Drilling depth calculation method and device, storage medium and computer equipment

Abstract

The invention discloses a drilling depth calculation method and device, a storage medium and computer equipment, and relates to the technical field of coal mine underground drilling. The method comprises the following steps: acquiring drilling speed values of a drilling tool acquired by a drilling speed sensor at each moment from the beginning of drilling work of the drilling tool to the current moment, and acquiring acceleration values of the drilling tool acquired by each acceleration sensor at the current moment and inclination angle values of the drilling tool acquired by each inclination angle sensor at the current moment; calculating a weighted average value of the inclination angle values collected by all the inclination angle sensors at the current moment to obtain a weighted inclination angle value of the drilling tool, and calculating an original drilling depth value of the drilling tool based on the drilling speed value at each moment; and correcting the original drilling depth value based on the acceleration value acquired by each acceleration sensor and the weighted dip angle value to obtain a drilling depth calculation value of the drilling tool. According to the scheme, the calculation accuracy of the drilling depth of the coal mine drilling tool can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal mine drilling, and in particular to a drilling depth calculation method and device, a storage medium and computer equipment. BACKGROUND

[0002] Coal mine drilling is a key geological exploration technology in the process of coal mining, mainly used for proving the distribution of ore bodies, geological characteristics of rock strata, and checking hidden disaster-causing factors. Through underground drilling, important geological parameters can be obtained to provide a scientific basis for coal mining planning and safe operation. In actual operation, accurate measurement of the drilling depth of the drilling tool is crucial because the drilling depth directly affects the accurate identification of the structure of the stratum. If the depth measurement deviates, it may lead to incorrect geological judgment, thereby affecting the design and construction safety of the mine area, and even inducing geological disasters. Therefore, a high-precision depth measurement method must be used to ensure the safety and effectiveness of underground drilling operations.

[0003] Currently, the depth measurement of coal mine drilling mainly relies on a single type of sensor. For example, the traditional method usually uses a single type of depth sensor to measure the displacement of the drilling tool to determine the drilling depth of the drilling tool. However, such a method has obvious limitations in complex underground environments: on the one hand, a single type of sensor is susceptible to mechanical vibration, installation deviation, signal drift, and environmental interference, resulting in a decrease in measurement accuracy; on the other hand, the current method does not consider the measurement error caused by changes in the inclination posture and dynamic acceleration of the drilling tool during drilling, making it difficult to effectively compensate for the depth data, and long-term accumulation can cause significant errors, thereby leading to low accuracy of existing drilling depth determination methods. SUMMARY

[0004] Therefore, the present application provides a drilling depth calculation method, device, storage medium and computer equipment, which mainly aims to solve the technical problem of low accuracy of existing drilling depth determination methods.

[0005] According to a first aspect of the present application, a drilling depth calculation method is provided for calculating the drilling depth of a drilling tool, wherein the drilling tool is provided with a drilling speed sensor, a plurality of acceleration sensors and a plurality of inclination sensors. The method comprises: acquiring the drilling speed value of the drilling tool collected by the drilling speed sensor at each time point from when the drilling tool starts drilling to the current time, and acquiring the acceleration value of the drilling tool collected by each acceleration sensor at the current time and the inclination value of the drilling tool collected by each inclination sensor at the current time; calculating a weighted average value of the inclination values collected by all the inclination sensors at the current time, obtaining a weighted inclination value of the drill tool, and calculating an original drilling depth value of the drill tool based on the drilling speed value at each time; correcting the original drilling depth value based on the acceleration values collected by each of the acceleration sensors and the weighted inclination value, obtaining a drilling depth calculation value of the drill tool.

[0006] In an alternative embodiment, after the acceleration values of the drill tool collected by each of the acceleration sensors at the current time and the inclination values of the drill tool collected by each of the inclination sensors at the current time are obtained, the method comprises: performing time alignment processing on the acceleration values collected by each of the acceleration sensors and the inclination values collected by each of the inclination sensors, so that the acceleration values collected by each of the acceleration sensors and the inclination values collected by each of the inclination sensors at the same time point have synchronized time stamps, to eliminate the out-of-sync condition of the data caused by the sampling time sequence deviation of each of the acceleration sensors and each of the inclination sensors; and performing the steps of calculating a weighted average value of the inclination values collected by all the inclination sensors at the current time, obtaining a weighted inclination value of the drill tool, and calculating an original drilling depth value of the drill tool based on the drilling speed value at each time.

[0007] In an alternative embodiment, the step of calculating a weighted average value of the inclination values collected by all the inclination sensors at the current time, obtaining a weighted inclination value of the drill tool, comprises: obtaining a preset inclination weight value of each of the inclination values, calculating a first average value of all the inclination values, and calculating an inclination difference value between each of the inclination values and the first average value, respectively; comparing each inclination difference value with a preset first threshold value, respectively, to determine the inclination difference value greater than the first threshold value, and reducing the preset inclination weight value of the inclination value corresponding to the inclination difference value; and calculating a weighted average value of all the inclination values based on each of the inclination values and the preset inclination weight value of each of the inclination values, to obtain the weighted inclination value.

[0008] In an alternative embodiment, the step of calculating an original drilling depth value of the drill tool based on the drilling speed value at each time comprises: performing time integration calculation on the drilling speed value based on the drilling speed value at each time, to obtain a real-time original drilling depth value of the drill tool.

[0009] In an optional embodiment, the step of correcting the original drilling depth value based on the acceleration value collected by each of the acceleration sensors and the weighted inclination angle value to obtain the calculated drilling depth value of the drill string includes: correcting the original drilling depth value based on the weighted inclination angle value to obtain a corrected drilling depth value of the drill string; and performing mechanical vibration compensation correction on the corrected drilling depth value based on the acceleration value collected by each of the acceleration sensors at the current moment to eliminate measurement errors caused by the vibration of the drill string, thereby obtaining the final calculated drilling depth value.

[0010] In an optional embodiment, the drill string is further provided with multiple drilling depth sensors; after correcting the original drilling depth value based on the acceleration value collected by each of the acceleration sensors and the weighted inclination angle value to obtain the calculated drilling depth value of the drill string, the method further includes: obtaining the drilling depth value of the drill string collected by each of the drilling depth sensors at the current time; and performing time-series analysis on the drilling depth value collected by each of the drilling depth sensors, the acceleration value collected by each of the acceleration sensors, and the inclination angle value collected by each of the inclination angle sensors. The drilling depth, acceleration, and inclination angle values ​​are time-aligned and obtained. Based on the drilling depth, acceleration, and inclination angle values, the estimated drilling depth of the drill string is determined, and the estimated drilling depth is denoised to obtain a denoised drilling depth estimate. The drilling depth difference between the estimated drilling depth and the calculated drilling depth is calculated, and it is determined whether the drilling depth difference is less than a preset error threshold. If the drilling depth difference is less than the error threshold, the calculated drilling depth is sent to a remote host computer.

