A method and equipment for dynamic optimization of drilling of blast holes in frozen and thawed rock formations

Abstract

The application provides a frozen and thawed rock stratum blasting hole dynamic optimization drilling method, rock mass vibration is excited, vertical direction vibration data of an undrilled hole area on the ground and axial vibration data of a drilled hole area are collected, and a multi-source vibration data set is constructed; based on the data set, a rock mass structure characteristic reconstruction algorithm is applied to dynamically represent internal defect distribution and structure strength parameters, three-dimensional space coordinates of a subsequent to-be-drilled hole position and optimal drilling path instructions are generated, and the instructions are issued to a drilling control system; data of a positioning module and a navigation module are fused to monitor a drilling tool pose, a three-dimensional motion trajectory is constructed, an optimal obstacle avoidance path is dynamically planned according to the instructions, a drilling pose adjustment strategy containing a drill rod flexural deformation compensation amount is generated, and the drilling pose adjustment strategy is output to an adaptive trajectory adjustment mechanism; the drilling tool is driven to drill along the obstacle avoidance path, the mechanism is used for real-time regulation and control of a drilling trajectory deflection angle and a feed rate, the drilling tool motion trajectory is ensured to dynamically coincide with the target path, drilling precision is improved, and the risk of drilling tool jamming is reduced.

Description

Technical Field

[0001] This invention relates to the field of construction equipment improvement, and in particular to a dynamic optimization drilling method and equipment for blasting holes in frozen-thawed rock formations. Background Technology

[0002] In engineering operations in cold regions, the repeated freezing and thawing of permafrost strata leads to internal structural instability, resulting in numerous ice crystal fissures and internal defects. Traditional blasting hole drilling methods struggle to perceive these internal rock changes in real time, often causing drill bit jamming, breakage, or borehole deviation due to rigid drill bit path planning. In tunnel excavation or foundation filling projects, static drilling schemes cannot adapt to the dynamic defect distribution of permafrost strata, leading to reduced construction efficiency and increased safety hazards. Existing technologies lack the ability to perform real-time dynamic analysis of rock mass structural strength parameters and internal defect distribution, hindering the demand for precise drilling under complex geological conditions. Summary of the Invention

[0003] This invention proposes a dynamic optimization drilling method for blast holes in freeze-thawed rock formations, comprising:

[0004] S1. Excite the target rock mass to vibrate through a controllable excitation source, and simultaneously collect vertical vibration data of the un-drilled area on the surface and axial vibration data of the drilled area to construct a multi-source vibration dataset that integrates spatiotemporal characteristics.

[0005] S2. Based on the multi-source vibration dataset, dynamically characterize the internal defect distribution and structural strength parameters of the freeze-thaw rock layer using a rock mass structure feature reconstruction algorithm, generate the three-dimensional spatial coordinates of the subsequent borehole locations and the corresponding optimal drilling path instructions in real time, and send them to the drilling control system.

[0006] S3. By integrating the positioning module and the navigation module, monitor the real-time spatial pose of the drill bit and construct the three-dimensional motion trajectory of the drill bit. Based on the optimal drilling path command, dynamically plan the optimal obstacle avoidance path of the drill bit to the target hole position, and generate a drilling attitude adjustment strategy that includes drill rod deflection compensation, and output it to the adaptive trajectory adjustment mechanism.

[0007] S4. Drive the drill bit to drill along the optimal obstacle avoidance path. Based on the drilling attitude adjustment strategy, the drilling trajectory deflection angle and feed rate are adjusted in real time through the adaptive trajectory adjustment mechanism to achieve dynamic matching between the drill bit movement trajectory and the target path.

[0008] Specifically, the synchronous acquisition of vertical vibration data in the un-drilled area and borehole axial vibration data in the drilled area includes: exciting the target rock mass to vibrate using a controllable excitation source; simultaneously, acquiring vertical vibration data in the un-drilled area using a surface sensor array; simultaneously, acquiring borehole axial vibration data in the drilled area using a borehole axial sensor; and constructing a multi-source vibration dataset that integrates spatiotemporal characteristics based on the acquired vertical vibration data and borehole axial vibration data.

[0009] Specifically, the method of dynamically characterizing the internal defect distribution and structural strength parameters of the freeze-thaw rock strata based on the rock mass structure feature reconstruction algorithm, and generating the three-dimensional spatial coordinates of subsequent borehole locations and the corresponding optimal drilling path instructions in real time, includes: applying the rock mass structure feature reconstruction algorithm based on the multi-source vibration dataset, which dynamically characterizes the internal defect distribution and structural strength parameters of the freeze-thaw rock strata through wave velocity inversion and amplitude attenuation analysis; identifying vulnerable areas of the rock mass based on the characterized internal defect distribution and structural strength parameters, and calculating the three-dimensional spatial coordinates of subsequent borehole locations in real time based on the three-dimensional geological model; combining the three-dimensional spatial coordinates and the internal defect distribution, using a path optimization algorithm to generate the optimal drilling path instructions that avoid areas with high defect density; and sending the optimal drilling path instructions to the drilling control system to ensure that the drilling process adapts to changes in the rock mass structure.

