing, the drilling process is first paused, that is, the axial thrust is stopped, and drilling ceases, thereby reducing the axial pressure to zero and preventing the rotation of the drill rod from being obstructed by a harder material. To further prevent obstruction of the drill rod, it can be moved axially backward a first preset distance, for example, 2-10 cm, so that the drill rod no longer contacts the material being drilled. Furthermore, the drill rod rotation can be controlled according to various test speeds (i.e., the speed output by the drive device), and the actual speed of the drill rod can be detected. Based on the actual speed and the test speed, it can be determined whether the drill rod is slipping, especially when the test speed changes (e.g., a sudden acceleration), the slippage of the drill rod can be determined based on the test speed and the actual speed.

[0092] According to one embodiment of the present invention, determining whether a directional drilling rig has malfunctioned based on the test rotational speed and the actual rotational speed includes: after each change in the test rotational speed, determining the first time required for the drive device of the directional drilling rig to reach the changed test rotational speed, and determining the second time required for the drill rod to reach a stable rotational speed based on the actual rotational speed; obtaining the slippage fault coefficient according to formula (1). ,

[0093] (1)

[0094] in, The second duration corresponds to the j-th rotational speed change test. Let j be the first duration corresponding to the test rotational speed of the j-th transformation. The test speed is the speed after the j-th change in test speed. The stable speed after the j-th speed change test. The test speed is the speed after the (j-1)th change in test speed. Let be the stable rotational speed after the (j-1)th rotational speed change, D[*] be the standard deviation function, N be the number of rotational speeds tested, j≤N, and j and N are positive integers.

[0095] According to one embodiment of the present invention, when the drive device changes speed, it needs a certain amount of time to reach the new set speed (i.e., the test speed). That is, it takes a first time for the speed to change from the original speed to the adjusted speed. The drill rod also rotates with the drive device, and if the drive device clamps the drill rod more securely, the second time required for the drill rod is more consistent with the first time. After the speed of the drill rod stabilizes, its speed is also more consistent with the test speed.

[0096] According to an embodiment of the present invention, in formula (1), the second duration for the drill pipe to reach a stable rotational speed is greater than or equal to the first duration for the drive device to reach the changed test rotational speed, and The closer the value is to 1, the greater the clamping force of the drive unit on the drill pipe, and the lower the possibility of slippage. Conversely, the closer the value is to 1, the lower the clamping force of the drive unit on the drill pipe, and the lower the possibility of slippage. The higher the speed, the greater the likelihood of slippage. On the other hand, the test speed must be greater than or equal to the stable speed; therefore, Greater than or equal to 1, and The closer the value is to 1, the closer the rotational speeds of the drive unit and the drill pipe are, the greater the clamping force of the drive unit on the drill pipe, and the lower the possibility of slippage. Conversely, the closer the value is to 1, the lower the rotational speed of the drive unit and the lower the possibility of slippage. The higher the value, the higher the probability of slippage. Multiplying the two values ​​indicates whether slippage occurs after the j-th change in test speed, representing both the duration and the speed. The higher the product, the higher the probability of slippage. This is the average value of the product corresponding to multiple changes in test speed. The higher the average value, the greater the possibility of slippage failure.

[0097] According to one embodiment of the present invention, The values ​​were obtained after changing the test speed multiple times. The standard deviation of , where, ,in, This indicates the duration of change required for a unit change in the rotational speed of the drive unit. This indicates the settling time required for the drill pipe's rotational speed to change within a certain range. Since the rotational speed change of the drive unit is not necessarily linear, therefore... The rotational speed may vary with each test, but if the clamping force on the drill pipe is sufficient and slippage does not occur, then... and The ratio of the two values ​​showed high consistency across different test speeds, and the standard deviation of the ratio was low. Conversely, if slippage occurred, then... and The probability of deviation is high, the consistency is low, and the standard deviation of the ratio between the two is high.

[0098] According to one embodiment of the present invention, the slippage failure coefficient is obtained by multiplying the above standard deviation and the above average value, which is used to describe the degree of drill pipe slippage. The higher the slippage failure coefficient, the smaller the clamping force of the drive device on the drill pipe, and the higher the possibility of drill pipe slippage. If the slippage failure coefficient exceeds a preset coefficient threshold (e.g., 1.05 or 1.1), it is determined whether the directional drilling rig has malfunctioned, that is, a slippage failure has occurred.