[0011] In an optional embodiment, determining the drilling depth estimate of the drill string based on the drilling depth value, the acceleration value, and the inclination angle value includes: obtaining a preset inclination angle weight value for each inclination angle value; calculating a first average value for all inclination angle values; and calculating the inclination angle difference between each inclination angle value and the first average value; comparing each inclination angle difference with a preset first threshold value; determining inclination angle differences greater than the first threshold value; and reducing the preset inclination angle weight value of the inclination angle value corresponding to the inclination angle difference value; obtaining a preset acceleration weight value for each acceleration value; calculating a second average value for all acceleration values; and calculating the acceleration difference between each acceleration value and the second average value; and comparing each acceleration difference with a preset second threshold value; determining inclination angle differences greater than the second threshold value. The acceleration difference is calculated, and the preset acceleration weight value corresponding to the acceleration difference is reduced; the preset drilling depth weight value for each drilling depth value is obtained, the third average value of all drilling depth values ​​is calculated, and the drilling depth difference between each drilling depth value and the third average value is calculated respectively; each drilling depth difference is compared with a preset third threshold, and the drilling depth difference greater than the third threshold is determined, and the preset drilling depth weight value corresponding to the drilling depth difference is reduced; the preset acceleration weight value for each acceleration value, the preset inclination weight value for each inclination angle value, the preset inclination weight value for each inclination angle value, the preset drilling depth weight value for each drilling depth value are weighted and fused to obtain the estimated drilling depth value.

[0012] According to a second aspect of the present invention, a drilling depth calculation device is provided, the device comprising: The multi-sensor module is used to acquire the drilling speed value of the drill string collected by the drilling speed sensor at each moment from the start of drilling to the current moment, and to acquire the acceleration value of the drill string collected by each acceleration sensor at the current moment and the inclination value of the drill string collected by each inclination sensor at the current moment. The data processing module is used to calculate the weighted average of the tilt angle values ​​collected by all the tilt angle sensors at the current moment, to obtain the weighted tilt angle value of the drill string, and to calculate the original drilling depth value of the drill string based on the drilling speed value at each moment. An error correction module is used to correct the original drilling depth value based on the acceleration value collected by each of the acceleration sensors and the weighted inclination angle value, so as to obtain the drilling depth calculation value of the drill bit.

[0013] According to a third aspect of the invention, a storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the above-described method for calculating drilling depth.

[0014] According to a fourth aspect of the present invention, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the above-described method for calculating drilling depth.

[0015] This invention provides a method, apparatus, storage medium, and computer equipment for calculating drilling depth. By installing a drilling velocity sensor, multiple acceleration sensors, and multiple tilt sensors on the drilling tool, a multi-source sensor fusion depth measurement system is constructed, effectively overcoming the problems of low measurement accuracy and poor anti-interference capability of traditional single sensors. Furthermore, the original drilling depth value is obtained by integrating the drilling velocity value, and the drilling depth is dynamically corrected by combining the current acceleration and tilt values ​​of the drilling tool. This effectively compensates for measurement deviations caused by drilling tool vibration and tilt attitude changes, significantly reducing error accumulation and improving the accuracy and reliability of depth calculation. This method is particularly suitable for complex working conditions in coal mines, enabling high-precision depth monitoring under actual operating conditions such as strong vibration and non-vertical drilling. It provides strong support for the accurate acquisition of geological exploration data and the safe control of drilling operations, and has good practical value and promising prospects for promotion.

[0016] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 A flowchart illustrating a method for calculating drilling depth provided by an embodiment of the present invention is shown; Figure 2 A flowchart illustrating another method for calculating drilling depth provided by an embodiment of the present invention is shown; Figure 3 A schematic diagram of the structure of a drilling depth calculation device provided in an embodiment of the present invention is shown; Figure 4 A schematic diagram of another drilling depth calculation device provided in an embodiment of the present invention is shown. Detailed Implementation

[0018] The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in the present application can be combined with each other.

[0019] Currently, depth measurement in coal mine drilling primarily relies on single-type sensors. For example, traditional methods typically use a single-type depth sensor to measure the displacement of the drill string to determine the drilling depth. However, this approach has significant limitations in complex downhole environments: firstly, single-type sensors are susceptible to mechanical vibration, installation misalignment, signal drift, and environmental interference, leading to decreased measurement accuracy; secondly, it fails to account for measurement errors caused by changes in the drill string's tilting posture and dynamic acceleration during drilling, making effective compensation for depth data difficult and prone to significant errors over time. Furthermore, the lack of a multi-source data fusion mechanism prevents real-time correction of measurement results, severely impacting the stability and reliability of depth measurements, and consequently resulting in low accuracy of existing methods for determining drilling depth.

[0020] To address the above problems, in one embodiment, such as Figure 1 As shown, a method for calculating drilling depth is provided, used to calculate the drilling depth of a drill string, wherein a drilling speed sensor, multiple acceleration sensors, and multiple tilt sensors are installed at the drill string. Here, the drilling depth of the drill string can be the depth to which the drill string penetrates the strata underground in a coal mine.

[0021] Among them, the drilling speed sensor is a sensor built into the current drilling tool to determine the forward speed of the drilling tool in the formation. Furthermore, modern drilling tools usually have their own control system, which can set and monitor the drilling speed (i.e. the distance the drill bit advances per minute) to achieve accurate drilling speed values ​​directly read from the control system of the drilling tool.

[0022] Furthermore, multiple accelerometers can be installed at different locations on the upper part of the drill string to collect the acceleration values, i.e., vibration information, of the drill string. These multiple accelerometers can be of the same model and are used to detect the vibration status and acceleration changes of the drill string. Specifically, the function of the accelerometer is to monitor acceleration changes caused by the complex downhole environment or equipment vibration, thereby enabling real-time correction of depth errors caused by vibration. Furthermore, the accelerometer model can be the MPU6050 sensor. Since the MPU6050 sensor is a triaxial accelerometer capable of simultaneously measuring acceleration data in the X, Y, and Z directions, it can comprehensively perceive the vibration and acceleration changes of the drill string in any direction in three-dimensional space, thus providing a more accurate basis for depth correction. The MPU6050 sensor also has high measurement sensitivity, capable of accurately capturing minute acceleration changes. Furthermore, because acceleration values ​​are crucial for correcting deviations caused by equipment vibration or changes in rock conditions in the coal mine environment, this sensor has a built-in temperature compensation function to maintain measurement accuracy under temperature variations. Furthermore, the MPU6050 sensor integrates digital filtering capabilities, enabling basic filtering of acquired data at the hardware level. This reduces noise interference in the signal, improves data quality, and finally, the MPU6050 sensor supports… With an SPI interface, it can communicate directly digitally with the data acquisition unit (DAU) or control system, simplifying the complexity of hardware connections.