[0010] Specifically, the process of monitoring the real-time spatial pose of the drill string by fusing data from the positioning and navigation modules to construct a three-dimensional motion trajectory for the drill string; dynamically planning the optimal obstacle avoidance path from the drill string to the target hole position based on the optimal drilling path command, and generating a drilling attitude adjustment strategy that includes drill pipe deflection compensation, includes: monitoring the spatial position and attitude angle of the drill string in real time by fusing data from the positioning and navigation modules to construct a three-dimensional motion trajectory for the drill string; analyzing the deviation between the motion trajectory and the target hole position based on the optimal drilling path command, and applying a dynamic programming algorithm to generate an optimal obstacle avoidance path; calculating the drill pipe deflection compensation based on the optimal obstacle avoidance path, combined with the drill pipe material characteristics and real-time load, and generating a drilling attitude adjustment strategy; and outputting the drilling attitude adjustment strategy to an adaptive trajectory adjustment mechanism to ensure that the drill string movement is consistent with the target path.

[0011] Specifically, the real-time control of the drilling trajectory deflection angle and feed rate through the adaptive trajectory adjustment mechanism based on the drilling attitude adjustment strategy includes: driving the drill string to drill along the optimal obstacle avoidance path; dynamically adjusting the drilling trajectory deflection angle through the adaptive trajectory adjustment mechanism based on the drilling attitude adjustment strategy; and dynamically adjusting the feed rate through the adaptive trajectory adjustment mechanism based on the drilling attitude adjustment strategy; thereby achieving dynamic alignment between the drill string's motion trajectory and the target path.

[0012] Specifically, the method of generating the optimal drilling path instruction to avoid high defect density areas using a path optimization algorithm includes: establishing a rock mass defect density map based on three-dimensional spatial coordinates and internal defect distribution, and identifying high defect density areas; applying a path optimization algorithm, which calculates path safety and efficiency through a cost function to generate an initial drilling path; introducing obstacle avoidance constraints into the initial drilling path to avoid high defect density areas, optimizing it into an optimal obstacle avoidance path; and adjusting the curvature and depth of the optimal obstacle avoidance path in conjunction with drill string dynamics parameters to generate the final drilling path instruction. The path optimization algorithm ensures that the drilling path remains stable and efficient under changes in rock mass structure.

[0013] Specifically, the step of calculating the drill pipe deflection compensation based on the optimal obstacle avoidance path, combined with the drill pipe material properties and real-time load, and generating a drilling attitude adjustment strategy includes: analyzing the expected deflection of the drill pipe during drilling based on the geometric characteristics of the optimal obstacle avoidance path; calculating the basic deformation compensation based on the drill pipe material properties, including elastic modulus and yield strength; dynamically correcting the basic deformation compensation based on real-time load data monitored by the navigation module to generate the final drill pipe deflection compensation; integrating the drill pipe deflection compensation into the drilling attitude adjustment strategy, including deflection angle compensation and feed rate compensation; and outputting it to the adaptive trajectory adjustment mechanism to achieve real-time correction of the drill string's motion trajectory.

[0014] Specifically, achieving dynamic alignment between the drill string's trajectory and the target path includes: using an adaptive trajectory adjustment mechanism to compare the deviation between the drill string's trajectory and the target path in real time; dynamically adjusting the drilling trajectory deflection angle based on the deviation data; and dynamically adjusting the feed rate based on the deviation data to ensure that the drill string's trajectory continuously aligns with the target path.

[0015] The present invention also proposes a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any of the preceding claims.

[0016] This invention also proposes a dynamically optimized drilling equipment for blasting holes in freeze-thawed rock formations, comprising:

[0017] A controllable excitation source is used to induce vibration in the target rock mass;

[0018] The vibration data acquisition module is used to simultaneously acquire vertical vibration data in the un-drilled area of ​​the ground surface and axial vibration data of the boreholes in the drilled area.

[0019] The data processing module is used to construct a multi-source vibration dataset that integrates spatiotemporal features;

[0020] The rock mass structure analysis module is used to dynamically characterize the internal defect distribution and structural strength parameters of freeze-thaw rock layers based on the rock mass structure feature reconstruction algorithm.

[0021] The path generation module is used to generate the three-dimensional spatial coordinates of subsequent borehole locations and the corresponding optimal drilling path instructions in real time.

[0022] The drilling control system is used to receive and execute drilling path instructions;

[0023] The positioning and monitoring module, including a positioning module and a navigation module, is used to monitor the real-time spatial pose of the drill string and construct the three-dimensional motion trajectory of the drill string.

[0024] The path planning module is used to dynamically plan the optimal obstacle avoidance path from the drill bit to the target hole position;

[0025] The attitude adjustment module is used to generate drilling attitude adjustment strategies that include drill pipe deflection compensation.

[0026] An adaptive trajectory adjustment mechanism is used to adjust the drilling trajectory deflection angle and feed rate in real time based on a drilling attitude adjustment strategy.

[0027] The drive mechanism is used to drive the drill bit to drill along the obstacle avoidance path, so as to achieve dynamic matching between the drill bit's movement trajectory and the target path.