[0099] In this way, the possibility of drill pipe slippage can be described by three aspects: rotational speed, time required to reach stability, and time required for a unit change in rotational speed. This accurately describes the differences between the drill pipe and the drive unit in terms of rotational speed, time to stability, and time required for a unit change in rotational speed when the drill pipe is slipping, thus accurately describing the possibility of slippage failure.

[0100] According to an embodiment of the present invention, in addition to the above steps for testing slippage faults, it is also possible to test whether the drive device is faulty. For example, it can determine whether the drive device can rotate at a set speed (for example, by detecting the speed output by the drive device through a speed sensor and determining whether there is an error between it and the set speed), and whether it is abnormally hot (for example, by detecting the temperature of the drive device through a temperature sensor and determining whether the temperature exceeds the upper limit of the allowable temperature).

[0101] According to an embodiment of the present invention, in step S4, if no fault occurs, it can be determined whether the drill rod needs to be replaced based on the temperature data of the drill rod detected by the temperature sensor. For example, based on the above judgment, if the directional drilling machine has not malfunctioned, it may have just drilled into a harder material, resulting in a decrease in drilling efficiency. In this case, it can be determined whether the drill rod needs to be replaced. For example, it can be determined whether the current temperature of the drill rod has reached the upper limit of the allowable drill rod temperature, or whether it has reached 80% of the upper limit of the allowable drill rod temperature. If it has, the drill rod needs to be replaced; otherwise, the drill rod does not need to be replaced.

[0102] According to an embodiment of the present invention, in step S5, based on the torque data, axial pressure data, rotational speed data, and axial displacement data acquired during the monitoring cycle, the drilling rig control parameters for the next monitoring cycle are set, including: if there is no need to perform a fault test, the drilling rig control parameters do not need to be adjusted; if there is a need to perform a fault test, the maximum value among the relative deviations of the average drilling speed from the set drilling speed, the relative deviations of the average torque data from the set torque, the relative deviations of the average axial pressure data from the set pressure data, and the relative deviations of the average rotational speed data from the set rotational speed is obtained, and the maximum relative deviation value is obtained; the set of equations to be fitted is obtained according to formula (2).

[0103] (2)

[0104] in, To monitor the axial displacement data at time t within the monitoring period, To monitor the rotational speed data at time t within the monitoring period, To monitor the axial pressure data at time t within the monitoring period, To monitor the torque data at time t within the monitoring period, To monitor the axial displacement data at time t-1 within the monitoring period, To monitor the rotational speed data at time t-1 within the monitoring period, To monitor the axial pressure data at time t-1 within the monitoring period, To monitor the torque data at time t-1 within the monitoring period, To set the power within the monitoring period, This represents the maximum value of the axial pressure data. The time interval between adjacent moments. , , and The first coefficient to be fitted is determined by calculating the torque data, axial pressure data, rotational speed data, and axial displacement data at multiple moments within the monitoring period. The solution value of the first coefficient to be fitted is obtained. Based on the solution value of the first coefficient to be fitted, the target drilling displacement, and the maximum relative deviation value, the drilling rig control parameters for the next monitoring period are determined.

[0105] According to one embodiment of the present invention, if the directional drilling rig does not malfunction and there is no situation where the relative deviation between the average drilling speed and the set drilling speed is greater than or equal to the drilling speed error threshold; the relative deviation between the average torque data and the set torque is greater than or equal to the torque error threshold; the relative deviation between the average axial pressure data and the set pressure data is greater than or equal to the pressure error threshold; or the relative deviation between the average rotational speed data and the set rotational speed is greater than or equal to the rotational speed error threshold, then it indicates that the drill rod is working smoothly and there is no need to adjust the drilling rig control parameters.

[0106] According to one embodiment of the present invention, if at least one of the above conditions exists, the maximum value among multiple relative deviations can be determined as the maximum relative deviation.

