A coal mine drilling trajectory deviation early warning and dynamic monitoring system

Abstract

The present application relates to the technical field of coal mine drilling monitoring and intelligent early warning, in particular to a coal mine drilling trajectory deviation early warning and dynamic monitoring system, comprising: a signal acquisition terminal module, which reads natural gamma pulse count values, inclination data and azimuth data at preset depth intervals and generates original sequence data; a data alignment processing module, which eliminates physical spacing deviation through a cache queue and generates synchronous characteristic data at the same absolute depth; a coupling calculation and early warning module, which calculates natural gamma spatial partial derivatives and attitude space micro-curvature, calculates actual trajectory deviation values and generates dynamic early warning thresholds; a state evaluation control module, which outputs early warning control instructions to adjust drilling parameters when the deviation value exceeds the dynamic early warning threshold; and a closed-loop feedback correction module, which executes a reduction or keeps the same of the sensitive coefficient according to the synchronous characteristic data within the subsequent preset distance; the present application can achieve earlier and more robust deviation identification, and takes into account false alarm suppression and engineering operability.

Description

Technical Field

[0001] This invention relates to the field of coal mine drilling monitoring and intelligent early warning technology, specifically a coal mine drilling trajectory deviation early warning and dynamic monitoring system. Background Technology

[0002] In the existing coal mine drilling process, drilling along the coal seam usually requires monitoring the borehole trajectory by combining drill bit attitude parameters and formation logging information. Some monitoring systems include natural gamma sensors, inclination sensors and ground receiving devices. Natural gamma data, dip angle data and azimuth data are collected during drilling, and the drill bit is judged to deviate from the design trajectory based on these data. In existing technologies, a fixed deviation threshold is usually used to alarm the borehole trajectory, or the judgment is made separately based on lithological change information and attitude change information. Furthermore, the data collected by different sensors have different installation positions along the drill bit axis, which can easily cause different types of data acquired at the same time to not correspond to the same absolute depth position, thus affecting the accurate identification of the relationship between the current stratum change and the drill bit spatial attitude. However, in the transition zone between the top and bottom of the coal seam, fault zones, or near areas with abnormal water inrush, the drill bit is prone to gradual deflection due to changes in the strata. If only fixed thresholds or isolated signals are used for monitoring, problems such as delayed early warning, false alarm rate higher than the preset standard, and difficulty in dynamically adjusting according to the on-site working conditions are likely to occur. As a result, the deviation of the borehole trajectory cannot be detected and effectively corrected in time, affecting the safety of coal mine drilling and the quality of borehole formation. Summary of the Invention

[0003] To solve the above-mentioned technical problems, the present invention provides a coal mine drilling trajectory deviation early warning and dynamic monitoring system. Specifically, the technical solution of the present invention includes: The signal acquisition terminal module is connected to sensor nodes arranged on the drill string of the drilling equipment. It is used to read the first characteristic signal representing the change of formation lithology and the second characteristic signal representing the spatial attitude of the borehole trajectory at preset depth intervals, and generate raw sequence data. The data alignment processing module is used to receive the original sequence data and eliminate the physical distance deviation between the first feature signal and the second feature signal through a preset buffer queue, so as to generate synchronous feature data at the same absolute depth. The coupled calculation and early warning module is used to calculate the spatial partial derivative of the first feature signal and the spatial micro-curvature of the second feature signal based on the synchronous feature data, calculate the actual trajectory deviation value based on the spatial micro-curvature, and adjust the preset benchmark deviation threshold according to the spatial partial derivative based on the preset sensitivity coefficient to generate a dynamic early warning threshold. The status assessment and control module is used to compare the actual trajectory deviation value with the dynamic early warning threshold. If the actual trajectory deviation value is greater than the dynamic early warning threshold, it outputs an early warning control command to adjust the drilling parameters; otherwise, it maintains the current operating status. The closed-loop feedback correction module is used to extract synchronous feature data within a preset distance after outputting the early warning control command, and dynamically update the sensitivity coefficient based on the comparison result between the actual trajectory deviation value and the dynamic early warning threshold.

[0004] Preferably, the closed-loop feedback correction module dynamically updates the sensitivity coefficient, specifically for: If the actual trajectory deviation value corresponding to the subsequent synchronized feature data is continuously less than or equal to the dynamic warning threshold, the sensitivity coefficient is adjusted down according to the preset step size; if the actual trajectory deviation value corresponding to the subsequent synchronized feature data is greater than the dynamic warning threshold, the sensitivity coefficient remains unchanged.

[0005] Preferably, the coupled calculation and early warning module includes: The gradient calculation subunit is used to calculate the relative rate of change of the first feature signal within a unit depth to obtain the spatial partial derivative. The micro-curvature extraction subunit is used to extract the change in the second feature signal at a consecutive preset number of measurement points in order to calculate the local spatial micro-curvature. The threshold dynamic generation subunit is used to multiply the preset dimensionless sensitivity coefficient by the spatial partial derivative to obtain the compensation value, and subtract the compensation value from the benchmark deviation threshold to generate a dynamic early warning threshold.

[0006] Preferably, the system further includes a multi-well data linkage analysis module, which includes: The model data extraction unit is used to retrieve three-dimensional geological model data of adjacent historical boreholes from a preset geographic information system database. The spatial approximation determination unit is used to calculate the current three-dimensional coordinates of the drill bit at the end of the drill string based on the second feature signal, calculate the distance between the current three-dimensional coordinates and the preset high-risk structural zone in the three-dimensional geological model data, and determine whether the distance is less than the preset approximation threshold. The penalty factor stacking unit is used to determine the model penalty factor when the distance is less than the approximation threshold. The value of the model penalty factor is negatively correlated with the distance, and the model penalty factor is multiplied into the compensation value as a coefficient to forcibly reduce the dynamic warning threshold. When the distance is greater than or equal to the approximation threshold, the model penalty factor is not stacked.

[0007] Preferably, the high-risk structural zone includes at least one of fault zones and water inrush zones.

[0008] Preferably, the system further includes a visualization rendering module, which includes: The depth driving unit is used to drive the preset 3D engine in real time according to the absolute depth corresponding to the synchronous feature data; The trajectory drawing unit is used to draw borehole trajectory maps with color rendering based on a 3D engine; The synchronous update unit is used to synchronously update the formation logging curves and geological profiles based on synchronous feature data.

[0009] Preferably, the trajectory drawing unit is specifically used for: When the actual trajectory deviation is less than or equal to the dynamic warning threshold, the borehole trajectory segment corresponding to the absolute depth in the borehole trajectory diagram is determined as a normal segment, and the normal segment is rendered using the first preset color. If the actual trajectory deviation exceeds the dynamic warning threshold, the borehole trajectory segment corresponding to the absolute depth in the borehole trajectory map is identified as a high-risk segment, and the high-risk segment is rendered using the second preset color.