[0023] Furthermore, multiple tilt sensors are installed at different locations in the middle or bottom of the drill string to accurately detect changes in the tilt angle that occur during drilling. Here, the tilt sensors are used to measure the tilt angle of the drill string to ensure that depth errors caused by tilt can be corrected in real time in complex downhole environments. Furthermore, the tilt sensors are MEMS (Micro-Electro-Mechanical Systems) tilt sensors, specifically the ADXL345 sensor. The ADXL345 sensor, as a triaxial tilt sensor, can accurately measure the tilt angle in the X, Y, and Z axes. Its high resolution and sensitivity enable it to detect minute tilt changes, making it ideal for applications requiring precise monitoring of drill string attitude changes during downhole drilling. Furthermore, the use of MEMS technology allows the ADXL345 sensor to be very small, facilitating installation within the confined space of the drill string. Its low power consumption is crucial for the long-term operation of downhole equipment, significantly reducing battery consumption and extending operating time. The ADXL345 sensor also features triaxial tilt measurement capabilities, simultaneously monitoring drill string tilt changes in multiple directions. This is particularly important in downhole environments where drill string displacement can occur in multiple dimensions, ensuring the comprehensiveness and accuracy of attitude data. The ADXL345 sensor also exhibits strong anti-interference capabilities; its built-in digital signal processing circuit effectively eliminates the effects of high-frequency noise and external electromagnetic interference, further ensuring the stability and reliability of the sensor's output data. Additionally, the ADXL345 sensor employs… The SPI digital communication interface facilitates data transmission with other digital systems, reducing losses associated with analog signal transmission and enabling easy integration with existing control systems, thus enhancing overall system design flexibility. Furthermore, the simple structure and high integration of the MEMS sensor contribute to the ADXL345's high durability, allowing it to operate stably in harsh downhole temperature and humidity environments. In addition, its low temperature drift maintains measurement accuracy even under drastic downhole temperature variations. The ADXL345 sensor also features a built-in self-test function that monitors its operational status, promptly identifying potential faults and improving the reliability of sensor data during drilling, while simplifying system maintenance.

[0024] Furthermore, multiple drilling depth sensors can be installed at the drill string. Each drilling depth sensor can be installed on the top or core of the drill string, and is used to directly measure the vertical displacement of the drill string during drilling, i.e., the actual depth position of the drill string downhole. This sensor detects the displacement change of the drill string relative to its initial position in real time and outputs the corresponding depth data. This data serves as the basis for drilling depth calculation, ensuring accurate reflection of the current drilling depth. The drilling depth sensor model can be set to an LVDT (Linear Variable Differential Transformer) sensor. LVDT sensors have very high measurement accuracy, achieving micron-level measurement resolution, suitable for high-precision real-time monitoring of drilling depth. The HR100 model LVDT sensor uses high-precision linear detection technology, maintaining highly accurate displacement measurement even in the complex underground coal mine environment, and exhibiting a highly linear relationship between the LVDT sensor's output and input displacement. The HR100 model has specifically optimized the sensor's linear characteristics, ensuring stable and accurate depth displacement data throughout the measurement range, which is crucial for applications requiring precise control of drilling depth. Furthermore, the LVDT sensor is designed for non-contact operation, with no moving or frictional parts in its structure, thus offering a long service life and high shock resistance. The HR100 model LVDT sensor performs exceptionally well in harsh downhole environments, adapting to complex conditions such as high temperatures, humidity, and vibration. Finally, the LVDT sensor uses electromagnetic induction for measurement, effectively resisting external electromagnetic interference. In downhole environments, the HR100 model LVDT sensor further enhances its electromagnetic interference resistance through internal shielding and filtering circuits, ensuring the stability of the sensor data. Each drilling depth sensor, when transmitting drilling depth values, is set with a timestamp indicating the time the drilling depth value was acquired.

[0025] Furthermore, each drilling depth sensor, accelerometer, and tilt sensor is connected to the drill string's data processing system. A dedicated data bus (such as RS485 or CAN bus) or wireless connection (such as ZigBee or Wi-Fi) is used to transmit the collected data to the data processing system, avoiding electromagnetic interference in the harsh downhole environment. In addition, sensor data is collected via a hub or data acquisition unit (DAU) and ultimately transmitted to the data processing module to ensure consistency between the collected geological parameters and drill string status data in subsequent processing stages. Specifically, each tilt sensor sets a timestamp when transmitting its tilt value to indicate the time when that value was acquired; similarly, each accelerometer sets a timestamp when transmitting its acceleration value to indicate the time when that acceleration value was acquired.

[0026] Furthermore, taking the application of this method to computer devices as an example, the steps include: 101. Obtain the drilling speed value of the drill string collected by the drilling speed sensor at each moment from the start of drilling to the current moment, and obtain the acceleration value of the drill string collected by each acceleration sensor at the current moment and the inclination value of the drill string collected by each inclination sensor at the current moment.

[0027] Here, the computer device performing the method of this embodiment can be connected to the data processing system of the drilling tool to obtain the drilling speed value collected by the drilling speed sensor, the acceleration value collected by the acceleration sensor, and the inclination value collected by the inclination sensor through the data processing system.

[0028] Specifically, the drilling speed of the drill string can be acquired in real time starting from the moment drilling begins, and the drilling speed value collected at each moment can be stored. Here, each moment can be one second, and the drilling speed value of the drill string can be collected once per second with a sampling interval of one second. Furthermore, the acceleration value collected by each accelerometer at the current moment and the inclination value collected by each tilt sensor at the current moment can be acquired. Here, based on the time information of the current moment, the inclination value and acceleration value with the same timestamp can be obtained. The time information of the current moment can be the current time point.

[0029] Furthermore, from the start of drilling operations to the current moment, the drilling depth, acceleration, and inclination values ​​collected by each drilling depth sensor, acceleration sensor, and inclination sensor at each moment can be continuously acquired and stored uniformly. Further, when determining the acceleration value collected by each acceleration sensor at the current moment, it can be determined whether the time point recorded in the timestamp of the acceleration value is the same as the current time point. If they are the same, it is determined as the acceleration value for the current moment and acquired. Similarly, the method for acquiring the inclination value of each inclination sensor at the current moment is the same as the method for acquiring the acceleration value, and will not be elaborated here.

[0030] 102. Calculate the weighted average of the tilt angle values ​​collected by all the tilt angle sensors at the current moment to obtain the weighted tilt angle value of the drill string, and calculate the original drilling depth value of the drill string based on the drilling speed value at each moment.

[0031] The weight of the tilt angle value collected by each tilt sensor can be determined in advance based on the actual situation. For tilt sensors with high acquisition accuracy, the weight of their output tilt angle value can be increased. Specifically, based on the current time, tilt angle values ​​with the same timestamp can be selected from the tilt angle data collected by each tilt sensor, and these tilt angle values ​​can be weighted and averaged to obtain the weighted tilt angle value at the current time.

[0032] Furthermore, the initial drilling depth of the drill string can be calculated based on the drilling speed value and the time elapsed since the start of drilling operations. Specifically, the real-time initial drilling depth of the drill string can be obtained by integrating the drilling speed value at each moment over time. Here, the initial drilling depth can be calculated based on the drilling speed value of the drill string collected per second by the drilling speed sensor, using Formula 1: (1) in, This represents the original drilling depth at the current moment. The drilling speed value at each moment, The time variable is the current moment. In time The change in time, that is, the time at each moment.

[0033] 103. Based on the acceleration values ​​collected by each of the acceleration sensors and the weighted inclination angle values, the original drilling depth value is corrected to obtain the calculated drilling depth value of the drill bit.

[0034] The calculated drilling depth can be used as the drilling depth of the drilling tool in the strata underground in the coal mine.

[0035] Specifically, the original drilling depth value can be corrected based on the weighted inclination angle value to obtain the corrected drilling depth value for the drill string. Here, the corrected drilling depth value for the drill string can be calculated based on Formula 2: (2) in, This is a correction value for drilling depth. This is the original drilling depth value. This is the weighted tilt angle value.