[0107] According to an embodiment of the present invention, in formula (2), This represents the relationship between drilling speed, output power, and axial pressure, where... This represents the average drilling speed between time t-1 and time t. This represents the actual output power at time t, and can also represent the power of the drill pipe under the drive of the drive device. This represents the average actual output power at time t and time t+1. This average output power is positively correlated with the drilling speed; that is, the greater the average output power, the greater the drilling speed. Let represent the average axial pressure at time t and time t+1. A higher average axial pressure indicates greater drilling difficulty (harder material being drilled) and slower drilling speed. Therefore, the above equation can be used to fit the data. This is used to represent the relationship between drilling speed, output power, and axial pressure. middle, This represents the maximum value detected by the pressure sensor at all times before the end of the current monitoring period. The ratio of the actual output power to the set power at time t represents the output efficiency of the drive unit. This output efficiency is related to the axial pressure. The lower the axial pressure, the smoother the drilling operation and the higher the output efficiency (output efficiency is maximized when the axial pressure is 0, at which point the only factors affecting output efficiency are the internal friction and heat loss of the drive unit). Conversely, the higher the axial pressure, the harder the material being drilled, the greater the drilling difficulty, and the lower the output efficiency (when the axial pressure is very high, the drill rod may jam and become unable to rotate, at which point the output efficiency is 0). Therefore, output efficiency and drilling difficulty are inversely correlated. The coefficient to be fitted is... The value is negative. The first coefficient to be fitted can be solved based on torque data, axial pressure data, speed data, and axial displacement data at multiple moments within the monitoring period. For example, a fitting method can be used to make the values ​​at each moment... and Minimize the sum of squared residuals between them, and make the sum of squared residuals at each time step... and The solution is to minimize the sum of squared residuals between the two values, and obtain the value of the first coefficient to be fitted that minimizes the sum of squared residuals. , and Dimensionless The dimension of is meters per second.

[0108] According to one embodiment of the present invention, the drilling rig control parameters for the next monitoring cycle are determined based on the solved values ​​of the first coefficients to be fitted, the target drilling displacement, and the maximum relative deviation value, including: determining the drilling rig control parameters for the next monitoring cycle according to formula (3). ,

[0109] (3)

[0110] in, for The solution value, for The solution value, for The solution value, for The solution value, The maximum relative deviation value is given by n, where n is the number of moments within the monitoring period. Drilling displacement for the target.

[0111] According to one embodiment of the present invention, in the next monitoring cycle, it can be assumed that the drilling difficulty of the drill pipe remains at its maximum value in the current monitoring cycle, that is, the axial pressure is at its maximum value in the current monitoring cycle. Therefore, the output efficiency of the drive device in the next monitoring cycle is... Therefore, assuming the set power of the directional drilling rig in the next monitoring cycle is... Then the power output to the drill pipe is On the other hand, it is expected that the drilling depth will reach the target drilling displacement in the next monitoring cycle; therefore, the average drilling rate in the next monitoring cycle is projected to be... The average drilling speed is equal to Furthermore, during the drilling process, due to the resistance encountered, the axial displacement, torque, axial pressure, and rotational speed data deviate from the set values. To allow for a certain margin of error in the drilling depth, [the following can be done]: The ultimate target drilling depth is the depth to be achieved even with deviations during the drilling process, ensuring that the target drilling displacement is reached. Therefore, it is possible to... Thus, the solution is obtained. The set power of the directional drilling rig for the next monitoring cycle is obtained and used as the drilling rig control parameter for the next monitoring cycle.

[0112] In this way, a set of equations to be fitted can be set by considering the relationship between the output efficiency of the drive unit and the drilling difficulty, as well as the relationship between the drilling speed and the output power and axial pressure. Based on the solution results of the set of equations to be fitted, the drilling rig control parameters for the next monitoring cycle can be set. When setting the parameters, the deviation between various data and the set values ​​during the drilling process is taken into account, so that a certain amount of redundancy is set for the drilling results. This ensures that the target drilling displacement can still be achieved even when the drilling difficulty is the greatest and there is a certain error, thereby improving the accuracy of power setting and construction efficiency.

[0113] According to one embodiment of the present invention, in step S6, after multiple monitoring cycles, once the drilling work at the current drilling position is completed, the drill can be moved to the next drilling position for drilling. During the movement, it can be determined again whether the drill rod needs to be replaced, so that the drill rod can start the drilling work at the next drilling position in a better working condition.

[0114] According to one embodiment of the present invention, after drilling at the i-th borehole position is completed, based on the drill rod temperature data, torque data, axial pressure data, rotational speed data, and axial displacement data obtained during multiple monitoring cycles during the drilling process at the i-th borehole position, it is determined whether the drill rod needs to be replaced, including: obtaining the heating efficiency to be fitted equation according to formula (4).