[0010] Preferably, the closed-loop feedback correction module includes: The feature recording unit is used to extract the first feature signal sequence at the location where the early warning control command occurs, based on the synchronous feature data, as a geological profile feature when the actual trajectory deviation value corresponding to the subsequent synchronous feature data is continuously less than or equal to the dynamic early warning threshold. The adaptive correction unit is used to analyze the geological profile features and automatically lower the sensitivity coefficient according to a preset step size when the mutation rate of the first feature signal is greater than the preset mutation threshold by calculating the difference ratio between adjacent first feature signals within the geological profile features. This achieves adaptive correction of the early warning algorithm. The sensitivity coefficient remains unchanged when the mutation rate is less than or equal to the preset mutation threshold.

[0011] Preferably, the early warning control command includes at least one of the commands to reduce drilling rig pressure and to reduce drilling rig speed.

[0012] Preferably, the first characteristic signal is the pulse count value of the natural gamma sensor, and the second characteristic signal is the tilt angle data and azimuth angle data; the signal acquisition terminal module includes: A cable transmission unit is used to establish a wired communication channel using the cables inside the drill pipe contained in the drill string; The synchronous reading unit is used to synchronously acquire the first feature signal and the second feature signal at the sensor node through a wired communication channel based on a preset depth interval.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. By adopting the above-mentioned technical solution, the present invention utilizes a signal acquisition terminal module to synchronously read natural gamma pulse count values, dip angle data, and azimuth angle data at preset depth intervals. Combined with a data alignment processing module, the physical spacing deviation between different sensors is eliminated through a buffer queue, so that the formation lithology change information and the drill bit spatial attitude information can be uniformly mapped to the same absolute depth position. This effectively solves the problem of mismatched positions of multiple source signals and difficulty in accurately identifying the relationship between lithology change and trajectory attitude at the current position in the prior art.

[0014] 2. This invention calculates the spatial partial derivative of natural gamma and the spatial micro-curvature formed by attitude changes based on synchronous feature data, and uses this to estimate the actual trajectory deviation of the drill bit in three-dimensional space. Then, it dynamically adjusts the benchmark deviation threshold by combining the sensitivity coefficient. When lithological abrupt changes and gradual deflection trends occur near the transition zone of the coal seam roof and floor, fault zone, or water inrush anomaly zone, the warning conditions can be tightened earlier than the fixed threshold scheme, thus effectively solving the problems of delayed warning and insufficient accuracy of judgment relying solely on isolated signals in the existing technology.

[0015] 3. This invention introduces a multi-hole data linkage analysis module to jointly determine the three-dimensional geological model data of adjacent historical boreholes, the spatial boundary of high-risk structural zones, and the current three-dimensional coordinates of the drill bit. When approaching fault zones or water inrush areas, a model penalty factor is superimposed to further reduce the dynamic early warning threshold. This enables the system not only to identify the deviation risks that have already appeared, but also to use historical geological priors to achieve early prevention and control, further improving the reliability of early warning in high-risk sections.

[0016] 4. This invention, by setting up a state assessment control module and a closed-loop feedback correction module, outputs warning control commands to the drilling equipment to reduce drilling pressure and reduce drilling speed when the actual trajectory deviation exceeds the dynamic warning threshold. In the subsequent preset distance, the sensitivity coefficient is adjusted down or kept unchanged based on the deviation recovery situation, the intensity of manual intervention and geological profile characteristics. This realizes closed-loop control from risk identification, on-site correction to parameter adaptive correction, effectively reducing false alarm interference and long-term over-warning phenomenon.

[0017] 5. Through the synergistic effects of depth synchronous acquisition, position alignment processing, lithology and attitude coupling calculation, dynamic threshold generation, historical model collaborative constraints, and construction feedback adaptive correction, this invention can significantly improve the timeliness, robustness, and engineering operability of early warning of deviation from drilling trajectory in coal mines, and enhance drilling construction safety and hole quality. Attached Figure Description

[0018] The above and other objects, features and advantages of the present invention will become clearer from the following description of embodiments of the invention with reference to the accompanying drawings, in which: Figure 1This is a schematic diagram of a coal mine drilling trajectory deviation early warning and dynamic monitoring system in an embodiment of this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments.

[0020] A coal mine drilling trajectory deviation early warning and dynamic monitoring system, the system is communicatively connected to the drilling rig equipment, and the system includes: The signal acquisition terminal module is connected to sensor nodes arranged on the drill string of the drilling equipment. It is used to read the first characteristic signal representing the change of formation lithology and the second characteristic signal representing the spatial attitude of the borehole trajectory at preset depth intervals, and generate raw sequence data. The data alignment processing module is used to receive the original sequence data and eliminate the physical distance deviation between the first feature signal and the second feature signal through a preset buffer queue, so as to generate synchronous feature data at the same absolute depth. The coupled calculation and early warning module is used to calculate the spatial partial derivative of the first feature signal and the spatial micro-curvature of the second feature signal based on the synchronous feature data, calculate the actual trajectory deviation value based on the spatial micro-curvature, and adjust the preset benchmark deviation threshold according to the spatial partial derivative based on the preset sensitivity coefficient to generate a dynamic early warning threshold. The status assessment and control module is used to compare the actual trajectory deviation value with the dynamic early warning threshold. If the actual trajectory deviation value is greater than the dynamic early warning threshold, it outputs an early warning control command to adjust the drilling parameters; otherwise, it maintains the current operating status. The closed-loop feedback correction module is used to extract the synchronous feature data within the subsequent preset distance after the output warning control command, and dynamically update the sensitivity coefficient based on the comparison result of the actual trajectory deviation value and the dynamic warning threshold. The closed-loop feedback correction module dynamically updates the sensitivity coefficient, specifically for: If the actual trajectory deviation value corresponding to the subsequent synchronized feature data is continuously less than or equal to the dynamic warning threshold, the sensitivity coefficient is adjusted down according to the preset step size; if the actual trajectory deviation value corresponding to the subsequent synchronized feature data is greater than the dynamic warning threshold, the sensitivity coefficient remains unchanged.

