Intelligent control method for drilling device used in karst area pile foundation construction

Abstract

The present application belongs to the technical field of drilling control, and particularly relates to an intelligent control method for a drilling device used in pile foundation construction in karst areas, which comprises the following steps: collecting drilling rod propulsion, drill bit rotation, drilling machine load and mud circulation response parameters, combining with drilling depth to construct a set of stratum response parameters, and identifying different karst drilling states according to parameter variation trends; according to different states, the drilling operation parameters are adjusted in coordination, and the adjusted states are re-identified and feedback corrected, so as to realize closed-loop optimization control of the drilling parameters; by adopting the karst response identification technology, the present application realizes dynamic intelligent adjustment in the drilling process, and improves adaptability to complex strata.

Description

Technical Field

[0001] This invention belongs to the field of drilling control technology, specifically an intelligent control method for drilling devices used in pile foundation construction in karst areas. Background Technology

[0002] Karst areas are often affected by groundwater erosion over a long period of time, resulting in caves, fissures, alternating layers of soft and hard rock, and discontinuous geological structures. This makes drilling operations during pile foundation construction highly uncertain. Currently, for pile foundation construction in karst areas, existing technologies mainly use rotary drilling rigs, impact drilling rigs, and full casing drilling equipment for hole formation. These are combined with geological survey data, construction experience during drilling, and manual monitoring to adjust drilling speed, drilling pressure, rotation speed, mud parameters, and wall protection measures.

[0003] However, existing drilling equipment is usually controlled based on preset parameters or operator experience. When the drill bit continuously traverses different geological units such as intact rock layers, fractured rock layers, karst caves, and weak interlayers, the drilling resistance, torque, and vibration response will change rapidly. The existing control method cannot perform dynamic correlation analysis and adaptive adjustment of drilling parameters according to the real-time drilling status, which can easily lead to reduced drilling efficiency, abnormal wear of drill bits, or even borehole instability. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides an intelligent control method for drilling devices used in pile foundation construction in karst areas. This method solves the problem in the prior art that it is difficult to dynamically and intelligently adjust drilling control parameters based on the real-time changes in the operating status of the drilling device during pile foundation construction in karst areas, thereby improving the adaptability of the drilling process.

[0005] A method for intelligent control of drilling equipment used in pile foundation construction in karst areas includes the following steps:

[0006] The drilling equipment continuously collects parameters such as drill rod advance, drill bit rotation, drilling rig load, and mud circulation response during drilling operations. Based on the drill bit advance depth, the construction parameters corresponding to different drilling stages are correlated to construct a set of corresponding formation response parameters. Based on the constructed set of formation response parameters, the trend indicators corresponding to the changes in each response parameter are determined. Based on the trend indicators corresponding to the changes in each response parameter between consecutive drilling stages, the area where the current drill bit is located is divided into stable drilling state, karst response state, fractured formation response state, and soft filling layer response state.

[0007] Based on the response changes between the drill bit propulsion process, drill bit rotation process, drilling rig load process, and mud circulation process under different drilling conditions, the corresponding drilling operation parameter adjustment methods are determined, and the drill rod propulsion control parameters, drill bit rotation control parameters, drilling rig load control parameters, and mud circulation control parameters are adjusted in a coordinated manner.

[0008] The adjusted drilling operation status is re-acquired, and the trend indicators of each drilling operation parameter after adjustment are re-determined based on the adjusted set of drilling response parameters. Based on the adjusted trend indicators, the determination process of stable drilling status, karst response status, fractured strata response status, and weak filling layer response status is re-executed to obtain the adjusted drilling status indicators. The drilling status indicators obtained before adjustment are compared with the adjusted drilling status indicators, and the drilling operation parameters are corrected based on the comparison results. The drilling operation parameters that have completed the feedback correction are used to construct the final set of drilling operation parameters.