[0115] (4)

[0116] in, For the drill pipe temperature data at time t during drilling at the i-th borehole position, This refers to the drill pipe temperature data at time t-1 during drilling at the i-th borehole location. This refers to the torque data at time t during drilling at the i-th borehole position. This refers to the rotational speed data at time t during drilling at the i-th borehole position. This refers to the axial pressure data at time t during drilling at the i-th borehole position. This refers to the torque data at time t during drilling at the i-th borehole position. This refers to the rotational speed data at time t during drilling at the i-th borehole position. This refers to the axial pressure data at time t during drilling at the i-th borehole position. This refers to the axial displacement data at time t during drilling at the i-th borehole position. This refers to the axial displacement data at time t-1 during drilling at the i-th borehole position. The time interval between adjacent moments. , , and The second coefficient to be fitted is determined by the drill rod temperature, torque, axial pressure, rotational speed, and axial displacement data at multiple moments during the drilling process at the i-th borehole position. The solution value of the second coefficient to be fitted is obtained. Based on the solution value of the second coefficient to be fitted and the temperature data at the last moment during the drilling process at the i-th borehole position, it is determined whether the drill rod needs to be replaced.

[0117] According to one embodiment of the present invention, in formula (4), This represents the heating rate between time t-1 and time t. This heating rate is correlated with the drill rod's power, rotational speed, and axial pressure, and is also correlated with the borehole depth. In the example, the heating rate is directly related to the drill rod's power; that is, the higher the drill rod's power, the faster the heating rate. Furthermore, the heating rate is positively correlated with the drill rod's rotational speed; the higher the rotational speed, the more frequent the friction between the drill rod and the surrounding material, resulting in higher heat generation and a faster heating rate. Further, the heating rate is positively correlated with the drill rod's axial pressure; the greater the axial pressure, the greater the friction between the drill rod and the surrounding material, resulting in higher heat generation. Therefore, it is possible to use... To fit the rate of heat generation at time t, and can use To fit the average rate of heat generated between time t-1 and time t, This can represent the average rate at which heat generation leads to a temperature rise. On the other hand, the heat from the drill pipe is carried away by the drilling mud pumped out of the borehole. The mud flow rate increases and then decreases with increasing borehole depth. Therefore, the rate at which the mud carries away heat also increases and then decreases. This results in a decrease followed by an increase in the rate of temperature change of the drill pipe. That is, as the borehole depth increases, the mud flow rate initially increases, improving the efficiency of heat removal and negatively impacting the drill pipe's temperature rise. After the mud flow rate reaches its maximum, it decreases as the borehole depth continues to increase, reducing the efficiency of heat removal and positively impacting the drill pipe's temperature rise. Therefore, a quadratic function can be used. This is used to represent the relationship between drilling depth and drill pipe heating rate. This represents the average borehole depth between time t-1 and time t, and can also be set. , and The three coefficients to be fitted are used as coefficients of a quadratic function. Therefore, based on the above settings, the heating efficiency equation to be fitted can be constructed by combining the rate at which heat is generated during the rotation of the drill pipe by the drive device and the rate at which heat is carried away by the mud. Thus, based on drill pipe temperature data, torque data, axial pressure data, rotational speed data, and axial displacement data at multiple times, the second coefficient to be fitted can be solved to obtain the coefficient that best fits the drill pipe temperature at each time point. and The value of the second coefficient to be fitted, which minimizes the sum of squared residuals between the two, is used as the solution value of the second coefficient to be fitted. Wherein, The unit is ℃ / (W·N). The unit is ℃ / (s·m) 2 ), The unit is m. The unit is ℃ / s.

[0118] According to one embodiment of the present invention, determining whether the drill rod needs to be replaced based on the solved value of the second coefficient to be fitted and the temperature data at the last moment during the drilling process at the i-th borehole position includes: obtaining the predicted temperature at the end of the first monitoring cycle during the drilling process at the i+1 borehole positions according to formula (5). ,

[0119] (5)

[0120] in, This represents the average torque data at multiple moments during the drilling process at the i-th borehole position. Let be the average value of the rotational speed data at multiple moments during the drilling process at the i-th borehole position. This represents the average axial pressure data at multiple moments during the drilling process at the i-th borehole location. This represents the average drilling distance over multiple monitoring cycles during the drilling process at the i-th borehole location. for The solution value, for The solution value, for The solution value, for The solution value, This refers to the temperature data at the last moment during drilling at the i-th borehole location, where n is the number of moments within the monitoring period; if If the temperature exceeds the allowable temperature of the drill pipe, the drill pipe needs to be replaced.