[0021] This embodiment provides a mechanism for early warning and dynamic monitoring of deviations in coal mine drilling trajectories, such as... Figure 1 As shown; specifically, taking the No. 3 coal seam gas drainage working face of Jingfang Coal Mine as the main scene, the construction equipment adopts ZDY series tunnel drilling rig, the target borehole is the gas drainage hole of this coal seam arranged along the extension direction of the coal seam, the designed hole depth is 200 meters, the average thickness of the coal seam is 3.2 meters, the roof is sandy mudstone, and there is a hidden small fault inside the construction area. During the drilling process, the system continuously receives the natural gamma pulse count, dip angle and azimuth angle uploaded by the drill string, and constructs a synchronous characteristic data stream with absolute depth as a unified benchmark, and then performs deviation warning and dynamic correction based on it. Specifically, the signal acquisition terminal module triggers sampling at a preset depth interval; this depth interval can be set to 0.1 meters, meaning that gamma, dip angle, and azimuth angle are collected once every 0.1 meters the drill bit advances; for ease of explanation, it can be set at absolute depths of 100.0 meters, 100.1 meters, and 100.2 meters, with gamma counts of 82, 84, and 113 respectively, dip angles of 3.0°, 3.1°, and 3.5°, and azimuth angles of 15.0°, 15.2°, and 15.8° respectively; these data are entered into the buffer in the form of raw sequences, where the gamma sequence reflects lithological changes, and the dip angle and azimuth angle reflect trajectory attitude changes; Furthermore, the data alignment processing module is used to eliminate the installation distance difference between different sensors along the drill string axis; assuming the gamma probe is installed 1.5 meters forward relative to the inclinometer tube, there will be an inherent positional deviation of 15 sampling points with a sampling interval of 0.1 meters; the module can establish a buffer queue of length 15: When the inclinometer probe acquires attitude data at 101.5 meters, it retrieves the gamma count value previously acquired at 100.0 meters from the cache queue and pairs the two as synchronous characteristic data at the same absolute depth of 100.0 meters. After this processing, the lithological location reflected by the gamma is consistent with the spatial location of the drill bit reflected by the attitude, thereby avoiding misjudging the abrupt change in lithology ahead as a deviation in the current position. Based on this, the coupled calculation and early warning module calculates the synchronous characteristic data; the natural gamma spatial partial derivative is used to represent the rate of lithological change within a unit depth, which can be approximated by the relative rate of change between two adjacent depth points during microscopic extrapolation; for example, in the range of 100.1 m to 100.2 m, the gamma value increases from 84 to 113, with a depth difference of 0.1 m, then the change intensity in this range is significantly higher than that in the range of 100.0 m to 100.1 m; The system can identify the previous segment as a stable segment and the subsequent segment as a sudden change segment. At the same time, the spatial micro-curvature is extracted through the changes in inclination and azimuth of multiple consecutive measuring points. For simplification, three consecutive depth points can be taken: the first depth point, the second depth point, and the third depth point. If the attitude change from the first depth point to the second depth point is less than the preset attitude deviation threshold, while the inclination and azimuth of the second depth point to the third depth point increase simultaneously, it indicates that the drill bit shows a trend of increasing inclination and directional deviation in local space. This trend can be used as the basis for the increase in micro-curvature. The actual trajectory deviation can be approximated by integrating the local micro-curvature along subsequent short segments; the specific calculation logic is as follows: the system calculates the geometric sum of the squares of the difference in inclination angle and the difference in azimuth angle between adjacent measuring points, and divides it by the preset depth interval to obtain the local spatial micro-curvature; Assuming the drill bit trajectory is approximately a circular arc within this small depth segment, the deflection angle increment is calculated by multiplying the spatial micro-curvature by the advance length. Subsequent short segments and the advance length are numerically equivalent to the preset depth interval. This is then decomposed into three-dimensional orthogonal displacement components perpendicular to the design trajectory normal. By accumulating the segmented displacement vectors from the starting point to the current depth, the actual trajectory deviation of the drill bit from the theoretical centerline can be analyzed. To illustrate the subsequent logic, we can assume that the system, at a depth of 100.2 meters, deduces a deviation of 0.18 meters from the designed trajectory of the drill bit based on the attitude changes of the three nearest measuring points. If the baseline deviation threshold is set to 0.30 meters and the sensitivity coefficient is set to 0.002, then in the stable segment, due to the small change in gamma, the compensation amount is close to 0, and the dynamic warning threshold remains close to 0.30 meters. However, in the abrupt change segment, due to the significant change in gamma, the compensation amount increases, for example, reaching 0.12 meters, and the dynamic warning threshold decreases to 0.18 meters. At this point, if the actual trajectory deviation is 0.18 meters, the system can determine that it has reached the warning edge. If the deviation at a subsequent sampling point increases to 0.19 meters, an early warning is immediately triggered. After comparing the actual trajectory deviation with the dynamic warning threshold, the status assessment and control module sends control commands to the drilling rig or maintains the status quo. Taking this scenario as an example, when encountering a sudden change in lithology and attitude uplift near 100.3 meters, the system judges that the deviation risk has increased and sends decompression and speed reduction commands to the control panel, allowing the driller to correct the deviation without stopping drilling. If the deviation values ​​at 100.4 meters and 100.5 meters subsequently fall back to 0.14 meters and 0.12 meters respectively, and are both below the corresponding threshold at that time, the current operating state is maintained, and control is not triggered again, thereby reducing false alarm interference. The closed-loop feedback correction module is used to track triggered warnings. A preset distance of 3 meters and a preset step size of 0.0002 increments are allowed. When a warning is issued at 100.3 meters, the system extracts synchronous feature data from the range of 100.4 meters to 103.3 meters. If the actual deviation values ​​corresponding to all sampling points within this range are not higher than their respective thresholds, the warning is considered conservative, and the system automatically lowers the sensitivity coefficient from 0.002 to 0.0018. If any point exceeds the threshold again, the sensitivity coefficient is considered still necessary and remains unchanged. In this process, to avoid misjudging the results of effective intervention in drilling parameters as a conservative warning, i.e., that serious deviations should have occurred but were corrected due to proper operation and human intervention, the closed-loop feedback correction module has a pre-identification mechanism before determining whether to lower the sensitivity coefficient: only when the control parameters such as drilling pressure and rotation speed in the subsequent distance have not undergone significant human intervention, and the trajectory can be naturally stabilized within the dynamic threshold by the cutting guidance of the formation itself, does the system confirm that the actual deviation risk of the geological interface is low and execute the reduction of the sensitivity coefficient. If the deviation value is not exceeded and is achieved entirely by strong external intervention such as large-scale forced pressure reduction or shutdown correction, the system will automatically identify the intensity of intervention and maintain the current sensitivity coefficient unchanged. Through continuous iteration of multi-hole and multi-segment construction, the system gradually adapts to the real deviation characteristics of the interface between the specific coal seam and the surrounding rock in this mining area. As an anomaly handling mechanism, when construction enters a homogeneous single hard rock section with a thickness greater than the preset thickness threshold, the natural gamma variation is close to stable over a long period, and the spatial partial derivative is close to zero. The dynamic warning threshold will naturally regress the benchmark to deviate from the threshold, and the system degenerates into a fixed threshold mode, but can still complete basic trajectory monitoring. If a single data loss occurs during the sampling process, the gamma value or attitude value of the previous effective depth point is used for interpolation, and the point is marked as a low confidence point. If more than a preset number of data are missing consecutively, the dynamic threshold update is paused, and only attitude monitoring and manual prompts are retained until communication is restored. When constructing the No. 17 gas extraction borehole in the No. 3 coal seam working face of Jingfang Coal Mine, after drilling to a depth of approximately 100 meters, the system first identified the abrupt change trend caused by the approach of the roof sandy mudstone from the gamma count value, and identified the slight upward and rightward deviation of the drill bit from the dip angle and azimuth angle; when the traditional fixed threshold has not yet reached the alarm condition, the dynamic threshold of this embodiment has tightened and issued an early warning, guiding the site to reduce pressure and correct deviation in advance, so as to prevent the drill bit from continuing to deviate upward and cross the boundary of the coal seam roof; The purpose of this step is to couple the preceding physical cause of lithological mutation with spatial trajectory changes, thereby achieving earlier and more robust deviation identification than a fixed threshold scheme, while also taking into account false alarm suppression and engineering operability.

