Horizontal layered-medium deep hole combined mining equipment

Abstract

The present application relates to the technical field of mining engineering, and a kind of horizontal layering-medium deep hole combined mining equipment, which includes stable area identification module, horizontal path planning module, horizontal network construction module, collaborative parameter generation module, medium deep hole array formation module and collaborative operation scheduling module, identifies stable area according to target area rock characteristics, plans horizontal drilling path and constructs horizontal hole network;With the spatial configuration of horizontal hole network as the benchmark, the key geological information of the target area is analyzed with constraints, and the medium deep hole drilling parameters are obtained;Based on the medium deep hole drilling parameters, control the target equipment to drill pilot hole, perform step-by-step reaming on the pilot hole, and obtain the medium deep hole array;Schedule the operation process of the horizontal hole network and the medium deep hole array, and dynamically adjust the operation parameters of the target equipment according to the real-time collected state data of the target equipment, to realize the collaborative drilling operation of the target equipment;The present application can improve the efficiency of mining drilling operation.

Description

Technical Field

[0001] This invention relates to the field of mining engineering technology, and in particular to a horizontal stratification-medium-deep hole combined mining equipment. Background Technology

[0002] Existing horizontal stratification and medium-deep hole mining equipment relies heavily on traditional experience or single geological parameters for identifying stable areas in the target region. It fails to systematically combine core sample geomechanical analysis and comprehensive evaluation of rock mass quality indicators, resulting in low accuracy in identifying stable areas. This can easily lead to drilling paths being planned in unstable areas, increasing drilling resistance and potentially causing borehole collapse, affecting the continuity of drilling operations, and reducing the efficiency of basic operations.

[0003] Existing equipment lacks a parameter constraint analysis mechanism based on the spatial configuration of the horizontal hole network in the coordinated operation of horizontal and medium-deep holes. The determination of drilling parameters for medium-deep holes is poorly adapted to the distribution of horizontal holes, and the pilot hole reaming is mostly a single-diameter operation, which is difficult to adapt to the needs of different rock strata interfaces. In addition, the scheduling of the operation process is not combined with the real-time dynamic adjustment of the equipment status, which often leads to operation conflicts or parameter mismatches, further restricting the improvement of overall operation efficiency. Therefore, how to improve the efficiency of mining drilling operations has become an urgent problem to be solved. Summary of the Invention

[0004] To achieve the above objectives, the present invention provides a horizontal stratified-medium-deep hole combined mining equipment, characterized in that the equipment includes a stable region identification module, a horizontal path planning module, a horizontal network construction module, a collaborative parameter generation module, a medium-deep hole array formation module, and a collaborative operation scheduling module, wherein:

[0005] The stable region identification module is used to identify stable regions of the target region based on the rock strata characteristics of the target region.

[0006] The horizontal path planning module is used to determine the key points of the drilling path of the target equipment based on the spatial boundary and internal geological features of the stable area, and connect the key points of the drilling path to generate the horizontal drilling path of the target area.

[0007] The horizontal network construction module is used to drive the target device to drill horizontal holes using the azimuth and inclination information of the horizontal drilling path, and to arrange the horizontal holes according to a predetermined spatial structure to construct a horizontal hole network in the target area.

[0008] The collaborative parameter generation module is used to perform constrained analysis on the key geological information of the target area based on the spatial configuration of the horizontal hole network, and obtain the medium-deep hole drilling parameters that are collaborative with the horizontal hole network.

[0009] The medium-deep hole array forming module is configured to control the target device to drill a pilot hole, and perform step-by-step reaming on the pilot hole to obtain a medium-deep hole array of the target region based on the medium-deep hole drilling parameters.

[0010] The cooperative operation scheduling module is configured to schedule operation processes of the horizontal hole network and the medium-deep hole array, and dynamically adjust operation parameters of the target device according to real-time collected state data of the target device, so as to realize cooperative drilling operation of the target device.

[0011] In a preferred embodiment, when the stable region identification module identifies the stable region of the target region according to the rock stratum characteristics of the target region, it is specifically configured to:

[0012] Obtain a core sample of the target region, and perform geomechanical analysis on the core sample to obtain a rock stratum characteristic set of the target region.

[0013] According to structural plane development characteristics in the rock stratum characteristic set, the occurrence and spacing attributes of the main structural plane in the target region are analyzed to obtain a structural plane attribute set of the target region.

[0014] The target region is divided into square evaluation grids based on the horizontal projection range of the target region.

[0015] The rock mass quality index of the square evaluation grid and the structural plane attribute set are calculated by a geological strength classification method to obtain a stability score of the square evaluation grid.

[0016] The stability score is arranged according to the original spatial arrangement order of the square evaluation grid to generate a stability evaluation matrix of the target region.

[0017] The square evaluation grid with a score higher than a preset threshold in the stability evaluation matrix is identified as the stable region of the target region.

[0018] In a preferred embodiment, the calculation formula of the stability score is as follows:

[0019] ;

[0020] In the formula, is the stability score, is the rock uniaxial compressive strength in the rock mass quality index, is a preset rock uniaxial compressive strength reference value, is the rock mass integrity coefficient in the rock mass quality index, is the structural plane roughness coefficient in the structural plane attribute set, a structure spacing in the set of structure surface attributes, a preset structure spacing reference value, a main structure surface average inclination in the set of structure surface attributes, an exponential function, a natural logarithm function, a sine function.

[0021] In a preferred embodiment, when the horizontal path planning module determines the drilling path key points of the target device according to the spatial boundary and internal geological features of the stable region, and connects the drilling path key points to generate the horizontal drilling path of the target region, it is specifically used for:

[0022] extracting the digitized spatial boundary of the stable region;

[0023] setting an initial drilling path key point of the target device within the digitized spatial boundary;

[0024] adjusting the spatial position of the initial drilling path key point according to the stratum inclination change information and local weak plane distribution information in the internal geological features of the stable region to obtain the final drilling path key point of the target device;

[0025] connecting the final drilling path key points in sequence based on the digitized spatial boundary and the internal geological features to obtain the horizontal drilling path of the target region.

[0026] In a preferred embodiment, when the horizontal path planning module adjusts the spatial position of the initial drilling path key point according to the stratum inclination change information and local weak plane distribution information in the internal geological features of the stable region to obtain the final drilling path key point of the target device, it is specifically used for:

[0027] analyzing the stratum inclination change information in the internal geological features of the stable region to obtain the drilling direction trend of the target device;

[0028] translating the initial drilling path key point along the drilling direction trend to obtain a transition key point of the target device;

[0029] identifying a weak plane concentrated area indicated by the local weak plane distribution information in the stable region;

[0030] offsetting the transition key point falling into the weak plane concentrated area to the outside along the drilling direction trend to generate the final drilling path key point of the target device.

[0031] In a preferred embodiment, the horizontal network construction module, in the process of driving the target device to drill horizontal holes and arranging the horizontal holes according to a predetermined spatial architecture to construct a horizontal hole network of the target area, is specifically used for:

[0032] decomposing the azimuth information and the inclination information of the horizontal drilling path to obtain segmented drilling control parameters of the target device;

[0033] encoding the segmented drilling control parameters into horizontal hole drilling control instructions of the target device;

[0034] sending the horizontal hole drilling control instructions to the target device to drive the target device to drill a horizontal hole segment;

[0035] matching end points of the horizontal hole segment with connection nodes in a predetermined spatial architecture to establish a spatial topological connection relationship between the horizontal hole segments;

[0036] based on the spatial topological connection relationship, implementing a connection operation between the horizontal hole segments to obtain the horizontal hole network of the target area.

[0037] In a preferred embodiment, the collaborative parameter generation module, in the process of performing constraint analysis on key geological information of the target area based on the spatial configuration of the horizontal hole network to obtain medium-deep hole drilling parameters that collaborate with the horizontal hole network, is specifically used for:

[0038] extracting spatial distribution characteristics of horizontal holes in the horizontal hole network;

[0039] calling key geological information in an exploration database of the target area;

[0040] according to the spatial distribution characteristics, performing relevance screening on the key geological information to obtain a rock interface and stress direction subset associated with the spatial distribution characteristics;

[0041] performing multi-constraint collaborative solving on the rock interface, the stress direction subset, and the trend and spacing of the horizontal hole network to obtain medium-deep hole drilling parameters that collaborate with the horizontal hole network.