[0121] According to one embodiment of the present invention, it can be used As the torque during the first monitoring cycle in the drilling process at the (i+1)th borehole position, using As the rotational speed during the first monitoring cycle in the process of drilling at the (i+1)th borehole position, using This refers to the axial pressure during the first monitoring cycle of drilling at the (i+1)th borehole location. Assume the drilling depth during the first monitoring cycle is... The average depth of the drill pipe during the first monitoring period is then... Therefore, the heating rate of the drill pipe during the first monitoring cycle is... Substituting the above parameters into the heating efficiency relationship based on formula (4), we can obtain Solving this problem yields the predicted temperature at the end of the first monitoring cycle during drilling at borehole location i+1. The expression for this is formula (5). If If the temperature exceeds the allowable temperature of the drill pipe, the drill pipe needs to be replaced. In other words, if the temperature of the drill pipe cannot be maintained below the allowable temperature during the first monitoring cycle, it needs to be replaced to prevent damage from overheating. If the temperature is below or equal to the allowable temperature, drilling can begin directly at the (i+1)th borehole position without replacing the drill rod, and the need to replace the drill rod will be determined at the end of the first monitoring cycle.

[0122] In this way, the heating efficiency equation can be constructed by combining the rate at which heat is generated during the rotation of the drill pipe by the drive device and the rate at which heat is carried away by the mud. When determining the rate at which heat is carried away by the mud, the solution is made based on the relationship between the mud discharge rate and the drilling depth, which improves the accuracy of heat calculation. Furthermore, the predicted temperature of the drill pipe at the end of the first monitoring cycle at the next drilling position can be calculated based on the heating efficiency equation, so as to determine whether the drill pipe can smoothly complete the drilling operation of the first monitoring cycle and thus accurately determine whether the drill pipe needs to be replaced.

[0123] According to one embodiment of the present invention, in step S7, if it is necessary to replace the drill rod, the drill rod is replaced before moving to the (i+1)th drilling position for drilling; otherwise, in step S8, if it is not necessary to replace the drill rod, the drill rod is moved directly to the (i+1)th drilling position for drilling.

[0124] The safety control method for directional drilling rigs used in coal mines according to embodiments of the present invention can automatically determine whether a directional drilling rig has malfunctioned and whether the drill rod needs to be replaced based on multiple measured data during each monitoring cycle of the drilling operation. It can also determine whether the control parameters of the directional drilling rig need to be adjusted based on actual data. Furthermore, it can determine whether to replace the drill rod before starting the next drilling operation after completing the drilling of each hole, thereby reducing the probability of drill rod or directional drilling rig damage during drilling operations, improving judgment accuracy, reducing equipment damage probability, and improving construction efficiency. When determining the slippage failure coefficient, the possibility of drill rod slippage can be described by three aspects: rotational speed, time required to reach stability, and time required for a unit change in rotational speed. This accurately describes the differences between the drill rod and the drive device in terms of rotational speed, stabilization time, and time required for a unit change in rotational speed when the drill rod is slipping, thus accurately describing the probability of slippage failure. When determining drilling rig control parameters, a set of equations to be fitted can be established by considering the relationship between the output efficiency of the drive unit and the drilling difficulty, as well as the relationship between drilling speed, output power, and axial pressure. Based on the solution results of these equations, the drilling rig control parameters for the next monitoring cycle are set. When setting these parameters, deviations between various data points and set values ​​during drilling are considered, thus providing a certain redundancy for the drilling results. This ensures that the target drilling displacement can still be achieved even when drilling difficulty is at its highest and errors exist, improving the accuracy of power settings and construction efficiency. When determining whether to replace the drill pipe, a temperature rise efficiency equation can be constructed by combining the rate at which heat is generated during the rotation of the drill pipe by the drive unit and the rate at which heat is carried away by the mud. The rate at which heat is carried away by the mud is determined by solving the relationship between mud discharge and borehole depth, improving the accuracy of heat calculation. Based on the temperature rise efficiency equation, the predicted temperature of the drill pipe at the end of the first monitoring cycle at the next borehole location can be calculated to determine whether the drill pipe can smoothly complete the drilling operation of the first monitoring cycle, thereby accurately determining whether the drill pipe needs to be replaced.

[0125] Figure 2 An exemplary safety control system for a directional drilling rig used in coal mines according to an embodiment of the present invention is shown, the system comprising:

[0126] The first acquisition module is used to acquire multiple borehole locations;

[0127] The second acquisition module is used to acquire drill rod temperature data, torque data, axial pressure data, rotational speed data and axial displacement data at multiple moments during multiple monitoring cycles in the drilling process at the i-th borehole position, where i is a positive integer;

[0128] The determination module is used to determine whether the directional drilling rig has malfunctioned at the end of each monitoring cycle, based on at least one of the torque data, axial pressure data, rotational speed data, and axial displacement data acquired during the monitoring cycle.