[0022] Furthermore, the coupled calculation and early warning module includes: a gradient calculation subunit, used to calculate the relative rate of change of the first feature signal within a unit depth to obtain the spatial partial derivative; a micro-curvature extraction subunit, used to extract the change of the second feature signal at a consecutive preset number of measurement points to calculate the local spatial micro-curvature; and a threshold dynamic generation subunit, used to multiply a preset dimensionless sensitivity coefficient by the spatial partial derivative to obtain a compensation value, and subtract the compensation value from the benchmark deviation threshold to generate a dynamic early warning threshold.

[0023] This embodiment provides a refined mechanism for the coupled calculation and early warning process. Specifically, in the aforementioned main scenario, although early warning can be performed based on synchronous feature data, if the formation and trajectory status are judged only by whether the changes are large or small, the early warning criteria are prone to drift under conditions with high depth resolution and many noise points. Therefore, this embodiment further breaks down the coupled calculation into three consecutive actions: gradient calculation, micro-curvature extraction, and dynamic threshold generation, so that each step corresponds to a clear data source and output result. Specifically, the gradient calculation subunit performs local calculations on the gamma sequence along the absolute depth axis. To avoid direct amplification of single-point impulse noise, a three-point sliding window can be used. For example, when the gamma values ​​corresponding to 99.9 meters, 100.0 meters, 100.1 meters, and 100.2 meters are 81, 82, 84, and 113 respectively, the system processes the window [100.0, 100.1, 100.2]. It first calculates the changes of 2 and 29 for the two segments before and after, and then normalizes them with a window length of 0.2 meters to obtain a local gradient intensity. If this intensity is higher than the formation abrupt change reference value set by the system, the first preset partial derivative numerical spatial partial derivative is output; if it is lower than or equal to the reference value, the second preset partial derivative numerical spatial partial derivative is output. The advantage of this approach is that it avoids misidentifying individual anomalous pulses as stable formation inflections. To ensure the judgment process is clearly quantifiable and traceable, the specific quantification calculation rule is as follows: the normalized local gradient intensity is directly assigned to the spatial partial derivative. Its formula is:

[0024] in, The change in adjacent sampling points within the window. The sequence number of the change in adjacent sampling points within the window; This is a function to find the maximum value. The depth of the window; Furthermore, the micro-curvature extraction subunit extracts attitude changes from a predetermined number of measurement points; this predetermined number can be 3 or 5; when the high-frequency vibration amplitude in the coal mine is greater than the predetermined vibration threshold, it is preferred to be between 3 and 5. For ease of explanation, three measuring points are selected: the first measuring point, the second measuring point, and the third measuring point. The first measuring point has an inclination angle of 3.0° and an azimuth angle of 15.0°, the second measuring point has an inclination angle of 3.1° and an azimuth angle of 15.2°, and the third measuring point has an inclination angle of 3.5° and an azimuth angle of 15.8°. The system first determines whether the attitude change direction from A to B and from B to C is consistent. If they are consistent, it indicates that there is a continuous deflection. Then it determines whether the change is monotonically increasing. If it is amplified, the local micro-curvature is marked as increasing. Conversely, if the change from A to B is upward and the change from B to C is downward, it is regarded as a short-term oscillation caused by vibration, and the micro-curvature output can be suppressed. In the quantitative calculation, after extracting the changes in continuous measurement points with consistent deflection, the geometric sum of the squares of the changes in tilt angle and azimuth angle is calculated and then divided by the depth interval, and multiplied by the attenuation coefficient set based on the vibration trend. For example, the attenuation coefficient is set to 0.2 when vibrating and swinging, and 1.0 when deflecting continuously, so as to convert the attitude change into an accurate local spatial micro-curvature value for subsequent deduction. The attenuation coefficient is automatically obtained by matching the attenuation coefficient mapping table pre-established by the system based on the continuity characteristics of the attitude change direction of adjacent measuring points. The attenuation coefficient mapping table pre-sets the correspondence between different attitude change modes and attenuation coefficients: when the tilt or azimuth angle change directions of adjacent measuring points alternately reverse, the system determines it as a vibration swing mode and matches an attenuation coefficient less than 1; when the attitude change directions of adjacent measuring points are continuously consistent, the system determines it as a continuous deflection mode and matches an attenuation coefficient equal to 1. The threshold dynamic generation subunit generates a compensation value based on the sensitivity coefficient and spatial partial derivative, and then subtracts it from the baseline deviation threshold. Taking the above scenario as an example, the baseline deviation threshold can be set to 0.30 meters, the sensitivity coefficient to 0.002, and the spatial partial derivative output by the gradient calculation subunit is converted to 60, then the compensation value is 0.12 meters, corresponding to a dynamic warning threshold of 0.18 meters. If the spatial partial derivative of the next segment falls back to 10, then the compensation value is only 0.02 meters, and the dynamic warning threshold rises back to 0.28 meters. Through this continuously changing threshold generation method, the system can automatically tighten the threshold when approaching high-risk sections such as the roof and floor, and faults, and automatically increase the warning threshold in homogeneous coal seams. In handling abnormal situations, if there are missing values ​​within the sliding window, the gradient calculation subunit can use two adjacent points to replace them. If the missing points exceed half of the window, the gradient results of that window are invalidated and do not participate in the threshold update. If magnetic interference in the attitude measurement point causes a sudden jump in azimuth angle, such as from 15.2° to 48.0°, and neither the preceding nor following points support this abrupt change, the micro-curvature extraction subunit can mark the point as an abnormal point and replace it with a neighborhood smoothed value. If the dynamic warning threshold after processing is less than the minimum threshold allowed by the system, such as 0.05 meters, it is forcibly truncated to this minimum value to avoid excessive threshold tightening that could lead to frequent false alarms. When borehole No. 17 approached the concealed fault by about 1 meter, the gamma curve changed from a gentle rise to a steep rise, and the gradient calculation sub-unit first output the high gradient result; the three consecutive attitude points showed a sequence of increasing dip angle and increasing azimuth rate of change, and the micro-curvature extraction sub-unit confirmed that this was not random vibration; after the two were superimposed, the dynamic warning threshold rapidly tightened from 0.30 meters to 0.18 meters, so that the deviation trend was identified before a significant geometric deviation was formed; The purpose of this mechanism is to break down the coupled early warning into a data process that can be verified segment by segment, thereby making the dynamic threshold generation process reproducible and engineering-applicable.

[0025] Furthermore, the system also includes a multi-hole data linkage analysis module, which includes a model data extraction unit for retrieving three-dimensional geological model data of adjacent historical boreholes from a preset geographic information system database. The spatial approximation determination unit is used to calculate the current three-dimensional coordinates of the drill bit at the end of the drill string based on the second feature signal, calculate the distance between the current three-dimensional coordinates and the preset high-risk structural zone in the three-dimensional geological model data, and determine whether the distance is less than the preset approximation threshold. The penalty factor stacking unit is used to determine the model penalty factor when the distance is less than the approximation threshold. The value of the model penalty factor is negatively correlated with the distance, and the model penalty factor is multiplied into the compensation value as a coefficient to forcibly reduce the dynamic warning threshold. If the distance is greater than or equal to the approximation threshold, no model penalty factor is added; High-risk structural zones include at least one of fault zones and water inrush zones.