[0042] In a preferred embodiment, the calculation formula of the target point position coordinates in the medium-deep hole drilling parameters is as follows:

[0043] ;

[0044] wherein, is the target point position coordinates, a spatial coordinate of a specific horizontal hole node serving as a reference in the spatial distribution feature, a preset stress synergistic effect coefficient, a pitch of the horizontal hole network, a strike azimuth of the horizontal hole network, a principal stress direction azimuth of the stress direction subset, a first unit direction vector determined by the strike azimuth, a second unit direction vector perpendicular to the first unit direction vector, a preset rock stratum interface effect coefficient, a rock stratum thickness parameter in the rock stratum interface, a rock stratum interface dip angle in the rock stratum interface, a unit normal vector perpendicular to a horizontal plane on which the strike azimuth is located, a cosine function, a sine function, a tangent function.

[0045] In a preferred embodiment, the medium-deep hole array forming module, when performing control of the target device to drill a pilot hole, stepwise reaming of the pilot hole, and formation of a medium-deep hole array of the target region based on the medium-deep hole drilling parameters, is specifically configured to:

[0046] interpret spatial geometric information and engineering constraint conditions in the medium-deep hole drilling parameters to obtain an executable instruction set of the target device;

[0047] call pilot hole drilling control instructions and positioning information in the executable instruction set;

[0048] send the pilot hole drilling control instructions to the target device to drive the target device to form an initial pilot hole of the target region at a position corresponding to the positioning information;

[0049] control the target device to sequentially replace drilling tools according to multistage hole diameter instructions in the executable instruction set to perform stepwise hole diameter expansion of the initial pilot hole and obtain a medium-deep hole of the target region;

[0050] organize the medium-deep hole based on spatial topological relationships in the medium-deep hole drilling parameters to construct a medium-deep hole array of the target region.

[0051] In a preferred embodiment, the synergistic operation scheduling module, when performing scheduling of operation processes of the horizontal hole network and the medium-deep hole array and dynamically adjusting operation parameters of the target device based on real-time collected state data of the target device to realize synergistic drilling operation of the target device, is specifically configured to:

[0052] Topologically sequence the drilling operation of the horizontal hole network and the drilling operation of the array of medium-deep holes, to obtain a cooperative operation scheduling table of the target device;

[0053] Distribute the horizontal hole drilling instructions and the medium-deep hole drilling instructions in the cooperative operation scheduling table to the target device in sequence, to start the cooperative drilling operation of the target device;

[0054] During the cooperative drilling operation, receive the running state data uploaded by the target device in real time;

[0055] Compare the running state data with the expected state in the cooperative operation scheduling table, and when the comparison result exceeds a preset range, generate an operation parameter correction instruction of the target device;

[0056] Issue the operation parameter correction instruction to the target device, to correct the operation parameters of the target device, and realize the cooperative drilling operation of the target device.

[0057] Compared with the prior art, the present application has the following beneficial effects:

[0058] 1. The present application accurately identifies the target region stable region through the stable region identification module, avoids the problems of hole wall collapse and equipment rework caused by the drilling path falling into the unstable region, and reduces the invalid operation time; then the horizontal drilling path suitable for the geological features is generated through the horizontal path planning module, the horizontal holes are efficiently drilled and arranged according to the direction and inclination angle through the horizontal network construction module, a structured horizontal hole network is constructed, and the horizontal hole construction efficiency is greatly improved, laying a high-efficiency foundation for subsequent operation.

[0059] 2. The present application obtains the medium-deep hole drilling parameters coordinated with the horizontal hole network through the cooperative parameter generation module, ensures that the medium-deep hole operation does not need to repeatedly adjust the parameters, reduces the time loss; the step-by-step reaming operation of the array of medium-deep holes adapts to the rock stratum characteristics, ensures the one-time forming quality of the medium-deep hole, and reduces the secondary processing cost; the cooperative operation scheduling module dynamically adjusts the device parameters and integrates the operation time sequence, realizes the seamless cooperation of the horizontal hole and the medium-deep hole, significantly improves the overall mining drilling efficiency, and shortens the operation cycle. BRIEF DESCRIPTION OF DRAWINGS

[0060] Figure 1 A device architecture diagram of a horizontal layered-medium-deep hole combined mining device is provided for an embodiment of the present application;

[0061] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0062] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments belong to some of the embodiments of the present application but not all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the scope of protection of the present application.

[0063] The terms used in the embodiments of the present application are only for the purpose of describing particular embodiments and are not intended to limit the present application. The singular forms "said" and "this" used in the embodiments of the present application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. "Plural" generally contains at least two.

[0064] Depending on the context, the word "if" or "if" as used herein can be interpreted as "when" or "when" or "in response to determining" or "in response to detecting". Similarly, depending on the context, the phrase "if determined" or "if detecting (stated condition or event)" can be interpreted as "when determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)".

[0065] In addition, the step sequence in each of the following method embodiments is only an example and is not strictly limited.

[0066] In fact, the server device deployed by a horizontal layered-medium-length hole combined mining equipment can be composed of one or more devices. The above-mentioned horizontal layered-medium-length hole combined mining equipment can be realized as a business instance, a virtual machine, a hardware device. For example, the horizontal layered-medium-length hole combined mining equipment can be realized as a business instance deployed on one or more devices in a cloud node. Simply put, the horizontal layered-medium-length hole combined mining equipment can be understood as a software deployed on a cloud node, which is used to provide a horizontal layered-medium-length hole combined mining equipment for each user terminal. Alternatively, the horizontal layered-medium-length hole combined mining equipment can also be realized as a virtual machine deployed on one or more devices in a cloud node. The virtual machine has application software installed for managing each user terminal. Alternatively, the horizontal layered-medium-length hole combined mining equipment can also be realized as a server composed of a plurality of same or different types of hardware devices, and one or more hardware devices are set to provide a horizontal layered-medium-length hole combined mining equipment for each user terminal.

[0067] In an implementation form, the horizontal layering-medium-length hole combined mining equipment and the user end are mutually adapted. That is, the horizontal layering-medium-length hole combined mining equipment is installed as an application on a cloud service platform, and the user end is a client that establishes a communication connection with the application; or the horizontal layering-medium-length hole combined mining equipment is implemented as a website, and the user end is implemented as a webpage; or the horizontal layering-medium-length hole combined mining equipment is implemented as a cloud service platform, and the user end is implemented as an applet in an instant messaging application.

[0068] As shown in Figure 1 FIG. 1 is a device architecture diagram of a horizontal layering-medium-length hole combined mining equipment according to an embodiment of the present application.

[0069] The horizontal layering-medium-length hole combined mining equipment 100 can be arranged in a cloud server, and in an implementation form, can be one or more service devices, or can be installed as an application on a cloud (such as a server of a mobile service operator, a server cluster, etc.), or can be developed as a website. According to the implemented functions, the horizontal layering-medium-length hole combined mining equipment 100 can include a stable area identification module 101, a horizontal path planning module 102, a horizontal network construction module 103, a cooperative parameter generation module 104, a medium-length hole array forming module 105, and a cooperative operation scheduling module 106. The modules of the present application can also be referred to as units, which refer to a series of computer program segments that can be executed by an electronic device processor and can complete a fixed function, and are stored in the memory of the electronic device.

[0070] In an embodiment of the present application, each of the above modules in the horizontal layering-medium-length hole combined mining equipment can be independently implemented and called by other modules. Here, calling can be understood as that a module can connect multiple modules of another type and provide corresponding services for the connected multiple modules. In the horizontal layering-medium-length hole combined mining equipment provided by the embodiment of the present application, the application range of the horizontal layering-medium-length hole combined mining equipment architecture can be adjusted by increasing modules and directly calling without modifying program codes, cluster-type horizontal expansion is realized, so as to achieve the purpose of quickly and flexibly expanding the horizontal layering-medium-length hole combined mining equipment. In actual application, the above modules can be arranged in the same device or different devices, or can be arranged in a virtual device, such as a service instance in a cloud server.

[0071] The following will be described in combination with specific embodiments, respectively for each component of the horizontal layering-medium-length hole combined mining equipment and the specific work flow:

[0072] The stable area identification module 101 is configured to identify a stable area of a target area according to a rock stratum feature of the target area.

[0073] In the embodiment of the present application, when the stable area recognition module identifies the stable area of the target area according to the rock stratum characteristics of the target area, it is specifically used for:

[0074] Obtaining a core sample of the target area, performing geomechanical analysis on the core sample to obtain a rock stratum characteristic set of the target area;

[0075] According to the structural plane development characteristics in the rock stratum characteristic set, the occurrence and spacing attributes of the main structural plane in the target area are analyzed to obtain a structural plane attribute set of the target area;

[0076] Taking the horizontal projection range of the target area as a reference, the target area is divided into a square evaluation grid;

[0077] The rock mass quality index of the square evaluation grid and the structural plane attribute set are calculated by a geological strength classification method to obtain a stability score of the square evaluation grid;

[0078] According to the original spatial arrangement order of the square evaluation grid, the stability score is arranged to generate a stability evaluation matrix of the target area;

[0079] The square evaluation grid with a score higher than a preset threshold in the stability evaluation matrix is identified as a stable area of the target area.