[0028] This invention dynamically characterizes the internal defect distribution and structural strength parameters of freeze-thaw strata by integrating multi-source vibration datasets, and generates in real time the three-dimensional spatial coordinates of subsequent borehole locations and the optimal drilling path command. Based on this optimal drilling path command, the drilling rod material characteristics and real-time load are combined to calculate the drill rod deflection compensation, generating a drilling attitude adjustment strategy. An adaptive trajectory adjustment mechanism dynamically adjusts the drilling trajectory deflection angle and feed rate according to the drilling attitude adjustment strategy, achieving dynamic alignment between the drill bit movement trajectory and the target path, significantly reducing the risk of drill bit jamming and improving drilling accuracy. In tunnel construction or foundation engineering, this method reduces equipment wear and optimizes resource utilization, achieving improved efficiency and safety in freeze-thaw blasting operations. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the process of a dynamic optimization drilling system for blast holes in frozen-thawed rock formations proposed in this invention. Detailed Implementation

[0030] refer to Figure 1 This invention proposes a dynamic optimization drilling method for blast holes in freeze-thawed rock formations, comprising:

[0031] S1. The target rock mass is excited by a controllable excitation source, and vertical vibration data of the un-drilled area and axial vibration data of the drilled area are collected simultaneously to construct a multi-source vibration dataset that integrates spatiotemporal characteristics.

[0032] S2. Based on the multi-source vibration dataset, dynamically characterize the internal defect distribution and structural strength parameters of the freeze-thaw rock layer using a rock mass structure feature reconstruction algorithm, generate the three-dimensional spatial coordinates of the subsequent borehole locations and the corresponding optimal drilling path instructions in real time, and send them to the drilling control system.

[0033] S3. By integrating the positioning and navigation modules, the real-time spatial pose of the drill string is monitored, and a three-dimensional motion trajectory of the drill string is constructed. Based on the optimal drilling path command, the optimal obstacle avoidance path from the drill string to the target hole position is dynamically planned, and a drilling attitude adjustment strategy including drill pipe deflection compensation is generated and output to the adaptive trajectory adjustment mechanism. The real-time spatial pose monitoring of the drill string through the collaboration of the positioning and navigation modules specifically includes: the positioning module continuously acquires the absolute spatial coordinates of the drill string, while the navigation module collects the three-axis angle deflection and motion acceleration data of the drill string in real time. These two types of data are spatiotemporally aligned and fused to construct a six-degree-of-freedom pose model of the drill string, and a continuous three-dimensional motion trajectory is generated accordingly. The generation of the optimal obstacle avoidance path is based on the optimal drilling path command issued by the path generation module. After converting the rock defect distribution map into a three-dimensional obstacle map, a dynamic programming algorithm is used to calculate the path. This algorithm prioritizes path safety, avoiding high-defect-density areas and controlling the continuity of path curvature to generate an optimal drilling route that balances obstacle avoidance requirements and drilling efficiency. The drilling attitude adjustment strategy includes a key compensation mechanism: First, the expected deflection deformation of the drill pipe is calculated based on the geometric characteristics of the optimal obstacle avoidance path. Then, the basic compensation is dynamically corrected by combining the bending resistance characteristics of the drill pipe material and the load data monitored in real time by the navigation module. Finally, an adjustment strategy including deflection angle compensation and feed rate compensation is output to ensure that the drill string trajectory accurately matches the target path. This process, through multi-source data fusion and real-time compensation mechanisms, can effectively address the challenges of drill string trajectory control under complex conditions in freeze-thaw rock formations.

[0034] S4. Drive the drill bit to drill along the optimal obstacle avoidance path. Based on the drilling attitude adjustment strategy, the drilling trajectory deflection angle and feed rate are adjusted in real time through the adaptive trajectory adjustment mechanism to achieve dynamic matching between the drill bit movement trajectory and the target path.

[0035] Among them, freeze-thawed rock strata refer to rock formations that have undergone repeated freezing and thawing processes, commonly found in tunnel excavation or foundation filling projects in cold regions, where cracks easily form due to ice crystal action; blasting holes refer to pre-drilled holes for rock breaking or soil removal during blasting operations. This method first excites the target rock mass to vibrate using a controllable excitation source, simultaneously collecting vertical vibration data from un-drilled areas using a surface sensor array, and axial vibration data from drilled areas using a borehole axial sensor. Based on these two types of data, a time synchronization module aligns the data points, and a filtering algorithm is applied to eliminate noise, constructing a multi-source vibration dataset that integrates spatiotemporal characteristics. Subsequently, a rock mass structure feature reconstruction algorithm is applied to process this dataset. Wave velocity inversion and amplitude attenuation analysis dynamically characterize the internal defect distribution and structural strength parameters of the freeze-thawed rock strata, generating real-time three-dimensional spatial coordinates of subsequent borehole locations and optimal drilling path instructions, which are then sent to the drilling control system. Finally, positioning is integrated... The module and navigation module monitor the real-time spatial pose of the drill bit, construct its three-dimensional motion trajectory, and dynamically plan the optimal obstacle avoidance path to the target hole position based on the optimal drilling path command. Simultaneously, combining the drill rod material characteristics and real-time load, the module calculates the drill rod deflection compensation amount and generates a drilling attitude adjustment strategy, which is output to the adaptive trajectory adjustment mechanism. Finally, the drive mechanism drives the drill bit to drill along the optimal obstacle avoidance path. The adaptive trajectory adjustment mechanism adjusts the drilling trajectory deflection angle and feed rate in real time according to the drilling attitude adjustment strategy, ensuring that the drill bit's motion trajectory dynamically matches the target path. This method significantly improves the drilling accuracy of blast holes in frozen-thaw rock formations, reduces the risk of drill bit jamming and breakage, and achieves efficient and energy-saving operations.