[0009] Preferably, the construction of the corresponding set of formation response parameters is as follows:

[0010] The drill pipe displacement detection component is used to detect the advance of the drill pipe along the borehole axial direction and obtain the drill pipe advance displacement parameters. The drill bit rotation detection component is used to detect the operating status of the drill bit during rotation and obtain the drill bit rotation parameters. Using drilling rig operation monitoring components, load changes generated during the operation of the drilling equipment are collected to obtain drilling rig load response parameters. The mud circulation monitoring system is used to detect the mud circulation status during drilling operations and obtain mud circulation response parameters. ;

[0011] Based on the drilling depth information corresponding to the drill pipe advance process, the drilling parameters acquired within the same spatial range are correlated. The drill pipe advance displacement parameters, drill bit rotation parameters, drilling rig load response parameters, and mud circulation response parameters acquired within the same drilling stage are combined to form the formation response parameter set corresponding to the current drilling stage. ,in, Indicates the first The set of formation response parameters corresponding to each drilling stage.

[0012] Preferably, the step of determining the trend identifier corresponding to the change in each response parameter based on the constructed set of formation response parameters is as follows:

[0013] Calculate the response changes between adjacent drilling stages based on the set of formation response parameters. , This indicates the change in response parameters as the current drilling stage transitions to the next drilling stage.

[0014] Determine the corresponding trend indicator based on the changes in each response parameter during adjacent response stages. This indicates the trend of change, corresponding to the direction of parameter change in adjacent drilling stages. These represent different response parameters, including: drill pipe advance displacement parameters, drill bit rotation operation parameters, drilling rig load response parameters, and mud circulation response parameters;

[0015] Set the trend determination depth to be continuous. One drilling stage;

[0016] When the trend indicator satisfies the formula When the value is 0, it indicates that the corresponding response parameter maintains the same trend of change during the continuous drilling phase;

[0017] When the trend indicator satisfies the formula When, it means that the corresponding response parameter is at the th time. The drilling stage to the first The value increases between drilling stages;

[0018] When the trend indicator satisfies the formula When, it means that the corresponding response parameter is at the th time. The drilling stage to the first The value decreases between drilling stages;

[0019] When the trend indicator satisfies the formula When, it means that the corresponding response parameter is at the th time. The drilling stage to the first The values ​​remained unchanged between each drilling stage.

[0020] Preferably, the stable drilling state is as follows:

[0021] When continuous If the following conditions are met simultaneously during a drilling stage, it indicates that the interaction between the drill bit and the current formation remains stable, and the current drilling area is defined as a stable drilling state. The specific conditions are as follows:

[0022] The direction of change of the drill pipe advance displacement parameters remains constant, meaning that the trend indicators corresponding to the drill pipe advance displacement parameters satisfy the formula. ;

[0023] The drill bit rotation parameters did not show repeated directional changes; that is, the trend indicators corresponding to the drill bit rotation parameters were not displayed. and Alternating between them;

[0024] The drilling rig load response parameters did not show a trend opposite to the direction of the drill pipe thrust displacement change; that is, the trend indicators corresponding to the drilling rig load response parameters did not correspond to the trend indicators corresponding to the drill pipe thrust displacement parameters. The correspondence;

[0025] The mud circulation response parameters did not show a sustained abnormal trend opposite to the propulsion changes.

[0026] Preferably, the response state of the karst cave is as follows:

[0027] When continuous If, during a drilling stage, the following conditions are simultaneously met, it indicates that the bottom constraint on the drill bit is reduced, and there is a change in the spatial structure of the current area. The current drilling area is then identified as a cave response state. The specific conditions are as follows:

[0028] The drill pipe advance displacement parameter continues to increase, meaning the trend indicator corresponding to the drill pipe advance displacement parameter satisfies the formula. ;

[0029] The drilling rig load response parameters continue to decrease, meaning the trend of change in the drilling rig load response parameters satisfies the formula. ;

[0030] The mud circulation response parameters and drilling rig load parameters change in the same direction. That is, within the same drilling depth stage, the changing trends of the mud circulation response parameters and drilling rig load parameters satisfy the formula. ;

[0031] All responses of increased thrust and decreased load correspond to the same drilling depth range.