[0080] The calculation formula of the stability score is as follows:

[0081] ;

[0082] In the formula, is the stability score, is the rock uniaxial compressive strength in the rock mass quality index, is a preset rock uniaxial compressive strength reference value, is the rock mass integrity coefficient in the rock mass quality index, is the structural plane roughness coefficient in the structural plane attribute set, is the structural plane spacing in the structural plane attribute set, is a preset structural plane spacing reference value, is the average inclination of the main structural plane in the structural plane attribute set, is an exponential function, is a natural logarithmic function, is a sine function.

[0083] The core drilling machine is used to drill at the preset exploration points in the target area, the drilling machine is kept stable during drilling to ensure the integrity of the core samples, the drilling depth is determined according to the geological exploration requirements of the target area, and the core samples are numbered and arranged in order of depth after drilling to avoid sample confusion; then, the arranged core samples are subjected to geomechanical analysis, which specifically includes testing the uniaxial compressive strength of the samples, i.e. the rock uniaxial compressive strength, elastic modulus and other mechanical parameters needed in subsequent calculation, observing and recording the development of the internal structure surface of the samples, and analyzing the mineral composition and distribution characteristics of the samples, integrating the obtained mechanical parameters, structure surface development information and mineral composition information to form a rock stratum feature set of the target area.

[0084] From the obtained rock stratum feature set of the target area, all information related to the development of the structure surface is extracted, and the main structure surface, i.e. the fissure or bedding surface that has the greatest impact on the stability of the rock mass, is focused on; for each main structure surface, the strike, trend and dip angle are measured using a geological compass, the average dip angle of the main structure surface is obtained by adding the dip angles of multiple main structure surfaces and dividing by the number of measurements, and the strike and trend are recorded as the occurrence attributes of the structure surface; at the same time, the perpendicular distance between two adjacent main structure surfaces of the same type is measured using a tape measure or a geological scale, multiple measurement points are selected within each square evaluation grid for multiple measurements, and the average value of the measurement results is taken as the spacing of the main structure surface in that area, in addition, the surface morphology of the main structure surface is observed, such as whether it is smooth or has undulations, and the structure surface roughness coefficient is obtained by quantifying the score according to the geological structure surface roughness evaluation standard, and the occurrence attributes, structure surface spacing and structure surface roughness coefficient of all main structure surfaces are integrated to obtain a structure surface attribute set of the target area.

[0085] Firstly, the projection boundary of the target area on the horizontal plane is determined through field geological surveying or with the help of high-precision satellite maps, and the length and width of the projection range are determined; then, according to the geological complexity and exploration accuracy requirements of the target area, the side length of the square evaluation grid is determined, and a corner point of the projection range is taken as the origin, along the length direction and width direction of the horizontal projection, a plurality of square regions with the same size are divided in sequence according to the set side length, each square region is a square evaluation grid, and during the division process, all square evaluation grids are seamlessly connected to completely cover the horizontal projection range of the target area without omission or overlapping areas.

[0086] When adopting the geological strength classification method, first, the rock mass quality index of each square evaluation grid is determined by observing the core recovery rate of the rock mass corresponding to the grid, i.e., the ratio of the actual core length to the drilling length, the fracture development density in the rock mass and other indicators. The rock mass integrity coefficient is calculated by the core recovery rate and the fracture development density, and the uniaxial compressive strength of rock is obtained by the mechanical test of the core sample. Meanwhile, the preset uniaxial compressive strength reference value of rock is retrieved, which is set in advance by referring to the conventional data or industry standard of the uniaxial compressive strength of the same rock type in similar mining engineering, and the preset structural plane spacing reference value is retrieved, which is set in advance by referring to the conventional data or industry standard of the structural plane spacing under similar geological conditions in similar mining engineering. Then, the stability score calculation is performed: first, the uniaxial compressive strength of rock is divided by the preset uniaxial compressive strength reference value of rock to obtain a ratio, then the difference between the rock mass integrity coefficient and 1 is calculated and the exponential value of the difference is obtained, and the ratio is multiplied by the exponential value, which is used to quantify the influence of the strength and completeness of the rock mass on the stability; meanwhile, the structural plane spacing is divided by the preset structural plane spacing reference value to obtain a ratio, which is multiplied by the structural plane roughness coefficient and then added by 1, the natural logarithm value of the sum is calculated, and the sine value of the average dip angle of the main structural plane is calculated, and the natural logarithm value is multiplied by the sine value, which is used to quantify the influence of the structural plane properties on the stability; finally, the two results are added together, and the sum is the stability score of the square evaluation grid.

[0087] First, the square evaluation grids are numbered in the original spatial arrangement order on the horizontal projection map of the target area, and the numbering rule adopts the incremental mode from left to right and from top to bottom, so as to ensure that the number of each grid corresponds to its actual spatial position one by one. Then, the stability scores of each square evaluation grid are arranged in order according to their numbers to construct a two-dimensional data table, in which the rows and columns correspond to the horizontal and vertical arrangement orders of the grids in the horizontal projection range, and each cell data in the table is the stability score of the corresponding numbered square evaluation grid. This two-dimensional data table is the stability evaluation matrix of the target area.

[0088] Referring to the stability score data of the stable rock mass meeting the safety and efficiency requirements of drilling operation in the same mining engineering area, a fixed preset threshold is determined according to the geological conditions of the target area, such as rock type and development degree of structural plane, which ensures that the rock mass with a score higher than the threshold can withstand the mechanical force in the drilling operation process and is not prone to hole wall collapse; then the stability score of each cell in the stability evaluation matrix is checked, and the size relationship between each stability score and the preset threshold is compared, and all cells with a stability score higher than the preset threshold are screened out, each screened cell corresponds to a square evaluation grid, and the actual spatial range corresponding to the square evaluation grid in the target area is integrated, so that the stable area of the target area is identified.

[0089] The beneficial effect is that the geological information of the target area and the calculation variables of rock uniaxial compressive strength, rock mass integrity coefficient, structural plane roughness coefficient, structural plane spacing, and main structural plane average inclination can be systematically obtained through the above process, and the stability score is accurately calculated based on the variables to identify the stable area, ensuring that the identified stable area meets the requirements of rock mass stability for mining drilling operation, providing a reliable spatial basis for subsequent horizontal drilling path planning, avoiding inaccurate identification of the stable area, and thus reducing the problems of hole wall collapse, equipment rework, and the like, and ensuring the safety and continuity of subsequent mining drilling operation, laying a foundation for improving the overall mining drilling efficiency.

[0090] The horizontal path planning module 102 is configured to determine drilling path key points of a target device according to the spatial boundary and internal geological features of the stable area, and connect the drilling path key points to generate a horizontal drilling path of the target area.

[0091] In the embodiment of the present application, when the horizontal path planning module determines the drilling path key points of the target device according to the spatial boundary and internal geological features of the stable area, and connects the drilling path key points to generate the horizontal drilling path of the target area, it is specifically configured to:

[0092] Extract the digital spatial boundary of the stable area;

[0093] Set the initial drilling path key points of the target device within the digital spatial boundary;

[0094] Adjust the spatial position of the initial drilling path key points according to the rock layer inclination change information and local weak plane distribution information in the internal geological features of the stable area to obtain the final drilling path key points of the target device;

[0095] Based on the digitized space boundary and the internal geological features, the final drilling path key points are sequentially connected to obtain the horizontal drilling path of the target region.

[0096] When the horizontal path planning module adjusts the spatial position of the initial drilling path key points according to the information of the change of the rock layer inclination and the information of the local weak plane distribution in the internal geological features of the stable region to obtain the final drilling path key points of the target device, it is specifically used for:

[0097] Analyzing the information of the change of the rock layer inclination in the internal geological features of the stable region to obtain the drilling direction trend of the target device;

[0098] Translating the initial drilling path key points along the drilling direction trend to obtain the transition key points of the target device;

[0099] Identifying the weak plane concentrated area indicated by the information of the local weak plane distribution in the stable region;

[0100] Offsetting the transition key points falling into the weak plane concentrated area to the outside along the drilling direction trend to generate the final drilling path key points of the target device.

[0101] The identified stable region is scanned in full range by a three-dimensional laser scanner to obtain point cloud data of the surface and internal space of the stable region. During the scanning process, the distance between the scanner and each part of the stable region is kept uniform to ensure that the point cloud data covers all boundary positions of the stable region. The obtained point cloud data is classified and sorted according to X, Y and Z three-dimensional space coordinates, and the point cloud data representing the outermost contour of the stable region is screened out. Then, these peripheral points are sequentially connected in a clockwise direction to form a closed space contour. The accurate three-dimensional coordinates of each vertex of the closed contour are recorded, and the set of these coordinates is the digitized space boundary of the stable region.