[0026] This embodiment provides a multi-hole data linkage analysis mechanism. Specifically, in the aforementioned scenario, relying solely on the real-time gamma and attitude data of the current hole, although it is possible to detect the ongoing deviation trend, in certain special sections, the drill bit has not yet approached the lithological abrupt change interface, and the real-time signal is not yet obvious. At this time, the warning has a time lag. Especially when adjacent historical boreholes have revealed high-risk structures such as fault zones and water inrush anomaly areas, it would be a waste of existing geological data if this prior spatial information is not included in the judgment. Therefore, this embodiment introduces adjacent borehole model data from the geographic information system database on the basis of the original coupled early warning, forming a joint judgment that combines real-time perception and historical models. Specifically, the model data extraction unit retrieves the three-dimensional geological models of adjacent historical boreholes from the database. It can be assumed that the currently operating borehole is No. 17, and the adjacent completed boreholes No. 12 and No. 13 each record a fault zone, whose three-dimensional distribution is fitted as a narrow, elongated structure. Simultaneously, the No. 9 exploration and drainage borehole reveals a localized water inrush anomaly at another location. When loading the current borehole's design trajectory, the system simultaneously loads the spatial boundaries of these high-risk structural zones. For ease of explanation, the fault zone can be simplified as a spatial envelope 20 meters long, 2 meters wide, and 3 meters thick, and the water inrush anomaly zone can be simplified as a spherical risk area with a radius of 4 meters. The spatial approach determination unit calculates the current three-dimensional coordinates of the drill bit in real time based on the dip angle and azimuth angle at the current depth, combined with the cumulative drilling footage. During microscopic simulation, the current drill bit coordinates can be set to 100, 25, -320, and the coordinates of the nearest point of the fault zone envelope in the historical model can be set to 101.2, 24.8, -319.4, with a distance of approximately 1.36 meters between them. If the preset approach threshold is 2 meters, the system determines that the drill bit has entered the high-risk structural approach zone. If the nearest distance calculated at another moment is 3.8 meters, it is considered not to have approached and no additional penalty is triggered. After determining that the distance is close enough, the penalty factor superposition unit further amplifies the original compensation value. For ease of explanation, the penalty factor can be set to increase as the distance decreases. For example, the penalty factor is 1.1 when the distance is 2 meters, 1.4 when the distance is 1 meter, and 1.8 when the distance is 0.5 meters. If the compensation value obtained from the gamma gradient in the previous step is 0.10 meters, and the current distance is 1 meter, then the compensation value after superposition of the penalty becomes 0.14 meters, and the corresponding dynamic warning threshold is further tightened from 0.20 meters to 0.16 meters. In practical engineering, to avoid abrupt changes in the penalty factor, the penalty factor stacking unit is continuously assigned values ​​using a function: for example, let the current distance be... Approximating the threshold is Then the model penalty factor It can be calculated using the formula:

[0027] in, The preset high-risk scaling factor is a dimensionless constant; when Less than hour, The value increases smoothly as the distance decreases; when Greater than or equal to At that time, the penalty is not cumulative; It should be noted that if the drill bit approaches a high-risk structural zone in a formation with extremely homogeneous lithology, the original compensation value calculated at the beginning may tend to zero because the natural gamma signal does not change abruptly at this time. Directly performing multiplication and superposition will cause the penalty mechanism to fail. To overcome this mathematical calculation zero-value anomaly, the penalty factor superposition unit internally sets a compensation base plate value, for example, preset to 0.05 meters; the compensation base plate value is a preset non-zero minimum constant to prevent mathematical calculation failure due to the lack of abrupt changes in characteristic signals in a homogeneous layer; when the calculated initial compensation value is less than this base plate value, the system forcibly resets it to this base plate value and then multiplies it into the model penalty factor; Through this zero-value compensation prevention mechanism, even if the initial compensation value is 0, after being reset and multiplied by a penalty factor of 1.8, the actual penalty compensation value of 0.09 meters can still be output, thereby ensuring that the penalty factor can effectively deduct the benchmark threshold in any homogeneous lithology; in this way, even if the real-time gamma gradient has not been fully amplified, as long as the drill bit has approached a historically known fault zone or water inrush zone, the system will adopt a more conservative early warning strategy. Regarding the specific types of high-risk structural zones, this embodiment preferably includes at least one of fault zones and water inrush areas; fault zones typically correspond to coal-rock interface faulting, abrupt lithological changes, and stress redistribution, which can easily lead to abrupt changes in drill bit stress; water inrush areas mean that the geological conditions are fragile, and any loss of trajectory control may amplify the risk; therefore, the system does not treat such areas merely as geological display objects, but directly participates in threshold control. In handling abnormal situations, if no high-risk structural zones are found in the historical model, or if there is a lack of sufficient neighboring borehole data in the current borehole area, the multi-hole data linkage analysis module can be excluded from the calculation, and the system will revert to the real-time signal coupling mode. If there are multiple versions of the structural boundary in the database, the model version with the most recent time and higher borehole density will be selected first. If multiple versions contradict each other, the union envelope can be used as a conservative boundary. If the current drill bit coordinate calculation fails, for example, due to missing attitude data causing the three-dimensional coordinates to be unstable and unable to be updated, the penalty factor will not be added temporarily to prevent misjudgment caused by erroneous coordinates. As drilling continued forward in borehole 17, although the gamma curve near 100 meters showed only moderate changes, the system pre-loaded a model penalty factor because the drill bit was now within 1.2 meters of the fault zone boundary revealed by borehole 12, further tightening the dynamic warning threshold. After an additional advance of less than 0.2 meters, the drill bit showed a tendency for the spatial micro-curvature to exceed the preset elevation angle deflection threshold, requiring timely pressure reduction and correction on site. The same logic can be used for risk convergence if the same borehole is far from the fault zone but close to a historical water inrush anomaly area. The purpose of this mechanism is to integrate the spatial geological priors from adjacent historical boreholes into the real-time early warning process of the current borehole, thereby enabling early prevention and control of high-risk structures such as fault zones and water inrush areas.

[0028] Furthermore, the system also includes a visualization rendering module, which includes: a depth-driven unit, used to drive a preset 3D engine in real time according to the absolute depth corresponding to the synchronous feature data; a trajectory drawing unit, used to draw a borehole trajectory map with color rendering based on the 3D engine; and a synchronous update unit, used to synchronously update the formation logging curve map and geological profile map based on the synchronous feature data. The trajectory drawing unit is specifically used to: when the actual trajectory deviation value is less than or equal to the dynamic warning threshold, determine the borehole trajectory segment corresponding to the absolute depth in the borehole trajectory diagram as a normal segment and render the normal segment with the first preset color; when the actual trajectory deviation value is greater than the dynamic warning threshold, determine the borehole trajectory segment corresponding to the absolute depth in the borehole trajectory diagram as a high-risk segment and render the high-risk segment with the second preset color.