[0036] Furthermore, the simultaneous acquisition of vertical vibration data in the un-drilled area and borehole axial vibration data in the drilled area specifically includes: exciting the target rock mass to vibrate using a controllable excitation source; simultaneously, collecting vertical vibration data in the un-drilled area using a surface sensor array; simultaneously, collecting borehole axial vibration data in the drilled area using a borehole axial sensor; and constructing a multi-source vibration dataset that integrates spatiotemporal characteristics based on the acquired vertical vibration data and borehole axial vibration data.

[0037] Among them, the surface sensor array refers to a group of detection devices deployed on the ground, such as accelerometers or ground sound detectors, used to capture surface vibrations; the borehole axial sensor specifically refers to a sensor installed on the borehole wall or drill rod, used to measure axial vibration; vertical vibration data refers to displacement or acceleration measurements perpendicular to the ground; borehole axial vibration data refers to vibration records along the length of the borehole; and fused spatiotemporal features refer to a data structure that integrates time series and spatial location information. In specific implementation, during the vibration excitation process by a controllable excitation source, the surface sensor array is deployed in the un-drilled area of ​​the ground, using multi-point synchronous recording technology or wireless transmission to collect vertical vibration data in real time; the borehole axial sensor is fixed to the borehole wall in the drilled area, synchronously collecting borehole axial vibration data. During the construction of the multi-source vibration dataset, the data processing module aligns the spatiotemporal coordinates and performs sensor calibration: including zero-point adjustment, setting the data sampling rate, applying digital filters to eliminate environmental interference, and combining the location mapping with a geographic information system. In implementation, the sensor array can be manually deployed, with synchronous triggering of data acquisition after the excitation source is started, and the data is stored and then processed using a fusion algorithm. This method can monitor soil stability in filling projects, ensure data integrity, improve the reliability of rock mass defect detection, and avoid structural failure caused by borehole deviation.

[0038] Furthermore, the method of dynamically characterizing the internal defect distribution and structural strength parameters of the freeze-thaw rock layer based on the rock mass structure feature reconstruction algorithm, and generating the three-dimensional spatial coordinates of the subsequent borehole locations and the corresponding optimal drilling path instructions in real time, specifically includes: applying the rock mass structure feature reconstruction algorithm based on the multi-source vibration dataset. The rock mass structure feature reconstruction algorithm dynamically characterizes the internal defect distribution and structural strength parameters of the freeze-thaw rock layer through wave velocity inversion and amplitude attenuation analysis. Based on the characterized internal defect distribution and structural strength parameters, it identifies the fragile areas of the rock mass and calculates the three-dimensional spatial coordinates of the subsequent borehole locations in real time according to the three-dimensional geological model. Combining the three-dimensional spatial coordinates with the internal defect distribution, it uses a path optimization algorithm to generate the optimal drilling path instructions that avoid areas with high defect density. The optimal drilling path instructions are then sent to the drilling control system to ensure that the drilling process adapts to changes in the rock mass structure.

[0039] Among them, rock mass structure feature reconstruction algorithm refers to the calculation model of inverting the internal structure of rock mass based on vibration data; wave velocity inversion refers to the method of inferring rock mass density using the propagation velocity of seismic waves; amplitude attenuation analysis refers to the technique of assessing the degree of defects by measuring the attenuation of vibration wave amplitude; internal defect distribution describes the spatial location parameters of rock mass fissures or cavities; structural strength parameters refer to the quantitative indicators of rock mass compressive strength and tensile strength; three-dimensional geological model refers to the three-dimensional digital topological representation of rock strata; and path optimization algorithm refers to the mathematical method of calculating the optimal path. In practical implementation, a rock mass structure feature reconstruction algorithm is applied based on a multi-source vibration dataset: First, a rock mass wave velocity distribution map is generated through wave velocity inversion, and amplitude attenuation analysis is performed simultaneously to determine the location of defects; after dynamically characterizing the internal defect distribution and structural strength parameters of the freeze-thaw rock layer, high-porosity vulnerable areas are identified; based on a pre-loaded or real-time constructed three-dimensional geological model, the three-dimensional spatial coordinates of subsequent borehole locations are calculated in real time; an optimal drilling path command is generated using a path optimization algorithm: a rock mass defect density map is established based on the three-dimensional spatial coordinates and internal defect distribution, and the Dijkstra algorithm is applied to set a cost function to balance the safety distance and drilling length. Obstacle avoidance constraints are introduced in the initial path to avoid high defect density areas, and the path curvature and depth are adjusted in conjunction with drill string dynamic parameters; finally, the optimal drilling path command is issued to the drilling control system. This process optimizes the borehole path in real time by setting a critical point of rock mass strength as a defect density threshold, significantly reducing drilling failures and improving construction efficiency.