[0102] Within the horizontal projection range corresponding to the obtained digitized space boundary, the distance between adjacent initial drilling path key points is determined according to the effective coverage width of a single drilling of the target device, i.e. the mining drilling device, and the requirement of the mining operation on the drilling density. Points are uniformly selected around the boundary at a set distance with the horizontal projection center of the digitized space boundary as the reference. During the selection process, it is ensured that the horizontal projection coordinates of each point are within the horizontal projection range of the digitized space boundary and do not exceed the boundary. The three-dimensional space coordinates of each selected point are measured and recorded. These points with three-dimensional coordinates are the initial drilling path key points of the mining drilling device.

[0103] Extract the information of the change of the rock stratum inclination in the internal geological features of the stable area from the previously generated rock stratum feature set, which contains the rock stratum inclination data corresponding to different spatial positions of the stable area; label these rock stratum inclination data one by one in the three-dimensional spatial coordinate system of the stable area according to the spatial positions where they are collected, to form an inclination distribution atlas; observe the inclination distribution atlas, and if it is found that the rock stratum inclination change range of most positions in a direction is less than 5 degrees, and the rock stratum in the direction as a whole presents a continuous distribution state, then the direction is determined as the drilling direction trend of the mining drilling equipment.

[0104] First, according to the determined drilling direction trend, the specific vector of the direction is determined in the three-dimensional spatial coordinate system; the translation distance of each initial drilling path key point is set with reference to the reasonable translation distance of the mining drilling equipment when drilling under similar geological conditions; the three-dimensional coordinates of each initial drilling path key point are taken as the starting point, and the set translation distance is moved along the vector direction of the drilling direction trend, and the three-dimensional coordinates of the new position are recorded after reaching the new position; after the translation of all initial drilling path key points is completed, the points with coordinates of the new positions obtained are the transition key points of the mining drilling equipment.

[0105] Extract the local weak surface distribution information in the stable area from the structural surface attribute set, which contains the spatial position, extension length and width data of the weak surface; correspond these weak surface data to the three-dimensional spatial coordinate system of the stable area according to their spatial positions, and divide the stable area into a plurality of small cubic regions with an edge length of 2 meters; count the number of weak surfaces in each small cubic region and the total area of all weak surfaces, and if the number of weak surfaces in a small cubic region exceeds 3 or the total area of weak surfaces accounts for more than 10% of the volume of the small cubic region, then the small cubic region is defined as a weak surface concentrated area.

[0106] Check the three-dimensional coordinates of each transition key point one by one to determine whether it falls within the three-dimensional spatial range corresponding to any weak surface concentrated area; if the coordinates of a transition key point are within a weak surface concentrated area, determine the perpendicular outside direction of the drilling direction trend with the coordinates of the transition key point as the reference; set the offset distance according to the width of the weak surface concentrated area, move the transition key point along the outside direction by the set offset distance, and record the new coordinates; the transition key points not falling into the weak surface concentrated area remain unchanged, and all the processed points are the final drilling path key points of the mining drilling equipment.

[0107] The final drilling path key points corresponding to the regions with high rock stratum hardness are preferentially selected as the connection starting points with reference to the rock stratum hardness distribution in the internal geological features; the connection lines between the adjacent final drilling path key points are checked with the digitalized space boundary as the constraint to ensure that the horizontal projection of the connection lines does not exceed the horizontal projection range of the digitalized space boundary; the adjacent final drilling path key points are sequentially connected by straight lines in the order from one end of the stable region to the other end, and whether the space position corresponding to each connected segment avoids the weak parts of the rock stratum is confirmed, and if the connected segment passes through the weak parts, the connection order of the adjacent key points is adjusted to preferentially connect the key points avoiding the weak parts; and the continuous line formed after the connection of all the final drilling path key points is the horizontal drilling path of the target region.

[0108] The beneficial effect is that the horizontal drilling path generated by the specific scanning, screening, analysis, translation, identification, offset and connection method strictly fits the digitalized space boundary and internal geological features of the stable region, can effectively avoid the weak plane concentration area and the weak parts of the rock stratum, reduce the problems such as hole wall collapse and drill rod jamming in the drilling process of the mining drilling equipment, improve the rationality and safety of the horizontal drilling path, provide a clear basis for the subsequent accurate drilling of the horizontal hole by the mining drilling equipment, guarantee the efficiency and quality of the horizontal hole drilling operation, and further lay a foundation for constructing a stable horizontal hole network.

[0109] The horizontal network construction module 103 is configured to drive the target device to drill horizontal holes through the azimuth and inclination information of the horizontal drilling path, and arrange the horizontal holes according to a predetermined space architecture to construct a horizontal hole network of the target region.

[0110] In the embodiment of the present application, when the horizontal network construction module is used to drive the target device to drill horizontal holes through the azimuth and inclination information of the horizontal drilling path, and arrange the horizontal holes according to a predetermined space architecture to construct a horizontal hole network of the target region, it is specifically used for:

[0111] Decompose the azimuth information and inclination information of the horizontal drilling path to obtain segmented drilling control parameters of the target device;

[0112] Encode the segmented drilling control parameters into horizontal hole drilling control instructions of the target device;

[0113] Send the horizontal hole drilling control instructions to the target device to drive the target device to drill horizontal hole segments;

[0114] Match the endpoints of the horizontal hole segments with the connection nodes in the predetermined space architecture to establish the spatial topological connection relationship between the horizontal hole segments;

[0115] Based on the spatial topological connection relationship, a communication operation between the horizontal hole segments is implemented to obtain the horizontal hole network of the target region.

[0116] The high-precision three-dimensional coordinate measuring instrument is used to collect coordinate data along the horizontal drilling path point by point, and the turning points where the direction changes in the path are marked. The horizontal drilling path is divided into a plurality of continuous straight line segments according to the turning points. For each straight line segment, the angle between the center line of the segment and the north direction is measured using a geological compass to obtain azimuth information, and the angle between the center line of the segment and the horizontal plane is measured using an inclinometer to obtain an inclination angle. The hardness data of the rock mass corresponding to the segment are extracted from the rock mass feature set, and the performance parameters of the mining drilling equipment are combined to determine the drilling pressure, drilling speed and cooling liquid flow required when the mining drilling equipment drills in the segment. The azimuth information, inclination angle information, drilling pressure, drilling speed and cooling liquid flow of each segment are integrated to obtain the segmented drilling control parameters of the mining drilling equipment.

[0117] The segmented drilling control parameters of each segment are converted into digital codes recognizable by the equipment using the instruction coding rules preset by the mining drilling equipment control system. The azimuth information corresponds to a 3-digit code, the inclination angle information corresponds to a 2-digit code, the drilling pressure corresponds to a 3-digit code, the drilling speed corresponds to a 2-digit code, and the cooling liquid flow corresponds to a 2-digit code. The above digital codes of each segment are combined in the fixed order of "azimuth-inclination angle-drilling pressure-drilling speed-cooling liquid flow" to form the horizontal hole drilling control instruction of the mining drilling equipment corresponding to the segment.

[0118] The horizontal hole drilling control instruction is sent to the main control system of the equipment in the order of the segments through the wired data transmission interface of the mining drilling equipment. After receiving the instruction, the main control system first analyzes the azimuth information and the inclination angle information in the instruction, drives the drill rod steering mechanism of the equipment to adjust the spatial angle of the drill rod, until the center line of the drill rod is completely consistent with the azimuth and inclination angle required by the instruction. Then, the drilling pressure, drilling speed and cooling liquid flow parameters in the instruction are analyzed, and the corresponding size of the drilling pressure is output by the hydraulic system of the equipment, the drilling speed is adjusted to the required value by the driving system, and the cooling liquid flow is adjusted to the required value by the cooling system. After all the parameters are adjusted, the main control system starts the drilling operation. After the drilling of the current segment is completed, the next horizontal hole drilling control instruction is automatically received and the above parameter adjustment and drilling operation are repeated until all the segmented drilling is completed, and the horizontal hole segments of the target region are drilled.