[0129] The first judgment module is used to determine whether the drill pipe needs to be replaced based on the drill pipe temperature data if no fault occurs.

[0130] The setting module is used to set the drilling rig control parameters for the next monitoring cycle based on the torque data, axial pressure data, speed data, and axial displacement data obtained during the monitoring cycle.

[0131] The second judgment module is used to determine whether the drill rod needs to be replaced after drilling at the i-th borehole position is completed, based on the drill rod temperature data, torque data, axial pressure data, rotation speed data and axial displacement data obtained during multiple monitoring cycles during the drilling process at the i-th borehole position.

[0132] The first drilling module is used to move to the (i+1)th drilling position for drilling after replacing the drill rod if the drill rod needs to be replaced.

[0133] The second drilling module, otherwise, directly moves to the (i+1)th drilling position to drill.

[0134] This invention can be a method, apparatus, system, and / or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for performing various aspects of the invention.

[0135] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are merely examples and do not limit the present invention. The objectives of the present invention have been fully and effectively achieved. The functions and structural principles of the present invention have been shown and explained in the embodiments, and any modifications or variations of the embodiments of the present invention may be made without departing from the stated principles.

[0136] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A safety control method for a directional drilling rig used in coal mines, characterized in that, include: Obtain multiple drill hole locations; During the drilling process at the i-th borehole position, at multiple moments within multiple monitoring cycles, drill rod temperature data, torque data, axial pressure data, rotational speed data, and axial displacement data are acquired, where i is a positive integer; At the end of each monitoring cycle, based on at least one of the torque data, axial pressure data, rotational speed data, and axial displacement data acquired during the monitoring cycle, it is determined whether the directional drilling rig has malfunctioned. In the absence of a malfunction, determine whether the drill pipe needs to be replaced based on the drill pipe temperature data; Based on the torque data, axial pressure data, rotational speed data, and axial displacement data obtained during the monitoring cycle, set the drilling rig control parameters for the next monitoring cycle; After drilling at the i-th borehole position is completed, the drill rod temperature data, torque data, axial pressure data, rotation speed data, and axial displacement data obtained during multiple monitoring cycles during the drilling process at the i-th borehole position are used to determine whether the drill rod needs to be replaced. If the drill rod needs to be replaced, move to the (i+1)th drilling position after replacing the drill rod to continue drilling; Otherwise, move directly to the (i+1)th drilling position to begin drilling; After drilling at the i-th borehole position is completed, based on the drill rod temperature data, torque data, axial pressure data, rotational speed data, and axial displacement data obtained during multiple monitoring cycles during the drilling process at the i-th borehole position, it is determined whether the drill rod needs to be replaced, including: According to the formula ； The equation to be fitted for the heating efficiency is obtained, where, For the drill pipe temperature data at time t during drilling at the i-th borehole position, This refers to the drill pipe temperature data at time t-1 during drilling at the i-th borehole location. This refers to the torque data at time t during drilling at the i-th borehole position. This refers to the rotational speed data at time t during drilling at the i-th borehole position. This refers to the axial pressure data at time t during drilling at the i-th borehole position. This refers to the torque data at time t during drilling at the i-th borehole position. This refers to the rotational speed data at time t during drilling at the i-th borehole position. This refers to the axial pressure data at time t during drilling at the i-th borehole position. This refers to the axial displacement data at time t during drilling at the i-th borehole position. This refers to the axial displacement data at time t-1 during drilling at the i-th borehole position. The time interval between adjacent moments. , , and The second coefficient to be fitted; Based on the drill rod temperature data, torque data, axial pressure data, rotational speed data, and axial displacement data at multiple moments during the drilling process at the i-th borehole position, the second coefficient to be fitted is solved to obtain the solution value of the second coefficient to be fitted. Based on the solved value of the second coefficient to be fitted and the temperature data at the last moment during the drilling process at the i-th borehole position, determine whether the drill rod needs to be replaced. Based on the solved values ​​of the second coefficient to be fitted and the temperature data at the last moment during drilling at the i-th borehole position, determine whether the drill rod needs to be replaced, including: According to the formula ； Obtain the predicted temperature at the end of the first monitoring cycle during drilling at borehole location i+1. ,in, This represents the average torque data at multiple moments during the drilling process at the i-th borehole position. Let be the average value of the rotational speed data at multiple moments during the drilling process at the i-th borehole position. This represents the average axial pressure data at multiple moments during the drilling process at the i-th borehole location. This represents the average drilling distance over multiple monitoring cycles during the drilling process at the i-th borehole location. for The solution value, for The solution value, for The solution value, for The solution value, This represents the temperature data at the last moment during the drilling process at the i-th borehole location, where n is the number of moments within the monitoring period. if If the temperature exceeds the allowable temperature of the drill pipe, the drill pipe needs to be replaced.