[0036] Furthermore, based on the acceleration value collected by each of the acceleration sensors at the current moment, the drilling depth correction value is corrected by mechanical vibration compensation to eliminate the measurement error caused by the vibration of the drill string, thus obtaining the final calculated drilling depth value; here, the calculated drilling depth value can be calculated based on Formula 3: (3) in, This is a correction value for drilling depth. Here, k is the calculated drilling depth, and k is a preset correction factor. Let be the acceleration value collected by the i-th accelerometer, and n be the number of measurement points, i.e., the number of accelerometers on the drill bit.

[0037] Furthermore, the acceleration values ​​collected by each acceleration sensor can be verified. Specifically, the acceleration values ​​collected by each acceleration sensor can be obtained, and the average acceleration value of all acceleration values ​​can be calculated. The acceleration difference between each acceleration value and the average acceleration value can also be calculated. Further, each acceleration difference is compared with a preset acceleration threshold. Acceleration differences that are greater than the acceleration threshold are identified, and the acceleration value corresponding to the acceleration difference is identified as the error acceleration value. The error acceleration value is discarded and not used for the correction of the drilling depth correction value.

[0038] The drilling depth calculation method provided in this embodiment integrates a drilling velocity sensor, multiple acceleration sensors, and tilt sensors onto the drilling tool to construct a multi-source sensor fusion depth measurement system, overcoming the problems of low accuracy and weak anti-interference capability of single sensors. Furthermore, by weighted averaging of acceleration and tilt data collected from multiple sensors, noise and random errors can be effectively suppressed, improving attitude perception stability. Moreover, by obtaining the initial depth based on velocity integral and combining acceleration and tilt information to dynamically correct deviations caused by vibration and tilt, error accumulation can be significantly reduced, thereby improving the accuracy and reliability of drilling depth calculation. This makes the method applicable to complex working conditions such as strong vibration and non-vertical drilling in coal mines, enabling high-precision depth monitoring and providing strong support for geological exploration and safe operations. It has good practicality and promotional value.

[0039] In an optional embodiment, after obtaining the acceleration value of the drill string collected by each of the acceleration sensors at the current moment and the inclination value of the drill string collected by each of the tilt sensors at the current moment as described in step 101, the method further includes: A linear extrapolation algorithm is used to perform time alignment processing on the acceleration values ​​collected by each acceleration sensor and the tilt values ​​collected by each tilt sensor, so that the acceleration values ​​collected by each acceleration sensor and the tilt values ​​collected by each tilt sensor have synchronized timestamps at the same time point, thereby eliminating the data asynchrony caused by the sampling timing deviation of each acceleration sensor and each tilt sensor; further, step 102 is executed.

[0040] Here, since the data acquisition rates and time bases of different sensors may differ, in order to ensure data consistency, the embodiments provided in this application use a linear extrapolation algorithm to time-align the data streams of each sensor. By interpolating or extrapolating the timestamps of the sensor data, the time deviation between sensors is effectively eliminated, and the synchronization of multi-source data in time is achieved, providing an accurate and consistent input basis for subsequent data fusion.

[0041] In an optional embodiment, step 102, calculating the weighted average of all the tilt angle values ​​collected by the tilt angle sensors at the current moment to obtain the weighted tilt angle value of the drill string, includes: First, obtain the preset tilt angle weight value for each tilt angle value, calculate the first average value of all tilt angle values, and calculate the tilt angle difference between each tilt angle value and the first average value.

[0042] The preset tilt angle weight value for each tilt angle value can be pre-set. This preset tilt angle weight value is set based on the differences in measurement accuracy and reliability that each tilt angle sensor may exhibit under different environmental conditions. Furthermore, when a tilt angle value output by a certain tilt angle sensor is obtained, the preset tilt angle weight value of that tilt angle sensor is acquired as the preset tilt angle weight value for that tilt angle value. Here, if a certain tilt angle sensor has high measurement accuracy and reliability, a higher preset tilt angle weight value can be set for it; conversely, if a certain tilt angle sensor has low measurement accuracy and reliability, a lower preset tilt angle weight value can be set for it. The specific value of the preset tilt angle weight value can be determined according to the actual situation.

[0043] Specifically, the tilt angle value can be associated and mapped to the preset tilt angle weight value corresponding to the tilt angle value and stored. The average value of all tilt angle values ​​is calculated by summing them up to obtain the first average value. Further, the tilt angle difference between each tilt angle value and the first average value is calculated, and the tilt angle difference is associated and mapped to the tilt angle value from which the tilt angle difference is calculated and stored.

[0044] Then, each tilt angle difference is compared with a preset first threshold to determine tilt angle differences greater than the first threshold, and the preset tilt angle weight value of the tilt angle value corresponding to the tilt angle difference is reduced; wherein, the first threshold is used to characterize whether the difference between each tilt angle value and the average tilt angle is too large, and its value can be determined based on the actual situation.

[0045] Specifically, each tilt angle difference is compared with a first threshold to determine the tilt angle difference that is greater than the first threshold, and the tilt angle value of the tilt angle difference is calculated and the preset tilt angle weight value of the tilt angle value is reduced.

[0046] Finally, based on each dip angle value and a preset dip angle weight value for each dip angle value, a weighted average of all dip angle values ​​is calculated to obtain the weighted dip angle value. The embodiments provided in this application can dynamically adjust the preset dip angle weight values ​​for each dip angle value based on the dispersion of each dip angle value, thereby reducing the weight of dip angle values ​​that deviate too much from the mean, and correspondingly increasing the weight of other dip angle values, making the calculated dip angle of the drill bit more accurate.

[0047] In an optional embodiment, multiple drilling depth sensors are also provided at the drill string; furthermore, such as Figure 2 As shown, after correcting the original drilling depth value based on the acceleration value collected by each of the acceleration sensors and the weighted inclination angle value in step 103 to obtain the drilling depth calculation value of the drill string, the method further includes: 104. Obtain the drilling depth value of the drill string collected by each of the drilling depth sensors at the current moment; here, drilling depth values ​​with timestamps of the same time information can be obtained based on the current time information. The obtained drilling depth values ​​can be data collected at the same time as the inclination angle and acceleration values ​​obtained in step 101, or the depth values ​​collected by each drilling depth sensor at the current moment can be obtained synchronously in step 101.

[0048] 105. Perform time alignment processing on the drilling depth values ​​collected by each drilling depth sensor, the acceleration values ​​collected by each acceleration sensor, and the inclination values ​​collected by each inclination sensor to obtain time-aligned drilling depth values, acceleration values, and inclination values.

[0049] Specifically, a linear extrapolation algorithm can be used to perform time alignment processing on the sensor data output from each accelerometer, each tilt sensor, and each drilling depth sensor based on Formula 4. Here, Formula 4 can be used to perform time alignment processing on the acceleration value output by each accelerometer, the tilt value output by each tilt sensor, and the drilling depth value output by each drilling depth sensor, respectively. (4) in: For time The predicted data values ​​at that location, namely the drilling depth, acceleration, or dip angle values ​​after time alignment; Current time The sensor observations, namely the acceleration value collected by each acceleration sensor, the tilt value collected by each tilt sensor, or the drilling depth value collected by each drilling depth sensor at the current moment; For time The sensor observations, that is, in time The acceleration value collected by each accelerometer, the tilt value collected by each tilt sensor, or the drilling depth value collected by each drilling depth sensor; here, and For adjacent sampling time points, The sensor observations collected by each sensor during the calculation cycle of the previous drilling depth estimate are used. For the time points that need to be aligned, the drilling depth, acceleration, and dip angle values ​​(t) must be the same for time alignment.