[0029] This embodiment provides a visualization rendering mechanism for on-site decision-making. Specifically, in the above construction scenario, if the system only completes threshold comparison and outputs text alarms in the background, drillers and dispatchers often find it difficult to quickly determine where the risk occurs, what its relationship is with the coal seam interface, and whether it is close to the fault zone. Especially when drilling multiple holes continuously, simple numerical alarms are not conducive to forming a consistent on-site response. Therefore, this embodiment jointly maps synchronous feature data, trajectory deviation status, and geological profile information onto the three-dimensional interface. Specifically, the depth-driven unit uses absolute depth as the rendering propulsion axis; each time a new set of synchronous feature data is generated, the 3D engine extends the current borehole trajectory forward by one depth step, such as 0.1 meters; that is, a short trajectory is generated at 100.0 meters, and another segment is added forward at 100.1 meters, until a continuous borehole trajectory is formed; since each small segment is bound to a unique depth point, subsequent updates such as color updates, risk label additions, or synchronous linkage with logging curves can all be traced back to the same absolute depth; The trajectory drawing unit draws the borehole trajectory in three-dimensional space and renders it with colors according to the deviation status. For ease of explanation, the 100.0-meter to 100.9-meter range can be divided into 10 trajectory segments of equal length. The actual deviation values ​​of the first 7 segments are all below their respective dynamic thresholds, so they are judged as normal segments and rendered with the first preset color, which can be set to green. The actual deviation values ​​of the 8th and 9th segments exceed the dynamic thresholds, so they are judged as high-risk segments and rendered with the second preset color, which can be set to red. If the 10th segment returns to normal after correction, it is re-rendered as green. On-site personnel can directly see the starting point, duration, and relative position of the risk segment to the coal seam boundary from the interface. The synchronous update unit updates the formation logging curves and geological profiles simultaneously with the 3D trajectory. The interface can be set to display the natural gamma curve on the left, the 3D trajectory on the right, and the simplified geological profile in the middle. When drilling reaches 100.2 meters, the gamma curve rises sharply at the corresponding depth, the 3D trajectory changes from green to red at the same depth, and the profile shows the drill bit approaching the coal seam roof. In this way, dispatchers can complete the synchronous judgment of lithological changes, trajectory deviations, and spatial positions without switching between multiple windows. As an anomaly handling mechanism, if the 3D engine refresh rate is lower than the sampling rate, queued delayed rendering can be used, but risk assessment is still performed according to real-time results to avoid affecting control commands due to display delays; if the synchronous feature data of a certain depth segment is determined to be of low confidence, such as the presence of interpolated values, then that segment can be displayed with a preset transition color, such as yellow, to remind on-site personnel to interpret it with caution; if multiple consecutive segments are of low confidence, the trajectory extension is maintained but risk color switching is paused until valid data is recovered. When the No. 17 borehole approached the concealed fault, the three-dimensional trajectory interface was initially displayed continuously in green. However, as the gamma gradient and micro-curvature increased sharply near 100.2 meters, the trajectory began to turn red at that depth, and the gamma curve showed a peak. The profile diagram showed that the drill bit was approaching the boundary between the coal seam roof and the fault. Based on this, the drillers on site quickly understood the alarm and implemented pressure reduction operations, rather than making a judgment based solely on an abstract numerical prompt. The purpose of this mechanism is to convert early warning results into a spatial representation that can directly support on-site operations, thereby achieving an intuitive correspondence between the location of trajectory anomalies, the location of stratigraphic changes, and the location of high-risk structures.

[0030] Furthermore, the closed-loop feedback correction module includes: a feature recording unit, used to extract the first feature signal sequence at the location where the early warning control command occurs based on the synchronous feature data as a geological profile feature when the actual trajectory deviation value corresponding to the subsequent synchronous feature data is continuously less than or equal to the dynamic early warning threshold. The adaptive correction unit is used to analyze the geological profile features and automatically lower the sensitivity coefficient according to a preset step size when the mutation rate of the first feature signal is greater than the preset mutation threshold by calculating the difference ratio between adjacent first feature signals within the geological profile features. This achieves adaptive correction of the early warning algorithm. The sensitivity coefficient remains unchanged when the mutation rate is less than or equal to the preset mutation threshold.

[0031] This embodiment provides an adaptive correction mechanism for specific strata in mining areas. Specifically, in the aforementioned scenario, although the dynamic threshold improves the early warning sensitivity, if certain coal-rock interfaces naturally exhibit strong gamma abrupt changes while the drill bit stress does not deteriorate synchronously, the system may remain conservative on similar interfaces for a long time. If such high-gradient but low-risk local geological features are not learned, the site will still suffer from unnecessary intervention frequency as the number of drilling holes increases. Therefore, this embodiment further utilizes subsequent drilling results to reverse-correct the sensitivity coefficient. Specifically, the feature recording unit continuously observes a preset distance, such as 3 meters, after a certain warning. If the actual deviation value within this 3-meter range is consistently no higher than the dynamic threshold, it indicates that the stratum segment corresponding to the previous warning may belong to the type with significant lithological changes but self-recoverable trajectories. In this case, the system extracts the gamma sequence near the location where the warning occurred as a geological profile feature. For example, if the warning occurred at 100.3 meters, the gamma values ​​of 11 sampling points within the range of 99.8 meters to 100.8 meters can be extracted to obtain a local profile sequence, such as [80,81,82,84,113,115,116,114,112,111,110]. This sequence can characterize whether the interface is a steep or gradual change. The adaptive correction unit performs a mutation rate analysis on the above geological profile features. For ease of explanation, the changes in adjacent sampling points can be compared. The largest mutation occurs between 84 and 113, and the change amplitude is greater than the preset mutation threshold. However, the trajectory does not continue to deteriorate within the next 3 meters, indicating that the actual deviation inducing effect of this type of gamma peak on the mining area and this stratum is lower than the initial setting. At this time, the system automatically lowers the sensitivity coefficient corresponding to this stratum, for example, from 0.002 to 0.0017. If the mutation rate in another interface is not large and does not induce deviation, the sensitivity coefficient is kept unchanged to avoid over-correction. Specifically, in this mutation rate analysis, in order to achieve accurate quantitative determination, the mutation rate of the first feature signal can be calculated as the ratio of the maximum absolute difference of the first feature signal between adjacent sampling points within the geological profile feature sequence to the average value of the entire feature sequence signal. When this mutation rate ratio is greater than a preset mutation threshold, for example, 20%, and the corresponding deviation value does not exceed the limit, the adaptive correction unit determines that the geological interface is a high-incidence area of ​​false alarms, and automatically lowers the sensitivity coefficient according to a predetermined step size, thereby effectively reducing the problem of subjective and fuzzy determination of the degree of mutation. This correction process is preferably tied to the stratigraphic location, rather than being a uniform correction for all boreholes; that is, the system not only records whether it has been downgraded, but also records which profile shape, which type of structure, and which coal seam level was downgraded; subsequently, when adjacent boreholes encounter similar profile features again, the updated sensitivity coefficient can be directly called; in this way, the system gradually evolves from general parameters to customized parameters adapted to the specific geological structure of the mining area. As an anomaly handling mechanism, if no further deviation occurs after an alert, but subsequent data is missing for a long period of time, the sensitivity coefficient will not be corrected to prevent erroneous adjustments when evidence is insufficient. If multiple alerts are triggered and verified as conservative alerts on the same type of profile, the sensitivity coefficient can be cumulatively reduced, but each reduction must not exceed the preset step size limit to prevent rapid decay of the sensitivity coefficient. If a certain type of profile has been reduced, and then a real deviation occurs again on the same type of profile, the system can stop further reductions and re-mark that type of profile as a high-risk type. After an early warning was issued at 100.3 meters in borehole No. 17, a slight pressure reduction was implemented on site. However, the drill bit remained stable within the coal seam for the next 3 meters, and the deviation did not exceed the limit again. The system classified the corresponding gamma peak profile as a steep but recoverable interface and slightly lowered the sensitivity coefficient of this stratum in the mining area. Subsequently, when a similar gamma peak appeared in borehole No. 19 at a nearby stratum, the system no longer tightened the threshold prematurely, thereby reducing the number of unnecessary early warnings. The purpose of this mechanism is to continuously adjust parameters using real construction feedback, so that the system can maintain its sensitivity to dangerous interfaces while avoiding long-term over-warning in non-dangerous abrupt change strata unique to the mining area.