[0040] Furthermore, by integrating the positioning and navigation modules to monitor the real-time spatial pose of the drill string, a three-dimensional motion trajectory of the drill string is constructed. Based on the optimal drilling path command, the optimal obstacle avoidance path from the drill string to the target hole position is dynamically planned, and a drilling attitude adjustment strategy including drill pipe deflection compensation is generated. Specifically, this includes: integrating data from the positioning and navigation modules to monitor the spatial position and attitude angle of the drill string in real time, constructing the three-dimensional motion trajectory of the drill string; analyzing the deviation between the motion trajectory and the target hole position based on the optimal drilling path command; applying a dynamic programming algorithm to generate the optimal obstacle avoidance path; calculating the drill pipe deflection compensation based on the optimal obstacle avoidance path, combined with the drill pipe material characteristics and real-time load; generating a drilling attitude adjustment strategy; and outputting the drilling attitude adjustment strategy to the adaptive trajectory adjustment mechanism to ensure that the drill string movement is consistent with the target path.

[0041] The system comprises the following components: a positioning module (GPS or laser tracking system); a navigation module (sensor combination integrating gyroscopes and accelerometers); a real-time spatial pose of the drill bit (current spatial position and orientation parameters); a three-dimensional motion trajectory of the drill bit (a three-dimensional digital record of the drill bit's movement path); an optimal obstacle avoidance path (the optimal drilling route to avoid obstacles); drill rod deflection compensation (the correction value for drill rod bending deformation); and a drilling attitude adjustment strategy (a set of instructions to control the spatial attitude of the drill bit). In practice, the positioning and navigation modules fuse monitoring data to acquire the drill bit's spatial pose in real time and construct its three-dimensional motion trajectory. Based on the optimal drilling path instructions, the deviation between the motion trajectory and the target hole position is analyzed, and a dynamic programming algorithm is applied to generate the optimal obstacle avoidance path. Based on the optimal obstacle avoidance path, combined with drill rod material characteristics and real-time load data, the drill rod deflection compensation is calculated. Finally, a drilling attitude adjustment strategy containing the compensation is generated and output to the adaptive trajectory adjustment mechanism. During implementation, the accuracy of the positioning module needs to be calibrated and the position update frequency needs to be set. The drilling trajectory deflection angle and feed rate are dynamically adjusted by the adaptive trajectory adjustment mechanism to ensure that the drill bit movement trajectory dynamically matches the target path, significantly reducing the risk of collision and improving the reliability of the operation.

[0042] Furthermore, the real-time control of the drilling trajectory deflection angle and feed rate by the adaptive trajectory adjustment mechanism based on the drilling attitude adjustment strategy specifically includes: driving the drill string to drill along the optimal obstacle avoidance path; dynamically adjusting the drilling trajectory deflection angle by the adaptive trajectory adjustment mechanism based on the drilling attitude adjustment strategy; and dynamically adjusting the feed rate by the adaptive trajectory adjustment mechanism based on the drilling attitude adjustment strategy, thereby achieving dynamic alignment between the drill string movement trajectory and the target path.

[0043] The adaptive trajectory adjustment mechanism refers to the mechanical device that automatically adjusts the drill string trajectory; the drilling trajectory deflection angle refers to the quantified angle of the drill bit's directional deviation; the feed rate refers to the quantified parameter of the drill string's axial advance speed; and dynamic matching refers to the real-time matching state between the drill string's motion trajectory and the target path. Based on the drilling attitude adjustment strategy, during the process of driving the drill string along the optimal obstacle avoidance path, the adaptive trajectory adjustment mechanism performs dynamic control: adjusting the drilling trajectory deflection angle through the mechanical transmission device, and simultaneously adjusting the feed rate through the power control system. To achieve dynamic matching, the real-time deviation between the drill string's motion trajectory and the target path is continuously compared, and a correction mechanism is triggered when the deviation exceeds a set threshold. This implementation process, by setting angle compensation parameters and rate limit parameters, ensures that the drilling trajectory continuously matches the target path, effectively reducing the risk of drill string jamming and improving structural stability.

[0044] Furthermore, the method of generating the optimal drilling path instruction to avoid high defect density areas using a path optimization algorithm specifically includes: establishing a rock mass defect density map based on three-dimensional spatial coordinates and internal defect distribution, identifying high defect density areas, applying a path optimization algorithm, which calculates path safety and efficiency through a cost function, generating an initial drilling path, introducing obstacle avoidance constraints in the initial drilling path to avoid high defect density areas, optimizing it into an optimal obstacle avoidance path, and adjusting the curvature and depth of the optimal obstacle avoidance path in conjunction with drill string dynamic parameters to generate the final drilling path instruction. The path optimization algorithm ensures that the drilling path remains stable and efficient under changes in rock mass structure.

[0045] The process involves several key components: a rock mass defect density map (a visual representation of the spatial distribution of defects within the rock mass), a high defect density region (areas with concentrated internal defects), a path optimization algorithm (a mathematical method for calculating the optimal drilling path), a cost function (a quantitative function for evaluating path safety and drilling efficiency), obstacle avoidance constraints (restrictions on avoiding obstacle areas during path planning), drill string dynamics parameters (the motion characteristics and mechanical performance parameters of the drill string), and curvature and depth (the spatial curvature and drilling depth parameters of the drilling path). A rock mass defect density map is established based on three-dimensional spatial coordinates and the distribution of internal defects to identify high defect density regions. The path optimization algorithm calculates safety weights and efficiency factors using a cost function to generate an initial drilling path. Obstacle avoidance constraints are introduced into the initial path to avoid high defect density regions, optimizing the path to generate the optimal obstacle avoidance path. Finally, the curvature and depth of the optimal obstacle avoidance path are adjusted using drill string dynamics parameters to generate the final drilling path command. This path optimization process ensures that the drilling path remains stable and efficient under dynamic changes in the rock mass structure, significantly improving the drilling success rate in freeze-thaw rock formations.