2. The safety control method for a directional drilling rig used in coal mines according to claim 1, characterized in that, At the end of each monitoring cycle, based on at least one of the torque data, axial pressure data, rotational speed data, and axial displacement data acquired during the monitoring cycle, it is determined whether the directional drilling rig has experienced a fault, including: The average drilling speed within the monitoring period is determined based on the axial displacement data at multiple times during the monitoring period. The average torque data for the monitoring period is determined based on torque data at multiple points within the monitoring period. The average value of the axial pressure data within the monitoring period is determined based on the axial pressure data at multiple times within the monitoring period. The average speed data within the monitoring period is determined based on the speed data at multiple times within the monitoring period. Perform a fault test if at least one of the following conditions is met: The relative deviation between the average drilling speed and the set drilling speed is greater than or equal to the drilling speed error threshold. The relative deviation between the average torque data and the set torque is greater than or equal to the torque error threshold. The relative deviation between the average axial pressure data and the set pressure data is greater than or equal to the pressure error threshold. The relative deviation between the average speed data and the set speed is greater than or equal to the speed error threshold; If none of the above conditions are met, then the directional drilling rig is confirmed to be functioning correctly.

3. The safety control method for a directional drilling rig used in coal mines according to claim 2, characterized in that, The fault test steps include: Pause drilling; The drill pipe is pulled back axially by the first preset distance; The drill pipe rotation is controlled according to various test speeds, and the actual rotation speed of the drill pipe is detected. Determine whether the directional drilling rig is malfunctioning based on the test speed and the actual speed.

4. The safety control method for a directional drilling rig used in coal mines according to claim 3, characterized in that, Based on the test rotational speed and the actual rotational speed, determine whether the directional drilling rig has malfunctioned, including: After each change in test speed, determine the first time required for the drive unit of the directional drilling rig to reach the changed test speed, and determine the second time required for the drill rod to reach a stable speed based on the actual speed. According to the formula ； Obtain the slippage failure coefficient ,in, The second duration corresponds to the j-th rotational speed change test. Let j be the first duration corresponding to the test rotational speed of the j-th transformation. The test speed is the speed after the j-th change in test speed. The stable speed after the j-th speed change test. The test speed is the speed after the (j-1)th change in test speed. Let be the stable rotational speed after the (j-1)th change test rotational speed, D[*] be the standard deviation function, N be the number of test rotational speeds, j≤N, and j and N are positive integers; If the slippage failure coefficient exceeds the preset threshold, the directional drilling rig is determined to have malfunctioned.

5. The safety control method for a directional drilling rig used in coal mines according to claim 2, characterized in that, Based on the torque, axial pressure, rotational speed, and axial displacement data acquired during the monitoring cycle, the drilling rig control parameters for the next monitoring cycle are set, including: If there are no circumstances requiring fault testing, then there is no need to adjust the drilling rig control parameters; If a fault test is required, obtain the maximum value among the following: the relative deviation between the average drilling speed and the set drilling speed; the relative deviation between the average torque data and the set torque; the relative deviation between the average axial pressure data and the set pressure data; and the relative deviation between the average rotational speed data and the set rotational speed. According to the formula ； The system of equations to be fitted is obtained, where, To monitor the axial displacement data at time t within the monitoring period, To monitor the rotational speed data at time t within the monitoring period, To monitor the axial pressure data at time t within the monitoring period, To monitor the torque data at time t within the monitoring period, To monitor the axial displacement data at time t-1 within the monitoring period, To monitor the rotational speed data at time t-1 within the monitoring period, To monitor the axial pressure data at time t-1 within the monitoring period, To monitor the torque data at time t-1 within the monitoring period, To set the power within the monitoring period, This represents the maximum value of the axial pressure data. The time interval between adjacent moments. , , and The first coefficient to be fitted; Based on torque data, axial pressure data, speed data, and axial displacement data at multiple moments within the monitoring period, the first coefficient to be fitted is solved to obtain the solution value of the first coefficient to be fitted. Based on the solved values ​​of the first coefficients to be fitted, the target drilling displacement, and the maximum relative deviation, the drilling rig control parameters for the next monitoring cycle are determined.