[0119] A predetermined spatial architecture of the horizontal hole network is designed in advance according to the mining operation requirements of the target area, which includes a plurality of uniformly distributed connection nodes, each of which is set with a unique three-dimensional coordinate and recorded in a paper document or a storage medium readable by equipment; the three-dimensional coordinates of the end points of each horizontal hole section are measured using a three-dimensional laser range finder, the range finder is fixed at the opening of one end of the hole section during measurement, the measurement direction of the range finder is adjusted to accurately align the laser beam with the center position of the opening at the other end of the hole section, and the three-dimensional coordinates of the end point are recorded after the coordinate data displayed by the range finder is stable; the measured end point coordinates of the hole section are compared with the coordinates of the connection nodes in the predetermined spatial architecture one by one, and when the coordinate difference in X, Y and Z dimensions is less than 0.5 cm, it is determined that the end point of the hole section matches the connection node; all matching results are recorded in a table in the format of "horizontal hole section number-matching connection node number", and the spatial topological connection relationship between the horizontal hole sections is established through the connection nodes.

[0120] According to the recorded spatial topological connection relationship, all horizontal hole sections sharing the same connection node are selected from the table, and these hole sections are determined as adjacent hole sections that need to be connected; the drill tool of the mining drilling equipment is replaced with a reaming bit that matches the diameter of the hole section, the equipment is started to extend the reaming bit into one of the adjacent hole sections, the advancing distance of the bit is controlled by the depth sensor of the equipment, and the bit reaches the position of the matching connection node of the hole section; the reaming bit is started to perform reaming operation on the hole at the connection node, and the hole diameter is measured every 10 seconds during the operation by using a hole diameter measuring instrument inserted into the hole until the hole diameter reaches the preset connection requirement; after reaming is completed, the equipment is controlled to withdraw the reaming bit, and then the reaming bit is extended into the other adjacent hole section corresponding to the connection node and advanced to the connection node position, and whether the two hole sections are completely connected at the connection node is observed by using a visual detection device; the reaming and connection detection operations are repeated until all adjacent horizontal hole sections sharing the connection node are connected, and finally a horizontal hole network covering the target area and having all hole sections connected is formed.

[0121] The beneficial effect is that through the above process, the parameters of the horizontal drilling path can be accurately converted into control instructions executable by the mining drilling equipment, ensuring that the horizontal hole sections are accurately drilled according to the preset path and parameters, and the spatial topological relationship between the hole sections is established through clear coordinate measurement and matching rules, and reliable connection between the hole sections is realized through standardized reaming and connection operations, finally forming a horizontal hole network with regular structure and good connectivity, effectively avoiding problems such as deviation of hole section drilling from the preset path and mispositioning of connection between hole sections, improving the accuracy and efficiency of horizontal hole network construction, providing stable foundation support for subsequent coordinated operation of medium-length hole arrays, and ensuring orderly development and efficient promotion of overall mining drilling operation.

[0122] The cooperative parameter generation module 104 is configured to perform constraint analysis on key geological information of the target area based on the spatial configuration of the horizontal hole network, and obtain the medium-deep hole drilling parameter cooperative with the horizontal hole network.

[0123] In the embodiment of the present application, when the cooperative parameter generation module performs constraint analysis on key geological information of the target area based on the spatial configuration of the horizontal hole network, and obtains the medium-deep hole drilling parameter cooperative with the horizontal hole network, the cooperative parameter generation module is specifically configured to:

[0124] extract the spatial distribution characteristics of the horizontal holes in the horizontal hole network;

[0125] call the key geological information in the exploration database of the target area;

[0126] correlatively filter the key geological information according to the spatial distribution characteristics, and obtain a rock stratum interface and stress direction subset associated with the spatial distribution characteristics;

[0127] perform multi-constraint cooperative solving on the rock stratum interface, the stress direction subset, and the trend and spacing of the horizontal hole network, and obtain the medium-deep hole drilling parameter cooperative with the horizontal hole network.

[0128] The calculation formula of the target point position coordinate in the medium-deep hole drilling parameter is as follows:

[0129]

[0130] In the formula, is the target point position coordinate, is the spatial coordinate of a specific horizontal hole node serving as a reference in the spatial distribution characteristics, is a preset stress cooperative influence coefficient, is the spacing of the horizontal hole network, is the trend azimuth of the horizontal hole network, is the principal stress direction azimuth of the stress direction subset, is a first unit direction vector determined by the trend azimuth, is a second unit direction vector perpendicular to the first unit direction vector, is a preset rock stratum interface influence coefficient, is a rock stratum thickness parameter in the rock stratum interface, is a rock stratum interface dip angle in the rock stratum interface, is a unit normal vector perpendicular to the horizontal plane where the trend azimuth is located, is a cosine function, is a sine function, is a tangent function.​

[0131] A 3D laser scanner was used to perform a full-range scan of the constructed horizontal hole network, collecting the 3D coordinates of the two endpoints of each horizontal hole and the 3D coordinates of multiple feature points on the inner side of the hole wall. The centerline direction of each horizontal hole was calculated using the coordinates, and the angle between the centerline and true north was measured using a geological compass to determine the orientation azimuth of the horizontal hole network. This orientation azimuth is used for the subsequent calculation of target point position coordinates. The vertical distance between the centerlines of two adjacent parallel horizontal holes was measured and averaged to determine the spacing of the horizontal hole network. This spacing is used for the subsequent calculation of target point position coordinates. At the same time, the connecting node located in the central region of the horizontal hole network with the most connecting hole segments was selected as a specific horizontal hole node as a reference. The 3D spatial coordinates of this node were measured using a 3D laser rangefinder. These spatial coordinates are used as the spatial coordinates of the specific horizontal hole node for the subsequent calculation of target point position coordinates. The actual length and inner diameter of each horizontal hole were also recorded. The orientation, spacing, length, inner diameter, spatial position coordinates of all horizontal holes, the spatial coordinates of specific horizontal hole nodes, the orientation azimuth of the horizontal hole network, and the spacing of the horizontal hole network were integrated to form the spatial distribution characteristics of the horizontal holes in the horizontal hole network.

[0132] The exploration database for the target area is stored on a local industrial server. This database contains key geological information such as the location of rock strata interfaces and stress direction data at different depths obtained from previous geological exploration. A data retrieval request is sent to the server via a wired data transmission link between the mining operation control system and the server. The request clearly indicates the type of key geological information to be obtained and the spatial extent of the target area. The spatial extent of the target area is defined based on the maximum boundary coordinates of the horizontal borehole network. After receiving the request, the server filters out the rock strata interface location data within the spatial extent. This data includes the three-dimensional coordinate range of the interface, interface type, rock stratum thickness parameters, and rock stratum interface dip angle. The rock stratum thickness parameters are obtained by transmitting data from the borehole logging tool probe. The vertical distance from the upper boundary to the lower boundary of the rock stratum is determined. The dip angle of the rock stratum interface is determined by the average of the angles measured by an inclinometer closely attached to the rock stratum interface. Both the rock stratum thickness parameters and the rock stratum interface dip angle are used for the subsequent calculation of the target point location coordinates. At the same time, stress direction data within this spatial range are screened out. These data include the principal stress direction azimuth and stress magnitude at different depths. The principal stress direction azimuth is determined by the average of the angles between the principal stress direction and true north measured by a geological stress measuring instrument at three different locations in the target area. This principal stress direction azimuth is used for the subsequent calculation of the target point location coordinates. The screened rock stratum interface location data and stress direction data are transmitted to the mining operation control system to complete the retrieval of key geological information.

[0133] Core parameters are extracted from the spatial distribution characteristics of the horizontal holes, including the overall trend range, spacing range, and distribution depth interval of the horizontal holes; the called key geological information is associated and screened based on these core parameters: stratum interface with an angle less than 10° to the trend of the horizontal hole is screened out to ensure that the stratum interface is closely associated with the horizontal hole in space, and stress direction data located in the horizontal hole distribution depth interval and covering the spatial range of the horizontal hole network are screened out; the screened stratum interface data and stress direction data are sorted respectively to form a stratum interface subset and a stress direction subset associated with the spatial distribution characteristics of the horizontal hole network, and a preset stress synergistic influence coefficient is set according to the size grade of the principal stress in the stress direction subset, which is 0.3-0.5 in a low stress area, 0.5-0.7 in a medium stress area, and 0.7-0.9 in a high stress area, and the preset stress synergistic influence coefficient is used for subsequent calculation of the target position coordinates, and a preset stratum interface influence coefficient is set according to the hardness and integrity of the stratum in the stratum interface subset, which is 0.2-0.4 when the stratum has high hardness and good integrity, 0.4-0.6 when the stratum has medium hardness and general integrity, and 0.6-0.8 when the stratum has low hardness and poor integrity, and the preset stratum interface influence coefficient is used for subsequent calculation of the target position coordinates.