[0032] Furthermore, the early warning control commands include at least one of commands to reduce drilling rig pressure and commands to reduce drilling rig speed; This embodiment provides a drilling parameter adjustment mechanism that works in conjunction with early warning results. Specifically, in the aforementioned scenario, if the system only outputs an abstract warning of deviation risk without providing actionable control suggestions, on-site personnel still need to rely on experience to determine whether to reduce pressure, decrease rotation speed, or stop drilling for retesting, resulting in low response efficiency. Especially when a slight deviation in the trajectory has just appeared but has not yet formed a significant geometric deviation, moderate parameter adjustments are often more effective than completely stopping drilling. Therefore, this embodiment directly maps the early warning results to drilling rig control suggestions. Specifically, when the actual trajectory deviation exceeds the dynamic threshold, but the deviation is less than the preset first-level over-limit threshold (e.g., exceeding by 0.01 to 0.03 meters), the system can prioritize outputting a command to reduce the drilling rig pressure, thereby decreasing the axial thrust of the drill bit and reducing the amplification effect of unilateral cutting caused by abrupt changes in lithology. If the over-limit deviation continues to increase, or the micro-curvature rises at multiple consecutive sampling points, a command to reduce the drilling rig speed is superimposed on the decompression to simultaneously suppress cutting disturbances and drill string sway. For the downhole control panel, this command can be expressed as a numerical suggestion, such as reducing drilling pressure by 10% to 15% and reducing the speed by 5% to 10%. For ease of explanation, the dynamic warning threshold at 100.3 meters can be set to 0.18 meters, and the actual deviation is 0.19 meters. The system first outputs a first-level control suggestion, i.e., a 10% reduction in pressure. If the deviation at 100.4 meters rises to 0.22 meters and the micro-curvature continues to increase, the system upgrades to a second-level control suggestion, i.e., a 15% reduction in pressure and an 8% reduction in speed. If the deviation at 100.5 meters falls back to 0.14 meters, the system cancels the upgrade suggestion, retains only the current parameters, or prompts a return to normal operating conditions. In handling abnormal situations, if the drilling rig is already at the minimum safe speed or minimum safe drilling pressure, it will not continue to issue a command to reduce parameters significantly, but will instead prompt the system to stop drilling for verification; if a communication link abnormality causes the console to not acknowledge receipt of the command, the system will maintain an alarm status on the interface and record the non-execution flag; if multiple commands of the same level are triggered consecutively near the same depth, they will be merged and displayed to avoid sending repeated alarm prompts to the site frequently. Before the 17th hole approached the fault, the system first issued a level one decompression suggestion based on gamma change and attitude deflection. After the driller executed the suggestion, the trajectory converged briefly. As the drill bit approached the fault plane further, the deviation trend continued to increase, so the system added a suggestion to reduce the rotation speed. After two steps of flexible intervention, the drill bit returned to stability before it broke through the coal seam, thus avoiding the interruption of drilling operations caused by direct drilling stop. The purpose of this step is to transform the early warning results into drill parameter adjustment actions that can be executed immediately, thereby achieving a closed-loop connection from risk discovery to on-site correction.

[0033] Furthermore, the first characteristic signal is the pulse count value of the natural gamma sensor, and the second characteristic signal is the tilt angle data and azimuth angle data; the signal acquisition terminal module includes: The cable transmission unit is used to establish a wired communication channel using the cable inside the drill pipe contained in the drill bit; the synchronous reading unit is used to synchronously acquire the first feature signal and the second feature signal at the sensor node through the wired communication channel based on a preset depth interval.

[0034] This embodiment provides a wired synchronous acquisition mechanism suitable for downhole drilling environments. Specifically, in the aforementioned main scenario, if the gamma and attitude signals are uploaded asynchronously through independent links, or rely on time synchronization rather than depth synchronization, mismatch problems can easily occur when drilling speed fluctuates, pauses, or rotations occur, thus affecting subsequent depth alignment and coupling early warning. Therefore, this embodiment preferably uses internal drill pipe cables to establish a stable wired communication channel and uses depth intervals as a unified trigger condition for synchronous reading. Specifically, the cable transmission unit lays communication cables inside the drill pipe, connecting the natural gamma sensor, tilt measurement unit, and azimuth measurement unit located on the drill string to the data receiving end on the ground or in the roadway. Because this channel is wired, it can reduce the impact of the underground electromagnetic environment on wireless transmission, making it particularly suitable for the high humidity, high dust, and confined space environment in coal mine roadways. The synchronous reading unit does not use absolute time as the sole reference, but listens to changes in the footage. When the cumulative footage reaches a preset depth interval, such as 0.1 meters, it simultaneously triggers sampling of each sensor and attaches the same depth tag. For ease of explanation, let's assume that it takes 4 seconds for the drill bit to advance from 100.0 meters to 100.1 meters, and only 1.5 seconds to advance from 100.1 meters to 100.2 meters. If time-period sampling is used, for example, sampling once every 2 seconds, the number of sampling points in the two depth segments will be different, and it will be difficult to ensure that the gamma and attitude sampling fall at the same position. However, in this embodiment, when the depth-triggered method is used, regardless of the speed of advancement, a synchronous sampling is performed every 0.1 meters. Therefore, 100.0 meters, 100.1 meters, and 100.2 meters can all form original sequence data with consistent positions. Furthermore, if a short pause or idle occurs during drilling and the depth value does not increase, the synchronous reading unit will not generate new valid depth sampling points. Instead, the data during that period will be marked as state reference data and will not be included in the formal synchronous feature queue. This avoids misrecording drilling stop vibrations as actual trajectory changes. When the formation is hard and the advance rate is lower than the preset minimum rate reference value, the system will still sample at a depth step of 0.1 meters to ensure data scale consistency under different working conditions. As an exception handling mechanism, if the cable communication is momentarily interrupted, the synchronous reading unit can retain the current depth sampling request for one sampling period; if communication is restored in the next period, the depth point will be sampled again and inserted into the sequence according to the actual depth; if the interruption lasts for more than a preset time, the system will issue a sampling exception prompt and suspend new coupling calculations; if the return value of a certain sensor exceeds the physical reasonable range, for example, the inclination angle jumps by 90° instantaneously, but the drilling rig attitude does not change accordingly, the data will be marked as abnormal and will not be used as the basis for successful synchronous reading. During the construction of borehole No. 17, the drilling speed fluctuated significantly before and after approaching the fault. If conventional timed sampling were used, it would be easy for the gamma curve to reflect the transition zone into the top plate, while the attitude data would still correspond to the previous depth position. In this embodiment, the drilling cable and depth trigger synchronous reading are used to naturally bind the gamma, dip angle and azimuth angle at every 0.1 meters, providing a stable and unified original data foundation for subsequent buffer alignment and dynamic early warning. The purpose of this mechanism is to ensure the consistency of downhole drilling data in the location dimension, thereby enabling reliable input for subsequent calculations of partial derivatives, micro-curvature, and dynamic thresholds.