[0046] Furthermore, the step of calculating the drill pipe flexural deformation compensation based on the optimal obstacle avoidance path, combined with the drill pipe material properties and real-time load, and generating a drilling attitude adjustment strategy specifically includes: analyzing the expected flexural deformation of the drill pipe during drilling based on the geometric characteristics of the optimal obstacle avoidance path; calculating the basic deformation compensation based on the drill pipe material properties, including elastic modulus and yield strength; dynamically correcting the basic deformation compensation based on the real-time load data monitored by the navigation module; generating the final drill pipe flexural deformation compensation; integrating the drill pipe flexural deformation compensation into the drilling attitude adjustment strategy, including deflection angle compensation and feed rate compensation; and outputting it to the adaptive trajectory adjustment mechanism to achieve real-time correction of the drill bit's motion trajectory.

[0047] The optimal obstacle avoidance path's geometric characteristics refer to its spatial morphology; the expected deflection refers to the predicted bending deformation of the drill pipe during drilling; the drill pipe material properties refer to the elastic modulus and yield strength parameters of the drill pipe material; real-time load data refers to the mechanical load parameters currently borne by the drill bit; the final drill pipe deflection compensation amount refers to the dynamically corrected drill pipe bending compensation value; and the drilling attitude adjustment strategy includes deflection angle compensation and feed rate compensation. Based on the geometric characteristics of the optimal obstacle avoidance path, the expected deflection deformation is analyzed, and the basic deformation compensation amount is calculated in conjunction with the drill pipe material properties. The basic deformation compensation amount is dynamically corrected based on the real-time load data monitored by the navigation module to generate the final drill pipe deflection compensation amount. This compensation amount is integrated into the drilling attitude adjustment strategy and output to the adaptive trajectory adjustment mechanism. During implementation, the dynamic correction mechanism achieves real-time correction of the drill bit's trajectory, significantly reducing the risk of drill bit jamming.

[0048] Furthermore, the dynamic alignment of the drill string's movement trajectory with the target path specifically includes: using an adaptive trajectory adjustment mechanism to compare the deviation between the drill string's movement trajectory and the target path in real time; dynamically adjusting the drilling trajectory deflection angle based on the deviation data; and dynamically adjusting the feed rate based on the deviation data to ensure that the drill string's movement trajectory continuously aligns with the target path.

[0049] The adaptive trajectory adjustment mechanism refers to the mechanical device that automatically adjusts the drill string trajectory; the deviation between the drill string's trajectory and the target path refers to the positional offset between the actual position of the drill string and the target path; dynamic control refers to the closed-loop adjustment mechanism that controls drilling parameters in real time. The adaptive trajectory adjustment mechanism compares the deviation between the drill string's trajectory and the target path in real time; based on this deviation data, it dynamically adjusts the drilling trajectory deflection angle and simultaneously dynamically adjusts the feed rate; a continuous control mechanism ensures that the drill string's trajectory dynamically matches the target path. This implementation process significantly reduces the risk of drill string jamming and improves drilling accuracy.

[0050] The present invention also proposes a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements a previously proposed method for dynamically optimizing drilling of blast holes in frozen-thawed rock formations.

[0051] In this context, "computer-readable storage medium" refers to the physical carrier for storing data, such as a hard drive or flash memory; "computer program" refers to executable code; "processor" refers to the CPU of a computing device; and "implementation method" refers to the process corresponding to executing the aforementioned methods. Specifically, when the storage medium stores a program, the processor calls a method module to load data acquisition or path algorithms for application in similar engineering equipment.

[0052] This invention also proposes a dynamic optimization drilling equipment for blasting holes in freeze-thawed rock strata, comprising: a controllable excitation source, a vibration data acquisition module, a data processing module, a rock mass structure analysis module, a path generation module, a drilling control system, a positioning monitoring module, a path planning module, an attitude adjustment module, an adaptive trajectory adjustment mechanism, and a drive mechanism. The controllable excitation source is used to excite vibration in the target rock mass. The vibration data acquisition module is used to simultaneously acquire vertical vibration data in the un-drilled area of ​​the surface and axial vibration data of the drilled area. The data processing module is used to construct a multi-source vibration dataset that integrates spatiotemporal features. The rock mass structure analysis module is used to dynamically characterize the internal defect distribution and structural strength parameters of the freeze-thawed rock strata based on a rock mass structure feature reconstruction algorithm. The path generation module is used to generate the three-dimensional spatial coordinates of the subsequent borehole locations and the corresponding optimal drilling path instructions in real time. The drilling control system is used to receive and execute drilling path instructions. The positioning monitoring module includes a positioning module and a navigation module, used to monitor the real-time spatial pose of the drill bit and construct the three-dimensional motion trajectory of the drill bit. The path planning module is used to dynamically plan the optimal obstacle avoidance path from the drill bit to the target borehole location. The attitude adjustment module generates a drilling attitude adjustment strategy that includes compensation for drill pipe deflection. The adaptive trajectory adjustment mechanism controls the drilling trajectory deflection angle and feed rate in real time based on the drilling attitude adjustment strategy. The drive mechanism drives the drill string along an obstacle avoidance path, achieving dynamic alignment between the drill string's motion trajectory and the target path.