[0134] Using a subset of rock strata interfaces as constraints, the thickness and integrity of each rock strata interface are analyzed to determine the weak rock strata interfaces that must be avoided during medium-deep hole drilling, ensuring that the target point of the medium-deep hole does not fall within the rock strata interface. Using a subset of stress directions as constraints, the drilling direction of the medium-deep hole is adjusted to an angle of 30°-45° with the principal stress direction. Combining the orientation and spacing of the horizontal hole network, the orientation of the medium-deep hole is kept perpendicular to the orientation of the horizontal holes, and the spacing is kept consistent with the spacing of the horizontal holes. In this process, the target point coordinates of the medium-deep hole are determined in the following way: using the spatial coordinates of specific horizontal hole nodes as a reference, a plane rectangular coordinate system is first constructed, with due north as the positive Y-axis and due east as the positive X-axis. Based on the orientation of the horizontal hole network... A first unit direction vector is determined based on the azimuth angle. The X component of the first unit direction vector is the sine of the azimuth angle of the horizontal aperture network, and the Y component is the cosine of the azimuth angle of the horizontal aperture network. The magnitude of this vector is then adjusted to 1 to make it a unit vector. A second unit direction vector is determined perpendicular to the first unit direction vector. The X component of the second unit direction vector is the negative value of the Y component of the first unit direction vector, and the Y component is the X component of the first unit direction vector. Similarly, the magnitude of this vector is adjusted to 1 to make it a unit vector. A three-dimensional rectangular coordinate system is constructed, with the horizontal plane containing the horizontal apertures as the XY plane, and the positive Z-axis perpendicular to the XY plane and pointing upwards. Based on this three-dimensional rectangular coordinate system, the direction perpendicular to the azimuth angle is determined. The unit normal vector of the horizontal plane containing the azimuth angle has X-component 0, Y-component 0, and Z-component 1. Next, the adjustment amount for stress synergy influence is calculated: first, calculate the difference between the strike azimuth angle of the horizontal hole network and the principal stress direction azimuth angle; take the cosine of this difference and multiply it by the first unit direction vector; take the sine of this difference and multiply it by the second unit direction vector; add these two results together, and then multiply by the preset stress synergy influence coefficient and the spacing of the horizontal hole network to obtain the adjustment amount for stress synergy influence. The adjustment amount for the rock layer interface influence is calculated: first, calculate the tangent of the rock layer interface dip angle, then multiply it by the rock layer thickness parameter; multiply the result by the preset rock layer interface influence coefficient and the horizontal plane perpendicular to the strike azimuth angle. The unit normal vector of the surface is used to obtain the adjustment amount of the rock layer interface influence; the adjustment amount of the stress synergy influence is added to the adjustment amount of the rock layer interface influence, and then added to the spatial coordinates of a specific horizontal hole node to obtain the target point position coordinates; at the same time, the hole diameter of the medium-deep hole is determined according to the rock hardness, with the hole diameter selection range of 80 mm-120 mm; the drilling depth of the medium-deep hole is determined by extending from the depth of the horizontal hole to the next target mining layer; by integrating the target point position coordinates, hole diameter, drilling depth and other data, the drilling parameters of the medium-deep hole in coordination with the horizontal hole network are obtained. The calculation process of the target point position coordinates allows the target point to simultaneously meet the requirements of horizontal hole network coordination, avoid high stress areas, and stay away from weak rock layer interfaces, ensuring that the target point position is accurate and reasonable.

[0135] The beneficial effect is that the horizontal hole space distribution characteristics and the strike azimuth angle of the horizontal hole network, the spacing of the horizontal hole network, the spatial coordinates of specific horizontal hole nodes and other parameters can be accurately extracted through the above process, the key geological information including the principal stress direction azimuth angle, the rock thickness parameter and the rock interface inclination angle can be efficiently called and filtered out, the target point coordinates are determined through the calculation process of the text description after setting the preset stress synergistic influence coefficient and the preset rock interface influence coefficient, the complete medium-deep hole drilling parameters are formed combined with multiple constraint conditions, the spatial layout and geological adaptability of the medium-deep hole parameters and the horizontal hole network are highly synergistic, the spatial conflict or geological risk in the operation of the two is avoided, reliable parameter basis is provided for the accurate formation of the subsequent medium-deep hole array, the orderly advancement of the horizontal hole and the medium-deep hole combined mining operation is ensured, and the safety and efficiency of the overall mining operation are improved.

[0136] The medium-deep hole array forming module 105 is configured to control the target device to drill a pilot hole based on the medium-deep hole drilling parameter, and perform step-by-step reaming on the pilot hole to obtain a medium-deep hole array of the target region.

[0137] In the embodiment of the present application, when the medium-deep hole array forming module performs the step of controlling the target device to drill a pilot hole based on the medium-deep hole drilling parameter, and performs step-by-step reaming on the pilot hole to obtain a medium-deep hole array of the target region, it is specifically configured to:

[0138] Interpret the spatial geometric information and engineering constraint conditions in the medium-deep hole drilling parameter to obtain an executable instruction set of the target device;

[0139] Call the pilot hole drilling control instruction and positioning information in the executable instruction set;

[0140] Send the pilot hole drilling control instruction to the target device to drive the target device to form an initial pilot hole of the target region at a position corresponding to the positioning information;

[0141] According to the multi-stage hole diameter instruction in the executable instruction set, control the target device to replace the drill in sequence, and perform step-by-step hole diameter expansion on the initial pilot hole to obtain a medium-deep hole of the target region.

[0142] According to the spatial topological relationship in the medium-deep hole drilling parameter, organize the medium-deep hole to construct a medium-deep hole array of the target region.

[0143] Firstly, the spatial geometric information contained in the medium-deep hole drilling parameters is determined, which includes the target point position coordinates, drilling direction and drilling depth, and the engineering constraint conditions, which include the drilling pressure, drilling speed and cooling liquid flow rate during drilling. The instruction interpretation unit of the mining operation control system converts these information one by one, converts the target point position coordinates into the mobile positioning instructions of the mining drilling equipment, converts the drilling direction into the drilling rod angle adjustment instructions, converts the drilling depth into the drilling rod advance distance control instructions, and converts the drilling pressure, drilling speed and cooling liquid flow rate into the specific control parameters of the equipment hydraulic system, drive system and cooling system respectively. The converted instructions and parameters are sorted in the order of medium-deep hole drilling to form an executable instruction set of the mining drilling equipment.

[0144] The instruction retrieval unit of the mining operation control system classifies the executable instruction set, screens out the pilot hole drilling control instructions according to the "pilot hole" identifier in the instruction name, and the instruction contains the drilling pressure, drilling speed and cooling liquid flow rate parameters required in the pilot hole drilling stage. At the same time, through the position association field in the instruction set, the positioning information corresponding to the pilot hole drilling control instruction is extracted, which is the three-dimensional coordinates of the initial pilot hole drilling starting point. Through the instruction matching mechanism inside the system, it is ensured that each pilot hole drilling control instruction is bound to unique positioning information, and the calling of the pilot hole drilling control instruction and the positioning information is completed.

[0145] Through the industrial Ethernet interface of the mining drilling equipment, the called pilot hole drilling control instruction and positioning information are sent to the main control module of the equipment in the form of data packets. After receiving the data packets, the main control module first parses the positioning information, drives the track walking mechanism of the equipment, adjusts the position of the equipment according to the three-dimensional coordinates, makes the axis of the drilling rod accurately align with the drilling starting point of the initial pilot hole, and confirms the position deviation to be less than 0.5 cm through the laser positioner carried by the equipment. Then, the parameters in the pilot hole drilling control instruction are parsed, the corresponding pressure is output by the hydraulic pump station to achieve the set drilling pressure, the drive motor speed is adjusted to match the set drilling speed, the cooling water pump is started and the valve opening is adjusted to control the cooling liquid flow rate. After all the parameters are confirmed to meet the instruction requirements, the main control module sends a start signal to drive the drilling rod to rotate and advance at a constant speed, continuously drill to the pilot hole depth set by the instruction, and then control the drilling rod to stop rotating and advancing, complete the drilling of the initial pilot hole, and form the initial pilot hole of the target area.

[0146] A multi-stage aperture instruction is extracted from the executable instruction set, which clearly marks the aperture level and corresponding drill tool specification of the stepped reaming, for example, the first stage reaming aperture is 80mm, corresponding to an 80mm diameter alloy reamer, the second stage is 100mm, corresponding to a 100mm diameter alloy reamer, and the third stage is 120mm, corresponding to a 120mm diameter alloy reamer; the main control module of the mining drilling equipment first issues a drill rod retraction instruction, withdraws the drill rod from the initial pilot hole, then drives the drill tool replacement robot arm to remove the original pilot hole drill bit and install the first stage reaming drill bit, and confirms the secure installation of the drill bit through the torque sensor; then adjust the hydraulic system and drive system parameters to adapt the drill pressure and drilling speed to the first stage reaming requirements, start the drill rod rotation and advance, ream the initial pilot hole until the aperture reaches 80mm detected by the borehole aperture measuring instrument; then repeat the drill rod retraction, drill tool replacement, parameter adjustment, and reaming detection operations to complete the second and third stage reaming in turn, and finally form a target area of the medium-deep hole that meets the aperture requirements.