[0050] Here, the main purpose of time synchronization processing is to align the data streams from different sensors using a linear extrapolation algorithm, thereby unifying the timestamps of each sensor and ensuring the consistency and synchronization of multi-sensor data. and Using sensor observations between two adjacent sampling time points to predict the observed data value at time point t can effectively eliminate the time difference of data collected by different sensors, thereby achieving time alignment of multi-source data. Since different sensors have different sampling rates, timestamp deviations will occur. Therefore, the linear extrapolation algorithm can bridge the difference through linear interpolation, which helps to ensure the accuracy of the final calculation results.

[0051] 106. Based on the drilling depth value, the acceleration value, and the inclination angle value, determine the estimated drilling depth value of the drill bit, and perform data denoising processing on the estimated drilling depth value to obtain the denoised drilling depth value.

[0052] Specifically, firstly, a preset tilt angle weight value can be obtained for each tilt angle value, and a first average value of all tilt angle values ​​can be calculated. Then, the tilt angle difference between each tilt angle value and the first average value can be calculated respectively. The preset tilt angle weight value for each tilt angle value can be pre-set based on the differences in measurement accuracy and reliability that each tilt angle sensor may exhibit under different environmental conditions. Further, when a tilt angle value output by a certain tilt angle sensor is obtained, the preset tilt angle weight value of that tilt angle sensor is acquired as the preset tilt angle weight value for the tilt angle value. Here, if a certain tilt angle sensor has high measurement accuracy and reliability, a higher preset tilt angle weight value can be set for it; conversely, if a certain tilt angle sensor has low measurement accuracy and reliability, a lower preset tilt angle weight value can be set for it. Specifically, the tilt angle value and its corresponding preset tilt angle weight value can be associated and mapped for storage, and all tilt angle values ​​are accumulated and averaged to obtain a first average value. Further, the tilt angle difference between each tilt angle value and the first average value is calculated, and the tilt angle difference is associated and mapped for storage with the tilt angle value from which the tilt angle difference is calculated.

[0053] Then, each tilt angle difference is compared with a preset first threshold. Tilt angle differences greater than the first threshold are identified, and the preset tilt angle weight value corresponding to those differences is reduced. Specifically, each tilt angle difference is compared with the first threshold to identify those greater than the first threshold, the tilt angle value for that difference is calculated, and the preset tilt angle weight value is reduced. Simultaneously, tilt angle differences less than the first threshold are identified, and the preset tilt angle weight value corresponding to those differences is increased.

[0054] Next, a preset acceleration weight value is obtained for each acceleration value, a second average value of all acceleration values ​​is determined, and the acceleration difference between each acceleration value and the second average value is calculated respectively. The preset acceleration weight value for each acceleration value can be pre-set, based on the differences in measurement accuracy and reliability that each accelerometer may exhibit under different environmental conditions. Further, when an acceleration value output by a certain accelerometer is acquired, the preset acceleration weight value of that accelerometer is obtained as the preset acceleration weight value for the acceleration value. Here, if an accelerometer has high measurement accuracy and reliability, a higher preset acceleration weight value can be set for it; conversely, if an accelerometer has low measurement accuracy and reliability, a lower preset acceleration weight value can be set for it. Specifically, the acceleration value and its corresponding preset acceleration weight value can be associated and mapped for storage, and all acceleration values ​​are accumulated and averaged to obtain a second average value. Further, the acceleration difference between each acceleration value and the second average value is calculated, and the acceleration difference is associated and mapped for storage with the acceleration value from which the acceleration difference is calculated.

[0055] Next, each acceleration difference is compared with a preset second threshold. Acceleration differences greater than the second threshold are identified, and the preset acceleration weight value of the acceleration value corresponding to the acceleration difference is reduced. At the same time, acceleration differences less than the second threshold are identified, and the preset acceleration weight value of the acceleration value corresponding to the acceleration difference is increased. The second threshold is used to characterize whether each acceleration value deviates too much from the average acceleration value, and its value can be determined based on the actual situation. Specifically, each acceleration difference is compared with the second threshold to determine the acceleration difference that is greater than the second threshold, and the acceleration value of the acceleration difference is calculated and the preset tilt angle weight value of the acceleration value is reduced.

[0056] Next, a preset drilling depth weight value is obtained for each of the drilling depth values, a third average value of all the drilling depth values ​​is calculated, and the drilling depth difference between each drilling depth value and the third average value is calculated respectively. The preset drilling depth weight value for each drilling depth value can be pre-set. Based on the differences in measurement accuracy and reliability that each drilling depth sensor may exhibit under different environmental conditions, a preset tilt angle weight value for each drilling depth sensor is pre-set. Furthermore, when a drilling depth value output by a certain drilling depth sensor is obtained, the preset drilling depth weight value of that sensor is obtained as the preset drilling depth weight value for the drilling depth value. Here, if a drilling depth sensor has high measurement accuracy and reliability, a higher preset drilling depth weight value can be set for it; conversely, if a drilling depth sensor has low measurement accuracy and reliability, a lower preset drilling depth weight value can be set for it. Specifically, the drilling depth value and its corresponding preset drilling depth weight value can be associated and mapped for storage, and all drilling depth values ​​are accumulated and averaged to obtain a third average value. Further, the drilling depth difference between each drilling depth value and the third average value is calculated, and the drilling depth difference is associated and mapped for storage with the drilling depth value from which the difference is calculated.

[0057] Next, each drilling depth difference is compared with a preset third threshold to determine drilling depth differences greater than the third threshold, and the preset drilling depth weight value of the drilling depth value corresponding to the drilling depth difference is reduced.

[0058] The third threshold is used to characterize whether the difference between each drilling depth value and the average drilling depth is too large, and its value can be determined based on the actual situation. Specifically, each drilling depth difference is compared with the third threshold to identify drilling depth differences greater than the third threshold, and the drilling depth value corresponding to that difference is calculated and its preset drilling depth weight value is reduced. Conversely, drilling depth differences less than the third threshold can be identified, and the preset drilling depth weight value corresponding to that difference is increased.

[0059] Then, the estimated drilling depth is obtained by weighting and fusing the acceleration value, the preset acceleration weight value, the inclination angle value, the preset inclination angle weight value, the drilling depth value, and the preset drilling depth weight value for each acceleration value.

[0060] Here, the estimated drilling depth can be calculated based on Formula 5: (5) in, This is the estimated drilling depth after fusion. Dynamic weights are assigned to each sensor data point, including preset acceleration weights, preset tilt angle weights, and preset drilling depth weights. For the first The measurements collected by each sensor at the current moment include acceleration, tilt angle, and drilling depth. This is the sum of the number of sensors used in drilling, including depth sensors, acceleration sensors, and tilt sensors. When it is the acceleration value, To preset acceleration weight values, in When it is the tilt angle value, To preset the tilt angle weight value, in When the drilling depth value is... This is a preset drilling depth weight value.