[0032] Preferably, the response state of the fractured formation is as follows:

[0033] When continuous If the following conditions are met simultaneously during a drilling stage, it indicates that the continuity of the rock mass in the current area is reduced, and the drill bit is affected by incomplete rock mass. The current drilling area is then identified as a fractured formation response state. The specific conditions are as follows:

[0034] The direction of change of the drill pipe advance displacement parameters alternates between positive and negative values ​​between adjacent stages, meaning that the trend indicators corresponding to the drill pipe advance displacement parameters satisfy the formula. Furthermore, the alternating changes continue as the drilling depth advances;

[0035] The direction of change of the drill bit rotation operation parameters alternates between positive and negative synchronously between adjacent stages, that is, the trend indicators corresponding to the drill bit rotation operation parameters satisfy the formula. ;

[0036] The drilling rig load response parameters and drill pipe advance displacement parameters always change in opposite directions. That is, the trend indicators corresponding to the drilling rig load response parameters and the trend indicators corresponding to the drill pipe advance displacement parameters satisfy the formula... ;

[0037] The alternating relationship persists throughout multiple drilling stages.

[0038] Preferably, the response state of the weak filling layer is as follows:

[0039] When continuous If the following conditions are met simultaneously during a drilling phase, it indicates that the drill bit has entered a region of low-strength filling medium, and the current drilling region is defined as the response state of a weak filling layer. The specific conditions are as follows:

[0040] The drill pipe advance displacement parameter continues to increase, meaning the trend indicator corresponding to the drill pipe advance displacement parameter satisfies the formula. ;

[0041] The drilling rig load response parameters continue to decrease, meaning the trend of change in the drilling rig load response parameters satisfies the formula. ;

[0042] The mud circulation response parameters did not change synchronously with the drilling rig load parameters. Specifically, within the same drilling depth stage, the changing trends of the mud circulation response parameters and the drilling rig load parameters did not satisfy the formula... ;

[0043] All responses of increased thrust and decreased load correspond to the same drilling depth range.

[0044] Preferably, the method for determining the corresponding drilling operation parameter adjustment is as follows:

[0045] Construct a corresponding drilling status identifier based on the determined current drilling status. ,in, This indicates a stable drilling state. Indicates the response state of the karst cave. Indicates the response state of the fractured strata. Indicates the response state of the weak fill layer;

[0046] When the determined drilling status indicator satisfies the formula When the current drilling bit maintains a stable interaction with the underground rock formation, the current drilling operation parameters are maintained.

[0047] When the determined drilling status indicator satisfies the formula When this occurs, it indicates that there is a change in the spatial structure of the current area, and adjustments should be made to the current drill rod advance control parameters, drill rig load control parameters, and mud circulation control parameters;

[0048] When the determined drilling status indicator satisfies the formula When this occurs, it indicates that the continuity of the rock mass in the current area has decreased, and adjustments should be made to the current drill rod advance control parameters, drill rig load control parameters, and drill bit rotation control parameters.

[0049] When the determined drilling status indicator satisfies the formula When this occurs, it indicates that the drill bit has entered a low-strength filling medium region, and adjustments are made to the current drill rod advance control parameters, drill rig load control parameters, drill bit rotation control parameters, and mud circulation control parameters.

[0050] Preferably, the step of feedback correction of drilling operation parameters based on the comparison results is as follows:

[0051] Based on the adjusted trend indicators, the process for determining the stable drilling state, karst response state, fractured formation response state, and weak filling layer response state is re-executed to obtain the adjusted drilling state indicators. ,in, Indicates the adjusted drilling status;

[0052] The drilling status indicators obtained before adjustment are compared with the drilling status indicators after adjustment. Based on the comparison results, feedback corrections are made to the drilling operation parameters, specifically:

[0053] If the adjusted drilling status indicator satisfies the formula This indicates that after adjusting the operating parameters, a stable interaction relationship has been re-established between the drill bit and the current formation. In this case, the currently adjusted drilling operating parameters should be maintained. No further adjustments will be made.

[0054] If the adjusted drilling status indicator satisfies the formula If the status is positive, it indicates that there is still an abnormal formation response in the current drilling area. The anomaly type is determined based on the adjusted status identifier, and the corresponding drilling operation parameters are corrected based on the determined anomaly type.