[0053] Among them, the controllable excitation source refers to the external equipment used to excite vibration of the target rock mass; the vibration data acquisition module refers to the sensor combination that simultaneously acquires vertical vibration data of the un-drilled area and axial vibration data of the drilled area; the data processing module refers to the data processor that constructs a multi-source vibration dataset that integrates spatiotemporal characteristics; the rock mass structure analysis module refers to the analysis unit that dynamically characterizes the distribution of internal defects and structural strength parameters of the freeze-thaw rock layer based on the rock mass structure feature reconstruction algorithm; the path generation module refers to the calculator that generates the three-dimensional spatial coordinates of the subsequent borehole location and the optimal drilling path instruction in real time; the drilling control system refers to the controller that receives and executes the drilling path instruction; the positioning monitoring module refers to the tracking system that integrates the positioning module and the navigation module to monitor the real-time spatial pose of the drill bit and construct the three-dimensional motion trajectory of the drill bit; the path planning module refers to the generator that dynamically plans the optimal obstacle avoidance path from the drill bit to the target borehole location; the attitude adjustment module refers to the controller that generates a drilling attitude adjustment strategy that includes drill rod deflection compensation; the adaptive trajectory adjustment mechanism refers to the mechanical adjustment device that adjusts the drilling trajectory deflection angle and feed rate in real time based on the drilling attitude adjustment strategy; and the drive mechanism refers to the power motor that drives the drill bit to drill along the optimal obstacle avoidance path. The system employs a collaborative approach to dynamically optimize drilling in frozen-thaw rock formations: a controllable excitation source stimulates vibrations in the target rock mass; a vibration data acquisition module simultaneously acquires vertical vibration data and borehole axial vibration data; a data processing module constructs a multi-source vibration dataset; a rock mass structure analysis module dynamically characterizes the distribution of internal defects and structural strength parameters based on the dataset; a path generation module generates real-time 3D spatial coordinates and optimal drilling path instructions, which are then sent to the drilling control system; the drilling control system executes the instructions; a positioning monitoring module monitors the drill string's spatial pose and constructs a 3D motion trajectory; a path planning module dynamically plans the optimal obstacle avoidance path; an attitude adjustment module generates a drilling attitude adjustment strategy; an adaptive trajectory adjustment mechanism adjusts the deflection angle and feed rate in real-time based on the strategy; and a drive mechanism drives the drill string along the optimal obstacle avoidance path. This process significantly improves drilling accuracy and operational safety.

[0054] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A method for dynamic optimization of drilling in blast holes in a frozen rock mass, characterized in that, include: S1. Excite the target rock mass to vibrate through a controllable excitation source, and simultaneously collect vertical vibration data of the un-drilled area on the surface and axial vibration data of the drilled area to construct a multi-source vibration dataset that integrates spatiotemporal characteristics. S2. Based on the multi-source vibration dataset, dynamically characterize the internal defect distribution and structural strength parameters of the freeze-thaw rock layer using a rock mass structure feature reconstruction algorithm, generate the three-dimensional spatial coordinates of the subsequent borehole locations and the corresponding optimal drilling path instructions in real time, and send them to the drilling control system. S3. By integrating the positioning module and the navigation module, monitor the real-time spatial pose of the drill bit and construct the three-dimensional motion trajectory of the drill bit. Based on the optimal drilling path command, dynamically plan the optimal obstacle avoidance path of the drill bit to the target hole position, and generate a drilling attitude adjustment strategy that includes drill rod deflection compensation, and output it to the adaptive trajectory adjustment mechanism. S4. Drive the drill bit to drill along the optimal obstacle avoidance path. Based on the drilling attitude adjustment strategy, the drilling trajectory deflection angle and feed rate are adjusted in real time through the adaptive trajectory adjustment mechanism to achieve dynamic matching between the drill bit movement trajectory and the target path. Specifically, the method of dynamically characterizing the internal defect distribution and structural strength parameters of the freeze-thaw rock strata based on the rock mass structure feature reconstruction algorithm, and generating the three-dimensional spatial coordinates of subsequent borehole locations and the corresponding optimal drilling path instructions in real time, includes: applying the rock mass structure feature reconstruction algorithm based on the multi-source vibration dataset; dynamically characterizing the internal defect distribution and structural strength parameters of the freeze-thaw rock strata through wave velocity inversion and amplitude attenuation analysis; identifying vulnerable areas of the rock mass based on the characterized internal defect distribution and structural strength parameters, and calculating the three-dimensional spatial coordinates of subsequent borehole locations in real time based on the three-dimensional geological model; combining the three-dimensional spatial coordinates and the internal defect distribution, using a path optimization algorithm to generate the optimal drilling path instructions that avoid areas with high defect density; and sending the optimal drilling path instructions to the drilling control system to ensure that the drilling process adapts to changes in the rock mass structure. The specific steps of generating the optimal drilling path instruction to avoid high defect density areas using the path optimization algorithm include: establishing a rock mass defect density map based on three-dimensional spatial coordinates and internal defect distribution, and identifying high defect density areas; applying the path optimization algorithm, which calculates path safety and efficiency through a cost function to generate an initial drilling path; introducing obstacle avoidance constraints into the initial drilling path to avoid high defect density areas, optimizing it into an optimal obstacle avoidance path; and adjusting the curvature and depth of the optimal obstacle avoidance path in conjunction with drill string dynamics parameters to generate the final drilling path instruction. The path optimization algorithm ensures that the drilling path remains stable and efficient under changes in rock mass structure.