[0061] Here, a weighted fusion algorithm is used for data fusion. This algorithm weights the data from multiple sensors according to their importance to generate a more accurate drilling depth estimate. Specifically, the weighted fusion algorithm assigns a dynamic weight to each sensor and dynamically adjusts the data based on the reliability and accuracy of different sensors under the current environmental conditions. Furthermore, it dynamically adjusts the weights of each sensor based on the differences in measurement accuracy and reliability that each sensor may exhibit under different environmental conditions. Under certain specific conditions, reliable sensors are given more weight, while unreliable sensors are given less weight. Therefore, the impact of single sensor measurement errors on the fusion results can be reduced, thereby improving the overall accuracy and stability of depth measurement. This effectively solves the measurement error problem caused by single sensors being limited by their physical characteristics and external conditions, and enhances the system's adaptability and measurement accuracy in complex environments.

[0062] Finally, the drilling depth estimate is subjected to data denoising processing to obtain the drilling depth estimate after data denoising processing.

[0063] Specifically, the fused drilling depth estimate can be denoised using the Kalman filter algorithm to obtain a denoised drilling depth estimate. The Kalman filter algorithm is a highly efficient recursive estimation algorithm that filters noise through the interaction of prediction and measurement, resulting in more stable and accurate depth data. Here, denoising effectively reduces errors introduced by external vibration interference and improves the reliability of the depth data. It achieves optimal state estimation by combining system model prediction and actual sensor measurements to minimize the variance of the estimation error; the recursive formulas for the Kalman filter algorithm are shown in formulas 6 to 8. (6) (7) (8) in, For the first The state estimate at time 1, i.e., the estimated drilling depth at the current time after filtering. This is the state estimate from the previous moment, i.e., the drilling depth estimate from the previous moment or the previous calculation cycle. For the first The sensor measurement at time 10:00, i.e., the unfiltered estimate of the drilling depth at the current moment. For the measurement matrix, for The Kalman gain matrix at time step 1 is used to determine the weight distribution between the current estimate and the measurement. for The error covariance matrix at time t. Let be the error covariance matrix of the previous time step. It is the identity matrix, used to maintain dimensional consistency in matrix calculations. The noise covariance matrix is ​​measured to describe the level of noise in the sensor measurement. For measurement matrix The transpose of the matrix is ​​used to map the measurement space back to the state space. Here, by utilizing the Kalman filter algorithm, the optimal estimate of the current state can be generated using the state estimate from the previous time step and the measurement value at the current time step. At each time point, the filter dynamically adjusts the Kalman gain based on the reliability of the sensor data and the historical state estimates, so that the calculated depth estimate can better approximate the actual drilling depth. Therefore, it can effectively reduce noise interference during the drilling process and ensure that the measured depth data is smooth, stable, and accurate.

[0064] 107. Calculate the drilling depth difference between the estimated drilling depth and the calculated drilling depth, and determine whether the drilling depth difference is less than a preset error threshold. The error threshold is used to characterize whether the difference between the estimated drilling depth and the calculated drilling depth is too large, and its value can be determined according to actual conditions.

[0065] 108. If the drilling difference is less than the error threshold, the calculated drilling depth value is sent to a remote host computer. The host computer can be a computer terminal used by personnel managing the drilling work. Specifically, if the drilling difference is less than the error threshold, it indicates that the error between the estimated drilling depth and the calculated drilling depth is small, and the calculated drilling depth can be considered accurate; therefore, the calculated drilling depth is sent to the remote host computer. Conversely, if the drilling difference is greater than or equal to the error threshold, it indicates that the error between the estimated drilling depth and the calculated drilling depth is large, and the calculated drilling depth may contain errors; therefore, an alarm message is sent to the host computer. The embodiments provided in this application can verify the calculated drilling depth value, and when the difference between the calculated drilling depth value and the estimated drilling depth obtained based on weighted fusion of sensor data is small, the calculated drilling depth value is considered accurate, thus improving the accuracy of drilling depth calculation for drilling tools.

[0066] The drilling depth calculation method provided in this embodiment constructs a multi-source sensor fusion depth calculation system by setting up a drilling speed sensor, multiple drilling depth sensors, multiple acceleration sensors, and multiple tilt sensors on the drilling tool. Combined with a weighted data fusion algorithm, it effectively reduces the measurement error of a single sensor and significantly improves the measurement accuracy of drilling depth. Furthermore, the technical solution of this application also adopts a weighted averaging and dynamic correction mechanism, fusing velocity integral, tilt compensation, and vibration correction to improve the accuracy and stability of depth calculation. In addition, time synchronization processing technology is used to time-align the data of each sensor using a linear extrapolation algorithm, eliminating timestamp differences between sensor data and ensuring the consistency of multi-source data. Furthermore, a drilling depth estimate is obtained by weighted fusion of multi-sensor data, and a Kalman filter algorithm is used to denoise the estimate. The denoised result is then used to verify and correct the calculated drilling depth value, further improving the accuracy and reliability of depth calculation.

[0067] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. In addition, the labels corresponding to each step in the above embodiments are only for identification purposes and are not intended to limit the execution order of the steps. The execution order of the steps in each embodiment can be set according to the actual situation.

[0068] Furthermore, as Figure 1 , Figure 2 The specific implementation of the method shown in this embodiment provides a drilling depth calculation device, such as... Figure 3 As shown, the device includes a multi-sensor module 31, a data processing module 32, and an error correction module 33.

[0069] The multi-sensor module 31 can be used to acquire the drilling speed value of the drill string collected by the drilling speed sensor at each moment from the start of drilling to the current moment, and to acquire the acceleration value of the drill string collected by each acceleration sensor at the current moment and the inclination value of the drill string collected by each inclination sensor at the current moment. The data processing module 32 can be used to calculate the weighted average of the tilt angle values ​​collected by all the tilt angle sensors at the current moment, to obtain the weighted tilt angle value of the drill string, and to calculate the original drilling depth value of the drill string based on the drilling speed value at each moment. Error correction module 33 can be used to correct the original drilling depth value based on the acceleration value collected by each of the acceleration sensors and the weighted inclination angle value, so as to obtain the drilling depth calculation value of the drill bit.

[0070] In specific application scenarios, the multi-sensor module 31 can be used to perform time alignment processing on the acceleration values ​​collected by each acceleration sensor and the tilt values ​​collected by each tilt sensor, so that the acceleration values ​​collected by each acceleration sensor and the tilt values ​​collected by each tilt sensor have synchronized timestamps at the same time point, thereby eliminating the data asynchrony caused by the sampling timing deviation of each acceleration sensor and each tilt sensor.

[0071] In a specific application scenario, the data processing module 32 can be used to obtain a preset tilt angle weight value for each tilt angle value, calculate a first average value for all tilt angle values, and calculate the tilt angle difference between each tilt angle value and the first average value; compare each tilt angle difference with a preset first threshold value, determine tilt angle differences greater than the first threshold value, and reduce the preset tilt angle weight value of the tilt angle value corresponding to the tilt angle difference value; and calculate the weighted average value of all tilt angle values ​​based on each tilt angle value and the preset tilt angle weight value of each tilt angle value to obtain the weighted tilt angle value.

[0072] In specific application scenarios, the data processing module 32 can be used to perform time integration calculation on the drilling speed value based on the drilling speed value at each moment to obtain the real-time original drilling depth value of the drill bit.