[0055] Preferably, the feedback correction of corresponding drilling operation parameters based on the determined anomaly type is as follows:

[0056] When the adjusted drilling status indicator satisfies the formula If the current spatial structure changes, the adjustment strategy for the propulsion parameters, load parameters, and mud circulation parameters corresponding to the cave response state will be re-executed.

[0057] When the adjusted drilling status indicator satisfies the formula If the current situation indicates that the rock mass continuity is still reduced in the current area, then the adjustment strategy for the propulsion parameters, rotation parameters, and load parameters corresponding to the fractured strata response state will be re-executed.

[0058] When the adjusted drilling status indicator satisfies the formula If the current area still contains low-strength filling medium, then the adjustment strategy for the propulsion parameters, load parameters, rotation parameters, and mud circulation parameters corresponding to the weak filling layer response state will be re-executed.

[0059] Compared with the prior art, the present invention has the following beneficial effects:

[0060] 1. This invention achieves accurate acquisition of the relationship between drilling operation status and underground karst strata response by adopting multi-source synchronous acquisition and depth correlation construction technology of drill rod propulsion parameters, drill bit rotation parameters, drilling rig load parameters and mud circulation response parameters, thereby improving the ability to identify drilling status in complex karst areas.

[0061] 2. This invention adopts a formation response state classification technology based on multi-parameter change trend identification, which enables accurate differentiation of stable drilling state, karst response state, fractured formation response state and weak filling layer response state, avoiding the problem of single control strategy caused by the inability to identify different abnormal formations in traditional drilling process.

[0062] 3. This invention achieves dynamic adjustment of drilling control parameters as underground strata change by adopting a coordinated adjustment technology for drill rod advance, drill bit rotation, drilling rig load, and mud circulation parameters in response to different karst response states, thereby improving the adaptability of the drilling process to complex karst environments.

[0063] 4. By adopting the technology of re-identifying the drilling status after adjustment and the status label feedback correction, this invention realizes the real-time verification and automatic correction of the drilling parameter adjustment results, avoids continuous abnormal drilling caused by unreasonable parameter adjustment, and improves the stability of drilling control.

[0064] 5. This invention achieves adaptive determination of the drilling control parameter adjustment boundary by adopting threshold and adjustment coefficient calibration technology based on historical stable drilling data and abnormal formation response data, thereby improving the applicability of the intelligent control method under different karst regions and drilling equipment conditions. Attached Figure Description

[0065] Figure 1 This is a schematic diagram of the overall method steps of the intelligent control method for drilling devices used in pile foundation construction in karst areas according to the present invention. Detailed Implementation

[0066] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0067] Example 1

[0068] Reference Figure 1 As an embodiment of the present invention, an intelligent control method for drilling devices used in pile foundation construction in karst areas is provided, comprising the following steps:

[0069] S1: Determine the drilling status based on data information during the drilling process.

[0070] Specifically, determining the drilling status based on data information during the drilling process involves continuously collecting data on drill rod advance parameters, drill bit rotation parameters, drilling rig load parameters, and mud circulation response parameters during pile foundation construction in karst areas. Based on the drill bit depth, the construction parameters corresponding to different drilling stages are correlated to construct a corresponding set of formation response parameters. The changes in each response parameter are then determined based on this set, identifying corresponding trend indicators. Finally, based on these trend indicators across consecutive drilling stages, the drilling status type corresponding to the current drill bit location is determined. The specific implementation is as follows:

[0071] Key operating parameters of the drilling rig during borehole construction are continuously collected. These key operating parameters reflect the changes in the interaction between the drill bit and the underground rock strata during the drill bit advance process. They include: drill pipe advance displacement parameters, drill bit rotation parameters, drilling rig load response parameters, and mud circulation response parameters, as detailed below:

[0072] The drill pipe displacement detection component is used to detect the advance of the drill pipe along the borehole axial direction and obtain the drill pipe advance displacement parameters, specifically:

[0073] Set the drill pipe advance displacement parameter corresponding to the current drilling stage as follows: , Indicates the first The amount of drill pipe advance variation is determined by the axial thrust displacement generated by the drill pipe during each drilling stage, based on the thrust displacement parameters corresponding to adjacent drilling stages. ,in, Indicates the first The axial thrust displacement of the drill pipe during each drilling stage This indicates the change in drill pipe advance, used to represent the variation in drill pipe advance between continuous drilling stages.