2. The method of claim 1, wherein, The synchronous acquisition of vertical vibration data in the un-drilled area and borehole axial vibration data in the drilled area specifically includes: exciting the target rock mass to vibrate using a controllable excitation source; simultaneously, acquiring vertical vibration data in the un-drilled area using a surface sensor array; simultaneously, acquiring borehole axial vibration data in the drilled area using a borehole axial sensor; and constructing a multi-source vibration dataset that integrates spatiotemporal characteristics based on the acquired vertical vibration data and borehole axial vibration data.

3. The method of claim 1, wherein, The process of monitoring the real-time spatial pose of the drill string by fusing data from the positioning and navigation modules to construct a three-dimensional motion trajectory for the drill string; dynamically planning the optimal obstacle avoidance path from the drill string to the target hole position based on the optimal drilling path command, and generating a drilling attitude adjustment strategy that includes drill pipe deflection compensation, specifically includes: monitoring the spatial position and attitude angle of the drill string in real time by fusing data from the positioning and navigation modules to construct a three-dimensional motion trajectory for the drill string; analyzing the deviation between the motion trajectory and the target hole position based on the optimal drilling path command, and applying a dynamic programming algorithm to generate an optimal obstacle avoidance path; calculating the drill pipe deflection compensation based on the optimal obstacle avoidance path, combined with the drill pipe material characteristics and real-time load, and generating a drilling attitude adjustment strategy; and outputting the drilling attitude adjustment strategy to an adaptive trajectory adjustment mechanism to ensure that the drill string movement is consistent with the target path.

4. The method of claim 1, wherein, The method of adjusting the drilling trajectory deflection angle and feed rate in real time through the adaptive trajectory adjustment mechanism based on the drilling attitude adjustment strategy specifically includes: driving the drill string to drill along the optimal obstacle avoidance path; dynamically adjusting the drilling trajectory deflection angle through the adaptive trajectory adjustment mechanism based on the drilling attitude adjustment strategy; dynamically adjusting the feed rate through the adaptive trajectory adjustment mechanism based on the drilling attitude adjustment strategy; and achieving dynamic alignment between the drill string movement trajectory and the target path.

5. The method of claim 3, wherein, The process of calculating drill pipe flexural deformation compensation based on the optimal obstacle avoidance path, combined with drill pipe material properties and real-time load, and generating a drilling attitude adjustment strategy specifically includes: analyzing the expected flexural deformation of the drill pipe during drilling based on the geometric characteristics of the optimal obstacle avoidance path; calculating the basic deformation compensation based on drill pipe material properties, including elastic modulus and yield strength; dynamically correcting the basic deformation compensation based on real-time load data monitored by the navigation module to generate the final drill pipe flexural deformation compensation; integrating the drill pipe flexural deformation compensation into the drilling attitude adjustment strategy, including deflection angle compensation and feed rate compensation; and outputting it to the adaptive trajectory adjustment mechanism to achieve real-time correction of the drill string's motion trajectory.

6. The method of claim 4, wherein, The specific steps for achieving dynamic alignment between the drill string's trajectory and the target path include: using an adaptive trajectory adjustment mechanism to compare the deviation between the drill string's trajectory and the target path in real time; dynamically adjusting the drilling trajectory deflection angle based on the deviation data; dynamically adjusting the feed rate based on the deviation data; and ensuring that the drill string's trajectory continuously aligns with the target path.

7. A computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the dynamic optimization drilling method for blast holes in frozen-thaw rock formations as described in any one of claims 1 to 6.

8. A freeze-and-fracture rock formation blast hole dynamically optimized drilling rig, characterized by, The equipment used in the dynamic optimization drilling method for blast holes in freeze-thawed rock formations as described in any one of claims 1-6 includes: A controllable excitation source is used to induce vibration in the target rock mass; The vibration data acquisition module is used to simultaneously acquire vertical vibration data in the un-drilled area of ​​the ground surface and axial vibration data of the boreholes in the drilled area. The data processing module is used to construct a multi-source vibration dataset that integrates spatiotemporal features; The rock mass structure analysis module is used to dynamically characterize the internal defect distribution and structural strength parameters of freeze-thaw rock layers based on the rock mass structure feature reconstruction algorithm. The path generation module is used to generate the three-dimensional spatial coordinates of subsequent borehole locations and the corresponding optimal drilling path instructions in real time. The drilling control system is used to receive and execute drilling path instructions; The positioning and monitoring module, including a positioning module and a navigation module, is used to monitor the real-time spatial pose of the drill string and construct the three-dimensional motion trajectory of the drill string. The path planning module is used to dynamically plan the optimal obstacle avoidance path from the drill bit to the target hole position; The attitude adjustment module is used to generate drilling attitude adjustment strategies that include drill pipe deflection compensation. An adaptive trajectory adjustment mechanism is used to adjust the drilling trajectory deflection angle and feed rate in real time based on a drilling attitude adjustment strategy. The drive mechanism is used to drive the drill bit to drill along the optimal obstacle avoidance path, so as to achieve dynamic matching between the drill bit's movement trajectory and the target path.

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