[0147] The spatial topological relationship is extracted from the medium-deep hole drilling parameters, which clearly defines the arrangement of the medium-deep holes, the row and column spacing, and the total number of arrangements; the mining operation control system first calculates the drilling starting point coordinates of each medium-deep hole in the three-dimensional coordinate system of the target area according to the spatial topological relationship, ensuring that the row and column spacing errors of adjacent medium-deep holes are less than 1cm; then it sends the executable instructions corresponding to each medium-deep hole to the mining drilling equipment in sequence from left to right and top to bottom, controlling the equipment to drill the initial pilot hole and the stepped reaming of each medium-deep hole in turn; after all the medium-deep holes are drilled, the positions of all the medium-deep holes are scanned and verified by the three-dimensional laser scanner, confirming that their arrangement meets the requirements of the spatial topological relationship, and finally integrating these medium-deep holes into a regular grid structure to construct a medium-deep hole array of the target area.

[0148] The beneficial effects are that the above process can fully convert the medium-deep hole drilling parameters into specific operation instructions for the mining drilling equipment, ensuring accurate initial pilot hole positioning and controllable stepped reaming aperture, and at the same time, constructing a regular medium-deep hole array based on the spatial topological relationship, effectively avoiding pilot hole deviation, incomplete reaming, and chaotic array layout, etc., ensuring the construction quality and spatial distribution rationality of the medium-deep hole, providing a reliable hole network foundation for subsequent collaborative mining operations with the horizontal hole network, significantly improving the accuracy and efficiency of the overall mining drilling operation, and reducing the rework cost caused by construction deviation.

[0149] The collaborative operation scheduling module 106 is used to schedule the operation process of the horizontal hole network and the medium-deep hole array, and dynamically adjust the operation parameters of the target device according to the real-time collected state data of the target device, to realize the collaborative drilling operation of the target device.

[0150] In the embodiment of the present application, the cooperative operation scheduling module executes the operation process of scheduling the horizontal hole network and the medium-deep hole array, and dynamically adjusts the operation parameters of the target device according to the real-time collected state data of the target device, so as to realize the cooperative drilling operation of the target device, and specifically used for:

[0151] The drilling operation of the horizontal hole network and the drilling operation of the medium-deep hole array are topologically and sequentially integrated to obtain a cooperative operation scheduling table of the target device.

[0152] The horizontal hole drilling instructions and the medium-deep hole drilling instructions in the cooperative operation scheduling table are sequentially distributed to the target device to start the cooperative drilling operation of the target device.

[0153] During the cooperative drilling operation, the running state data uploaded by the target device in real time is received.

[0154] The running state data is compared with the expected state in the cooperative operation scheduling table, and when the comparison result exceeds the preset range, an operation parameter correction instruction of the target device is generated.

[0155] The operation parameter correction instruction is issued to the target device to correct the operation parameters of the target device, so as to realize the cooperative drilling operation of the target device.

[0156] First, the core information of the horizontal hole network drilling operation is extracted, including the drilling position, drilling time, and required drilling tool type of each horizontal hole, and the core information of the medium-deep hole array drilling operation is extracted, including the drilling position, drilling time, and drilling tool replacement node of each medium-deep hole. Combined with the spatial topological relationship of the two, the operation priority is determined as completing the horizontal hole drilling in the same region first and then carrying out the corresponding medium-deep hole drilling, so as to avoid frequent movement of the device between different types of drilling. The movement time of the mining drilling device between the horizontal hole and the medium-deep hole operation area is counted, and is arranged in the order of "horizontal hole operation-device movement-medium-deep hole operation" to clearly indicate the start time, end time, corresponding horizontal hole drilling instruction or medium-deep hole drilling instruction number, expected position and running parameters of each operation link. These information is arranged into a table containing operation serial number, instruction type, drilling position, time node, and expected running state. The table is the cooperative operation scheduling table of the mining drilling device.

[0157] The mining drilling equipment is controlled by the mining operation control system through the industrial Ethernet transmission link between the mining operation control system and the mining drilling equipment. The operation sequence number in the cooperative operation schedule table is sequentially distributed. Before each distribution of the instruction, the system sends a state query signal to the mining drilling equipment to confirm that the equipment is currently in an idle state and the position deviation from the starting position of the next operation is less than 1 meter. After the confirmation, the horizontal hole drilling instruction or the medium-deep hole drilling instruction corresponding to the sequence number is completely transmitted to the equipment main controller. The instruction contains drilling direction, drilling pressure, drilling speed and other parameters. After the equipment main controller receives the instruction and returns the confirmation signal, the system triggers the distribution process of the next operation instruction to ensure that the instruction is accurately issued in sequence and the cooperative drilling operation of the mining drilling equipment is started.

[0158] A drilling pressure sensor, a drilling rotation speed sensor, a displacement sensor and a position positioning module are installed on the mining drilling equipment. The drilling pressure sensor collects drilling pressure data output by the hydraulic system in real time. The drilling rotation speed sensor collects drilling rod rotation speed data. The displacement sensor records drilling rod propulsion distance data. The position positioning module obtains real-time three-dimensional coordinates of the equipment through the Beidou positioning system. These operation state data are packaged into data frames with 1-second intervals through the data transmission module of the equipment. The data frames contain operation sequence numbers, collection times and specific values of various parameters. The data frames are transmitted to the mining operation control system through a wireless communication network. The system receives and stores the data according to the operation sequence numbers to form a real-time operation state database.

[0159] The mining operation control system retrieves the real-time operation state data of the corresponding operation from the real-time operation state database according to the operation sequence number and extracts the expected state data of the operation from the cooperative operation schedule table. The expected state data includes a preset drilling pressure range, a preset drilling rotation speed range, a preset propulsion speed range and a preset position coordinate range. The real-time drilling pressure is compared with the preset drilling pressure range, the real-time rotation speed is compared with the preset rotation speed range, the real-time propulsion speed is compared with the preset propulsion speed range and the real-time position is compared with the preset position range. When any one of the real-time parameters exceeds the preset range and the duration exceeds 3 seconds, the system calculates the parameter deviation value and determines the correction direction according to the deviation value. For example, if the real-time drilling pressure is higher than the preset upper limit, the hydraulic system pressure needs to be reduced. The operation parameter correction instruction is generated according to this. The instruction clearly marks the parameter name to be corrected, the correction direction and the specific correction value.

[0160] The mining operation control system sends operation parameter correction instructions to the main controller of the mining drilling equipment in real time through the industrial Ethernet; after receiving the instructions, the main controller controls the current drilling operation to pause immediately, adjusts the corresponding actuator according to the correction requirements in the instructions, such as adjusting the pressure regulating valve of the hydraulic pump station to correct the drilling pressure or adjusting the power supply frequency of the driving motor to correct the rotation speed; after the parameter adjustment is completed, the sensors on the equipment collect the relevant parameters again and feed back to the main controller, and the main controller sends a correction completion signal to the control system after confirming that the parameters are within the preset range; after receiving the signal, the control system instructs the equipment to resume the collaborative drilling operation, ensuring that the mining drilling equipment continues to carry out the collaborative operation according to the corrected parameters.

[0161] The beneficial effect is that the collaborative operation scheduling table formed by the topological sequence integration ensures the orderly connection of horizontal hole and medium-depth hole drilling operations, avoids equipment operation conflicts and invalid movement, distributes instructions in sequence to ensure the standardization of the operation process, receives and compares the running state data in real time to discover operation deviations in time, generates and sends correction instructions to quickly correct equipment parameters, and the whole process realizes the precise control of the collaborative operation of the mining drilling equipment, effectively improves the continuity and precision of the drilling operation, reduces problems such as hole wall collapse and drilling deviation caused by parameter deviation, reduces the operation rework rate, and ensures the efficient advancement of the mining drilling operation.

[0162] It is obvious to those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application.

[0163] The embodiments of the present application can acquire and process related data based on artificial intelligence technology. Artificial intelligence is the use of digital computers or computer-controlled machines to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results.