[0073] In specific application scenarios, the error correction module 33 can be used to correct the original drilling depth value based on the weighted inclination angle value to obtain the drilling depth correction value of the drill bit; based on the acceleration value collected by each of the acceleration sensors at the current moment, the drilling depth correction value is corrected by mechanical vibration compensation to eliminate the measurement error caused by the vibration of the drill bit, and the final drilling depth calculation value is obtained.

[0074] In specific application scenarios, the drill string is also equipped with multiple drilling depth sensors, such as... Figure 4 As shown, the device also includes a data acquisition module 44, a time synchronization module 45, a fusion and denoising module 46, a data verification module 47, a real-time feedback module 48, and a data storage module 49.

[0075] Specifically, the data acquisition module 44 can be used to acquire the drilling depth value of the drill string collected by each of the drilling depth sensors at the current moment; The time synchronization module 45 can be used to perform time alignment processing on the drilling depth values ​​collected by each drilling depth sensor, the acceleration values ​​collected by each acceleration sensor, and the inclination values ​​collected by each inclination sensor to obtain time-aligned drilling depth values, acceleration values, and inclination values. The fusion denoising module 46 can be used to determine the estimated drilling depth of the drill bit based on the drilling depth value, the acceleration value, and the inclination angle value, and to perform data denoising processing on the estimated drilling depth to obtain the denoised drilling depth estimated value. The data verification module 47 can be used to calculate the drilling difference between the estimated drilling depth and the calculated drilling depth, and to determine whether the drilling difference is less than a preset error threshold. The real-time feedback module 48 can be used to send the calculated drilling depth value to a remote host computer when the drilling difference is less than the error threshold. Here, the real-time feedback module 48 can also display the drilling depth, drill string status, and warning information in real time through a human-machine interface, allowing operators to intuitively grasp the current drilling situation and equipment operating status, facilitating timely detection of anomalies and adjustments. Simultaneously, the system can automatically trigger warning signals when potential risks or abnormal operating conditions are detected, reminding operators to take corresponding measures to improve the safety and controllability of the operation.

[0076] Furthermore, the drilling depth calculation device may also include a data storage module 49. This module stores geological parameters, depth data, and drill string status information such as acceleration, dip angle, and drilling depth during the drilling process. This ensures that all critical data is completely and reliably preserved, providing a solid foundation for subsequent data analysis, historical data review, and depth calculation model optimization. This module allows for the complete recording of detailed information for each drilling operation, facilitating experience summarization, optimization of operational parameters, and improvement of operational efficiency and accuracy under similar conditions in the future.

[0077] Furthermore, all acquired data in the data storage module is organized in a structured manner, forming standardized operation logs. These logs cover real-time information from various sensors, such as depth values ​​from depth sensors, attitude angles from tilt sensors, and vibration data from accelerometers. The module employs database technology for management, supporting data indexing and efficient querying for easy subsequent analysis and retrieval. Simultaneously, the operation logs record detailed information on the operating status of each sensor, acquisition time, numerical changes, and anomaly or fault markers, aiding in rapid equipment problem location and precise maintenance. Furthermore, the continuously accumulated geological parameters (such as rock hardness, rock type, and water content) can be used to construct a geological information database, providing a scientific basis for drilling path planning and parameter presets.

[0078] Furthermore, the device also records real-time feedback of early warning information (such as warning time and cause) and all operator interventions (such as parameter adjustments and start / stop commands), forming a complete process traceability chain. This data not only supports post-event analysis and process improvement but also provides a basis for evaluating the effectiveness of human intervention. In summary, the data storage module, through comprehensive and systematic data recording, achieves the accumulation of operational experience and knowledge, effectively supporting parameter optimization, scientific decision-making, equipment maintenance, and technological upgrades, significantly improving the intelligence and standardization of drilling operations.

[0079] It should be noted that other corresponding descriptions of the functional units involved in the drilling depth calculation device provided in this embodiment can be found in [reference needed]. Figure 1 , Figure 2 The corresponding description in [the document] will not be repeated here.

[0080] Based on the above, Figure 1 , Figure 2 Accordingly, this embodiment also provides a storage medium, which may include a hardware storage medium and a network cloud storage medium, on which a computer program is stored. When the program is executed by a processor, it implements the above-described method. Figure 1 , Figure 2 The method for calculating drilling depth is illustrated. Here, by storing a computer-readable program on a storage medium, operators can easily load the program into various control devices or computers, enabling rapid deployment and operation of the method for calculating drilling depth in coal mines. Since the storage medium is a physical carrier independent of the equipment, the program can be flexibly migrated and reused between different drilling equipment or control systems. Simultaneously, the program in the storage medium can be regularly updated and maintained, facilitating the integration of new algorithms or the optimization of existing functions. Furthermore, this medium not only stores the program code required for the implementation method but also saves historical data and work logs generated during each drilling process. Through a reasonable data storage strategy, critical data can be backed up and encrypted, effectively ensuring data security and meeting relevant industry regulatory requirements.

[0081] Based on this understanding, the technical solution of this application can be embodied in the form of a software product. The software product to be identified can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, mobile hard drive, or network cloud storage medium), including several instructions to cause a computer device (such as a personal computer, server, or network device) to execute the methods described in the various implementation scenarios of this application.

[0082] Based on the above, Figure 1 , Figure 2 The method shown, and Figure 3 and Figure 4The embodiment of the drilling depth calculation device shown herein, in order to achieve the above objectives, also provides a computer device for calculating drilling depth, specifically a personal computer, server, smartphone, tablet computer, smartwatch, or other network device, etc. This computer device includes a storage medium and a processor; the storage medium is used to store computer programs and an operating system; the processor is used to execute the computer program to achieve the above-described... Figures 1 to 2 The method shown.

[0083] Optionally, the computer device may also include internal memory, a communication interface, a network interface, a camera, radio frequency (RF) circuitry, sensors, audio circuitry, a Wi-Fi module, a display screen, and input devices such as a keyboard. The communication interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0084] Those skilled in the art will understand that the computer device structure for recognizing operational actions provided in this embodiment does not constitute a limitation on the computer device, and may include more or fewer components, or combine certain components, or have different component arrangements.

[0085] The storage medium may also include an operating system and a network communication module. The operating system is a program that manages the aforementioned computer hardware and the software resources to be identified, supporting the operation of information processing programs and other software and / or programs to be identified. The network communication module is used to enable communication between the various components within the storage medium, as well as communication with other hardware and software in the information processing computer device.

[0086] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platform, or it can be implemented by hardware. By applying the technical solution of this application, firstly, the drilling speed value of the drill bit collected by the drilling speed sensor at each moment from the start of drilling work to the current moment is obtained, and the acceleration value of the drill bit collected by each acceleration sensor at the current moment and the inclination value of the drill bit collected by each inclination sensor at the current moment are obtained; then, the weighted average of the inclination values ​​collected by all the inclination sensors at the current moment is calculated to obtain the weighted inclination value of the drill bit, and the original drilling depth value of the drill bit is calculated based on the drilling speed value at each moment; finally, the original drilling depth value is corrected based on the acceleration value collected by each acceleration sensor and the weighted inclination value to obtain the calculated drilling depth value of the drill bit. Compared with the prior art, the accuracy of calculating the drilling depth of coal mine drill bits can be improved.