[0035] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A coal mine drilling trajectory deviation early warning and dynamic monitoring system, characterized in that, The system is communicatively connected to the drilling rig equipment, and the system includes: The signal acquisition terminal module is connected to sensor nodes arranged on the drill string of the drilling equipment. It is used to read the first characteristic signal representing the change of stratum lithology and the second characteristic signal representing the spatial attitude of the borehole trajectory at preset depth intervals, and generate raw sequence data. The data alignment processing module is used to receive the original sequence data and eliminate the physical distance deviation between the first feature signal and the second feature signal through a preset buffer queue, so as to generate synchronous feature data at the same absolute depth. The coupled calculation and early warning module is used to calculate the spatial partial derivative of the first feature signal and the spatial micro-curvature of the second feature signal based on the synchronous feature data, calculate the actual trajectory deviation value based on the spatial micro-curvature, and adjust the preset benchmark deviation threshold according to the spatial partial derivative based on the preset sensitivity coefficient to generate a dynamic early warning threshold. The status assessment and control module is used to compare the actual trajectory deviation value with the dynamic early warning threshold. If the actual trajectory deviation value is greater than the dynamic early warning threshold, it outputs an early warning control command to adjust the drilling parameters; otherwise, it maintains the current operating status. The closed-loop feedback correction module is used to extract the synchronization feature data within a subsequent preset distance after outputting the early warning control command, and dynamically update the sensitivity coefficient based on the comparison result between the actual trajectory deviation value and the dynamic early warning threshold.

2. The coal mine drilling trajectory deviation early warning and dynamic monitoring system according to claim 1, characterized in that, The closed-loop feedback correction module dynamically updates the sensitivity coefficient, specifically for: If the actual trajectory deviation value corresponding to the subsequent synchronization feature data is continuously less than or equal to the dynamic warning threshold, the sensitivity coefficient is reduced by a preset step size; and if the actual trajectory deviation value corresponding to the subsequent synchronization feature data is greater than the dynamic warning threshold, the sensitivity coefficient is kept unchanged.

3. The coal mine drilling trajectory deviation early warning and dynamic monitoring system according to claim 1, characterized in that, The coupled calculation and early warning module includes: The gradient calculation subunit is used to calculate the relative rate of change of the first feature signal within a unit depth to obtain the spatial partial derivative; The micro-curvature extraction subunit is used to extract the change in the second feature signal at a consecutive preset number of measurement points in order to calculate the local spatial micro-curvature; The threshold dynamic generation subunit is used to multiply the preset dimensionless sensitivity coefficient by the spatial partial derivative to obtain a compensation value, and subtract the compensation value from the benchmark deviation threshold to generate the dynamic warning threshold.

4. The coal mine drilling trajectory deviation early warning and dynamic monitoring system according to claim 3, characterized in that, The system also includes a multi-well data linkage analysis module, which includes: The model data extraction unit is used to retrieve three-dimensional geological model data of adjacent historical boreholes from a preset geographic information system database. The spatial approximation determination unit is used to calculate the current three-dimensional coordinates of the drill bit at the end of the drill string based on the second feature signal, calculate the distance between the current three-dimensional coordinates and the preset high-risk structural zone in the three-dimensional geological model data, and determine whether the distance is less than the preset approximation threshold. The penalty factor superposition unit is used to determine a model penalty factor when the distance is less than the approximation threshold, wherein the value of the model penalty factor is negatively correlated with the distance, and multiply the model penalty factor as a coefficient into the compensation value to forcibly reduce the dynamic warning threshold; when the distance is greater than or equal to the approximation threshold, the model penalty factor is not superimposed.

5. The coal mine drilling trajectory deviation early warning and dynamic monitoring system according to claim 4, characterized in that, The high-risk structural zones include at least one of fault zones and water inrush zones.

6. The coal mine drilling trajectory deviation early warning and dynamic monitoring system according to claim 1, characterized in that, The system also includes a visualization rendering module, which includes: A depth driving unit is used to drive a preset 3D engine in real time according to the absolute depth corresponding to the synchronous feature data. The trajectory drawing unit is used to draw a borehole trajectory map with color rendering based on the 3D engine. The synchronous update unit is used to synchronously update the formation logging curve and geological profile based on the synchronous feature data.

7. The coal mine drilling trajectory deviation early warning and dynamic monitoring system according to claim 6, characterized in that, The trajectory drawing unit is specifically used for: If the actual trajectory deviation value is less than or equal to the dynamic warning threshold, the drilling trajectory segment corresponding to the absolute depth in the drilling trajectory diagram is determined as a normal segment, and the normal segment is rendered using a first preset color. If the actual trajectory deviation value is greater than the dynamic warning threshold, the borehole trajectory segment corresponding to the absolute depth in the borehole trajectory map is identified as a high-risk segment, and the high-risk segment is rendered using a second preset color.

8. The coal mine drilling trajectory deviation early warning and dynamic monitoring system according to claim 1, characterized in that, The closed-loop feedback correction module includes: The feature recording unit is used to extract the first feature signal sequence at the location where the early warning control command occurs, based on the synchronized feature data, as a geological profile feature when the actual trajectory deviation value corresponding to the subsequent synchronized feature data is continuously less than or equal to the dynamic early warning threshold. An adaptive correction unit is used to analyze the geological profile features, and automatically lower the sensitivity coefficient by a preset step size at the position where the mutation rate of the first feature signal is greater than a preset mutation threshold by calculating the difference ratio between adjacent first feature signals within the geological profile features to achieve adaptive correction of the early warning algorithm, and keep the sensitivity coefficient unchanged when the mutation rate is less than or equal to the preset mutation threshold.

9. The coal mine drilling trajectory deviation early warning and dynamic monitoring system according to claim 1, characterized in that, The early warning control command includes at least one of the commands to reduce drilling rig pressure and to reduce drilling rig speed.

10. The coal mine drilling trajectory deviation early warning and dynamic monitoring system according to claim 1, characterized in that, The first characteristic signal is the pulse count value of the natural gamma sensor, and the second characteristic signal is the tilt angle data and the azimuth angle data; The signal acquisition terminal module includes: A cable transmission unit is used to establish a wired communication channel using the cable inside the drill pipe included in the drill tool; The synchronous reading unit is used to synchronously acquire the first feature signal and the second feature signal at the sensor node through the wired communication channel based on the preset depth interval.

Images