6. The safety control method for a directional drilling rig used in coal mines according to claim 5, characterized in that, Based on the solved values ​​of the first coefficients to be fitted, the target drilling displacement, and the maximum relative deviation, the drilling rig control parameters for the next monitoring cycle are determined, including: According to the formula ； Determine the drilling rig control parameters for the next monitoring cycle. ,in, for The solution value, for The solution value, for The solution value, for The solution value, The maximum relative deviation value is given by n, where n is the number of moments within the monitoring period. Drilling displacement for the target.

7. A safety control system for a directional drilling rig used in coal mines, characterized in that, include: The first acquisition module is used to acquire multiple borehole locations; The second acquisition module is used to acquire drill rod temperature data, torque data, axial pressure data, rotational speed data and axial displacement data at multiple moments during multiple monitoring cycles in the drilling process at the i-th borehole position, where i is a positive integer; The determination module is used to determine whether the directional drilling rig has malfunctioned at the end of each monitoring cycle, based on at least one of the torque data, axial pressure data, rotational speed data, and axial displacement data acquired during the monitoring cycle. The first judgment module is used to determine whether the drill pipe needs to be replaced based on the drill pipe temperature data if no fault occurs. The setting module is used to set the drilling rig control parameters for the next monitoring cycle based on the torque data, axial pressure data, speed data, and axial displacement data obtained during the monitoring cycle. The second judgment module is used to determine whether the drill rod needs to be replaced after drilling at the i-th borehole position is completed, based on the drill rod temperature data, torque data, axial pressure data, rotation speed data and axial displacement data obtained during multiple monitoring cycles during the drilling process at the i-th borehole position. The first drilling module is used to move to the (i+1)th drilling position for drilling after replacing the drill rod if the drill rod needs to be replaced. The second drilling module; otherwise, it moves directly to the (i+1)th drilling position to drill. After drilling at the i-th borehole position is completed, based on the drill rod temperature data, torque data, axial pressure data, rotational speed data, and axial displacement data obtained during multiple monitoring cycles during the drilling process at the i-th borehole position, it is determined whether the drill rod needs to be replaced, including: According to the formula ； The equation to be fitted for the heating efficiency is obtained, where, For the drill pipe temperature data at time t during drilling at the i-th borehole position, This refers to the drill pipe temperature data at time t-1 during drilling at the i-th borehole location. This refers to the torque data at time t during drilling at the i-th borehole position. This refers to the rotational speed data at time t during drilling at the i-th borehole position. This refers to the axial pressure data at time t during drilling at the i-th borehole position. This refers to the torque data at time t during drilling at the i-th borehole position. This refers to the rotational speed data at time t during drilling at the i-th borehole position. This refers to the axial pressure data at time t during drilling at the i-th borehole position. This refers to the axial displacement data at time t during drilling at the i-th borehole position. This refers to the axial displacement data at time t-1 during drilling at the i-th borehole position. The time interval between adjacent moments. , , and The second coefficient to be fitted; Based on the drill rod temperature data, torque data, axial pressure data, rotational speed data, and axial displacement data at multiple moments during the drilling process at the i-th borehole position, the second coefficient to be fitted is solved to obtain the solution value of the second coefficient to be fitted. Based on the solved value of the second coefficient to be fitted and the temperature data at the last moment during the drilling process at the i-th borehole position, determine whether the drill rod needs to be replaced. Based on the solved values ​​of the second coefficient to be fitted and the temperature data at the last moment during drilling at the i-th borehole position, determine whether the drill rod needs to be replaced, including: According to the formula ； Obtain the predicted temperature at the end of the first monitoring cycle during drilling at borehole location i+1. ,in, This represents the average torque data at multiple moments during the drilling process at the i-th borehole position. Let be the average value of the rotational speed data at multiple moments during the drilling process at the i-th borehole position. This represents the average axial pressure data at multiple moments during the drilling process at the i-th borehole location. This represents the average drilling distance over multiple monitoring cycles during the drilling process at the i-th borehole location. for The solution value, for The solution value, for The solution value, for The solution value, This represents the temperature data at the last moment during the drilling process at the i-th borehole location, where n is the number of moments within the monitoring period. if If the temperature exceeds the allowable temperature of the drill pipe, the drill pipe needs to be replaced.

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