[0164] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting. Although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A horizontal slice-medium-length hole combined mining equipment, characterized in that, The device comprises a stable area identification module, a horizontal path planning module, a horizontal network construction module, a cooperative parameter generation module, a medium-deep hole array forming module and a cooperative operation scheduling module, wherein: The stable area identification module is configured to identify a stable area of a target area according to rock formation characteristics of the target area. The horizontal path planning module is configured to determine drilling path key points of a target device according to spatial boundaries and internal geological characteristics of the stable area, and connect the drilling path key points to generate a horizontal drilling path of the target area. The horizontal network construction module is configured to drive the target device to drill horizontal holes according to azimuth and inclination information of the horizontal drilling path, and arrange the horizontal holes according to a predetermined spatial architecture to construct a horizontal hole network of the target area. The cooperative parameter generation module is configured to perform constraint analysis on key geological information of the target area based on a spatial configuration of the horizontal hole network to obtain medium-deep hole drilling parameters cooperating with the horizontal hole network. The medium-deep hole array forming module is configured to control the target device to drill pilot holes based on the medium-deep hole drilling parameters, and perform stepwise reaming on the pilot holes to obtain a medium-deep hole array of the target area. The cooperative operation scheduling module is configured to schedule operation processes of the horizontal hole network and the medium-deep hole array, and dynamically adjust operation parameters of the target device according to real-time collected state data of the target device to realize cooperative drilling operation of the target device.

2. The horizontal slicing-medium length hole combined mining equipment according to claim 1, characterized in that, When the stable area identification module identifies a stable area of a target area according to rock formation characteristics of the target area, it is specifically configured to: Obtain a rock core sample of the target area, perform geomechanical analysis on the rock core sample to obtain a rock formation characteristic set of the target area; According to structural surface development characteristics in the rock formation characteristic set, the occurrence and spacing properties of the main structural surface in the target area are analyzed to obtain a structural surface attribute set of the target area; According to the horizontal projection range of the target area, the target area is divided into square evaluation grids; According to the rock mass quality index of the square evaluation grid and the structural surface attribute set, the stability score of the square evaluation grid is obtained by calculating the geological strength classification method; According to the original spatial arrangement order of the square evaluation grid, the stability score is arranged to generate a stability evaluation matrix of the target area; The square evaluation grid with a score higher than a preset threshold in the stability evaluation matrix is identified as the stable area of the target area.

3. The horizontal slicing-medium length hole combined mining equipment according to claim 2, characterized in that, The calculation formula of the stability score is as follows: ； In the formula, is the stability score, is the rock uniaxial compressive strength in the rock mass quality index, is a preset rock uniaxial compressive strength reference value, is the rock mass integrity coefficient in the rock mass quality index, is the structure surface roughness coefficient in the structure surface attribute set, is the structure surface spacing in the structure surface attribute set, is a preset structure surface spacing reference value, is the average inclination of the main structure surface in the structure surface attribute set, is an exponential function, is a natural logarithm function, is a sine function.

4. The horizontal slicing-medium length hole combined mining equipment according to claim 1, characterized in that, When the horizontal path planning module determines drilling path key points of a target device according to spatial boundaries and internal geological characteristics of the stable area, and connects the drilling path key points to generate a horizontal drilling path of the target area, it is specifically configured to: Extract the digital spatial boundaries of the stable area; Set the initial drilling path key points of the target device within the digital spatial boundaries; Adjust the spatial position of the initial drilling path key point according to the information of the change of the rock stratum dip angle and the information of the local weak plane distribution in the internal geological features of the stable region, to obtain the final drilling path key point of the target device; Connect the final drilling path key points in sequence based on the digital space boundary and the internal geological features, to obtain the horizontal drilling path of the target region.

5. The horizontal slicing-medium length hole combined mining equipment according to claim 4, characterized in that, When the horizontal path planning module performs the step of adjusting the spatial position of the initial drilling path key point according to the information of the change of the rock stratum dip angle and the information of the local weak plane distribution in the internal geological features of the stable region, to obtain the final drilling path key point of the target device, it is specifically used for: Analyzing the information of the change of the rock stratum dip angle in the internal geological features of the stable region, to obtain the drilling direction trend of the target device; Translating the initial drilling path key point along the drilling direction trend to obtain the transition key point of the target device; Identifying the weak plane concentrated area indicated by the information of the local weak plane distribution in the stable region; Offsetting the transition key point falling into the weak plane concentrated area to the outside along the drilling direction trend, to generate the final drilling path key point of the target device.

6. The horizontal slicing-medium length hole combined mining equipment according to claim 1, characterized in that, When the horizontal network construction module performs the step of driving the target device to drill horizontal holes through the azimuth and inclination information of the horizontal drilling path, and arranging the horizontal holes according to a predetermined space architecture to construct the horizontal hole network of the target region, it is specifically used for: Decomposing the azimuth information and inclination information of the horizontal drilling path to obtain the segmented drilling control parameters of the target device; Encoding the segmented drilling control parameters into the horizontal hole drilling control instructions of the target device; Sending the horizontal hole drilling control instructions to the target device to drive the target device to drill horizontal hole segments; Matching the endpoints of the horizontal hole segments with the connection nodes in the predetermined space architecture to establish the spatial topological connection relationship between the horizontal hole segments; Based on the spatial topological connection relationship, implementing the connection operation between the horizontal hole segments to obtain the horizontal hole network of the target region.

7. The horizontal slicing-medium length hole combined mining equipment according to claim 1, characterized in that, When the collaborative parameter generation module performs the step of performing constraint analysis on the key geological information of the target region based on the space configuration of the horizontal hole network to obtain the medium-deep hole drilling parameters that collaborate with the horizontal hole network, it is specifically used for: Extracting the spatial distribution features of the horizontal holes in the horizontal hole network; Calling the key geological information in the exploration database of the target region; According to the spatial distribution features, performing correlation screening on the key geological information to obtain a subset of rock stratum interfaces and stress directions that are associated with the spatial distribution features; Conducting multi-constraint collaborative solving on the rock stratum interfaces, the subset of stress directions, and the trend and spacing of the horizontal hole network to obtain the medium-deep hole drilling parameters that collaborate with the horizontal hole network.

8. The horizontal slicing-medium length hole combined mining equipment according to claim 7, characterized in that, The calculation formula of the target point position coordinates in the medium-deep hole drilling parameters is as follows: ； In the formula, is the target position coordinate, is the spatial coordinate of a specific horizontal hole node serving as a reference in the spatial distribution feature, is a preset stress synergistic influence coefficient, is the interval of the horizontal hole network, is the strike azimuth of the horizontal hole network, is the principal stress direction azimuth of the stress direction subset, is a first unit direction vector determined by the strike azimuth, is a second unit direction vector perpendicular to the first unit direction vector, is a preset rock stratum interface influence coefficient, is a rock stratum thickness parameter in the rock stratum interface, is a rock stratum interface dip angle in the rock stratum interface, is a unit normal vector perpendicular to the horizontal plane in which the strike azimuth is located, is a cosine function, is a sine function, is a tangent function.

9. The horizontal slicing-medium length hole combined mining equipment according to claim 1, characterized in that, The medium-deep hole array forming module is specifically used for the following when performing drilling pilot holes in the target device based on the medium-deep hole drilling parameters, stepwise reaming of the pilot holes, and obtaining the medium-deep hole array of the target region: interpreting spatial geometric information and engineering constraint conditions in the medium-deep hole drilling parameters to obtain an executable instruction set of the target device; calling pilot hole drilling control instructions and positioning information in the executable instruction set; sending the pilot hole drilling control instructions to the target device to drive the target device to form an initial pilot hole of the target region at a position corresponding to the positioning information; controlling the target device to sequentially replace drilling tools according to multi-stage hole diameter instructions in the executable instruction set to perform stepwise hole diameter expansion on the initial pilot hole to obtain a medium-deep hole of the target region; organizing the medium-deep hole according to spatial topological relationships in the medium-deep hole drilling parameters to construct a medium-deep hole array of the target region.

10. The horizontal slicing-medium length hole combined mining equipment according to claim 1, characterized in that, The cooperative operation scheduling module is specifically used for the following when performing scheduling of operation processes of the horizontal hole network and the medium-deep hole array and dynamically adjusting operation parameters of the target device according to real-time collected state data in the target device to realize cooperative drilling operation of the target device: topologically and sequentially integrating drilling operations of the horizontal hole network and drilling operations of the medium-deep hole array to obtain a cooperative operation scheduling table of the target device; sequentially distributing horizontal hole drilling instructions and medium-deep hole drilling instructions in the cooperative operation scheduling table to the target device to start cooperative drilling operation of the target device; receiving running state data uploaded by the target device in real time during the cooperative drilling operation; comparing the running state data with expected states in the cooperative operation scheduling table, and generating operation parameter correction instructions of the target device when a comparison result exceeds a preset range; issuing the operation parameter correction instructions to the target device to correct operation parameters of the target device to realize the cooperative drilling operation of the target device.

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