[0087] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing this application. Those skilled in the art will understand that the modules in the apparatus of the embodiment can be distributed within the apparatus of the embodiment as described, or can be modified to be located in one or more apparatuses different from this embodiment. The modules of the above-described embodiment can be combined into one module, or further divided into multiple sub-modules.

[0088] The serial numbers in this application are for descriptive purposes only and do not represent the superiority or inferiority of any particular implementation scenario. The above disclosures are merely a few specific implementation scenarios of this application; however, this application is not limited thereto, and any variations conceived by those skilled in the art should fall within the protection scope of this application.

Claims

1. A method for calculating drilling depth, used to calculate the drilling depth of a drilling tool, wherein a drilling speed sensor is installed at the drilling tool, characterized in that, The drill bit is also equipped with multiple acceleration sensors and multiple tilt sensors. The method includes: The drilling speed sensor collects the drilling speed value of the drill string at each moment from the start of drilling to the current moment, and the acceleration value of the drill string collected by each acceleration sensor at the current moment and the inclination value of the drill string collected by each inclination sensor at the current moment are also obtained. Calculate the weighted average of the tilt angle values ​​collected by all the tilt angle sensors at the current moment to obtain the weighted tilt angle value of the drill string, and calculate the original drilling depth value of the drill string based on the drilling speed value at each moment; The original drilling depth value is corrected based on the acceleration value collected by each of the acceleration sensors and the weighted inclination value to obtain the calculated drilling depth value of the drill bit.

2. The method according to claim 1, characterized in that, After acquiring the acceleration value of the drill string collected by each of the acceleration sensors at the current moment and the inclination value of the drill string collected by each of the tilt sensors at the current moment, the method includes: The acceleration values ​​collected by each acceleration sensor and the tilt values ​​collected by each tilt sensor are time-aligned to ensure that the acceleration values ​​collected by each acceleration sensor and the tilt values ​​collected by each tilt sensor have synchronized timestamps at the same time point, thereby eliminating the data asynchrony caused by the sampling timing deviation of each acceleration sensor and each tilt sensor. The steps include calculating the weighted average of all the tilt angle values ​​collected by the tilt angle sensors at the current moment to obtain the weighted tilt angle value of the drill string, and calculating the original drilling depth value of the drill string based on the drilling speed value at each moment.

3. The method according to claim 1, characterized in that, The calculation of the weighted average of all the tilt angle values ​​collected by the tilt angle sensors at the current moment to obtain the weighted tilt angle value of the drill string includes: Obtain a preset tilt angle weight value for each tilt angle value, calculate the first average value of all tilt angle values, and calculate the tilt angle difference between each tilt angle value and the first average value respectively; Each tilt angle difference is compared with a preset first threshold to determine tilt angle differences that are greater than the first threshold, and the preset tilt angle weight value of the tilt angle value corresponding to the tilt angle difference is reduced. Based on each tilt angle value and a preset tilt angle weight value for each tilt angle value, a weighted average of all tilt angle values ​​is calculated to obtain the weighted tilt angle value.

4. The method according to claim 1, characterized in that, The calculation of the original drilling depth value of the drill string based on the drilling speed value at each moment includes: Based on the drilling speed value at each moment, the drilling speed value is integrated over time to obtain the real-time original drilling depth value of the drill bit.

5. The method according to claim 1, characterized in that, The step of correcting the original drilling depth value based on the acceleration values ​​collected by each of the acceleration sensors and the weighted inclination angle values ​​to obtain the calculated drilling depth value of the drill string includes: The original drilling depth value is corrected based on the weighted dip angle value to obtain the drilling depth correction value of the drill bit; Based on the acceleration value collected by each of the acceleration sensors at the current moment, the drilling depth correction value is corrected by mechanical vibration compensation to eliminate the measurement error caused by the vibration of the drill bit, and the final drilling depth calculation value is obtained.

6. The method according to claim 4, characterized in that, The drill bit is also equipped with multiple drilling depth sensors; After correcting the original drilling depth value based on the acceleration values ​​collected by each of the acceleration sensors and the weighted inclination angle values ​​to obtain the calculated drilling depth value of the drill string, the method further includes: Obtain the drilling depth value of the drill string collected by each of the drilling depth sensors at the current time; The drilling depth values ​​collected by each drilling depth sensor, the acceleration values ​​collected by each acceleration sensor, and the inclination angle values ​​collected by each inclination angle sensor are time-aligned to obtain time-aligned drilling depth values, acceleration values, and inclination angle values. Based on the drilling depth value, the acceleration value, and the inclination angle value, the estimated drilling depth value of the drill bit is determined, and the estimated drilling depth value is subjected to data denoising processing to obtain the denoised drilling depth value. Calculate the drilling difference between the estimated drilling depth and the calculated drilling depth, and determine whether the drilling difference is less than a preset error threshold. If the drilling difference is less than the error threshold, the calculated drilling depth value is sent to the remote host computer.

7. The method according to claim 6, characterized in that, Determining the estimated drilling depth of the drill string based on the drilling depth value, the acceleration value, and the inclination angle value includes: Obtain a preset tilt angle weight value for each tilt angle value, calculate the first average value of all tilt angle values, and calculate the tilt angle difference between each tilt angle value and the first average value respectively; Each tilt angle difference is compared with a preset first threshold to determine tilt angle differences that are greater than the first threshold, and the preset tilt angle weight value of the tilt angle value corresponding to the tilt angle difference is reduced. Obtain a preset acceleration weight value for each acceleration value, calculate a second average value for all acceleration values, and calculate the acceleration difference between each acceleration value and the second average value respectively; Each acceleration difference is compared with a preset second threshold to determine acceleration differences that are greater than the second threshold, and the preset acceleration weight value of the acceleration value corresponding to the acceleration difference is reduced. Obtain a preset drilling depth weight value for each of the drilling depth values, calculate the third average value of all the drilling depth values, and calculate the drilling depth difference between each of the drilling depth values ​​and the third average value respectively. Each drilling depth difference is compared with a preset third threshold to determine drilling depth differences that are greater than the third threshold, and the preset drilling depth weight value of the drilling depth value corresponding to the drilling depth difference is reduced. The estimated drilling depth is obtained by weighting and fusing the acceleration value, the preset acceleration weight value, the dip angle value, the preset dip angle weight value, the drilling depth value, and the preset drilling depth weight value for each acceleration value.

8. A device for calculating drilling depth, characterized in that, The device includes: The multi-sensor module is used to acquire the drilling speed value of the drill string collected by the drilling speed sensor at each moment from the start of drilling to the current moment, and to acquire the acceleration value of the drill string collected by each acceleration sensor at the current moment and the inclination value of the drill string collected by each inclination sensor at the current moment. The data processing module is used to calculate the weighted average of the tilt angle values ​​collected by all the tilt angle sensors at the current moment, to obtain the weighted tilt angle value of the drill string, and to calculate the original drilling depth value of the drill string based on the drilling speed value at each moment. An error correction module is used to correct the original drilling depth value based on the acceleration value collected by each of the acceleration sensors and the weighted inclination angle value, so as to obtain the drilling depth calculation value of the drill bit.

9. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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