[0074] The drill bit rotation detection component is used to detect the operating status of the drill bit during rotation and obtain the drill bit rotation parameters, specifically:

[0075] Set the drill bit rotation parameters corresponding to the current drilling stage as follows: , Indicates the first The drill bit rotation status corresponding to each drilling stage is used to calculate the rotational changes between adjacent stages based on the drill bit rotation parameters corresponding to adjacent drilling stages. ,in, Indicates the first The drill bit rotation status corresponding to each drilling stage It represents the rotational change between adjacent stages of the calculation, and is used to indicate the trend of the drill bit's rotational operating state.

[0076] Using a drilling rig operation monitoring component, load changes generated during the operation of the drilling equipment are collected to obtain drilling rig load response parameters, including: drive system load change information and hydraulic actuator pressure change information, specifically:

[0077] Set the load response parameters corresponding to the current drilling stage as follows: , Indicates the first The load response of the drilling rig under formation action at each drilling stage is analyzed, and the load variation between adjacent stages is calculated based on the corresponding drilling rig load response parameters. ,in, Indicates the first Load response of drilling equipment under formation action at each drilling stage This indicates the load change between adjacent calculation stages.

[0078] A mud circulation monitoring component is used to detect the mud circulation status during drilling operations and obtain mud circulation response parameters, including: mud backflow status information, mud level change information, and mud circulation continuity information, specifically:

[0079] Set the mud circulation response parameters for the current drilling stage as follows: , Indicates the first The mud circulation status corresponding to each drilling stage is used to help determine the changes in the internal space of the borehole through mud circulation response parameters.

[0080] Based on the drill bit depth, the construction parameters corresponding to different drilling stages are correlated to construct a set of corresponding formation response parameters, as detailed below:

[0081] Based on the drilling depth information corresponding to the drill pipe advance process, the drilling parameters acquired within the same spatial range are correlated. The drill pipe advance displacement parameters, drill bit rotation parameters, drilling rig load response parameters, and mud circulation response parameters acquired within the same drilling stage are combined to form the formation response parameter set corresponding to the current drilling stage. ,in, Indicates the first The set of formation response parameters corresponding to each drilling stage.

[0082] Based on the constructed set of formation response parameters, the changes in each response parameter are determined, and the corresponding trend indicators are identified, as follows:

[0083] Calculate the response changes between adjacent drilling stages based on the set of formation response parameters. ,in, This indicates the change in response parameters as the current drilling stage transitions to the next drilling stage.

[0084] Based on the changes in each response parameter during adjacent response stages, the corresponding trend indicators are determined, resulting in:

[0085] ;

[0086] in, This indicates the trend of change, corresponding to the direction of parameter change in adjacent drilling stages. These represent different response parameters, including: drill pipe advance displacement parameters, drill bit rotation operation parameters, drilling rig load response parameters, and mud circulation response parameters;

[0087] Set the trend determination depth to be continuous. One drilling stage, For a preset positive integer greater than or equal to 3 (e.g.) This is used to eliminate random measurement errors caused by disturbances during a single drilling operation;

[0088] When the trend indicator satisfies the formula When the value is 0, it indicates that the corresponding response parameter maintains the same trend of change during the continuous drilling phase;

[0089] When the trend indicator satisfies the formula When, it means that the corresponding response parameter is at the th time. The drilling stage to the first The value increases between drilling stages;

[0090] When the trend indicator satisfies the formula When, it means that the corresponding response parameter is at the th time. The drilling stage to the first The value decreases between drilling stages;

[0091] When the trend indicator satisfies the formula When, it means that the corresponding response parameter is at the th time. The drilling stage to the first The values ​​remained unchanged between each drilling stage.

[0092] Based on the trend indicators of the changes in each response parameter between successive drilling stages, the drilling state type corresponding to the current drill bit location is determined, as follows:

[0093] When continuous If the following conditions are met simultaneously during a drilling stage, it indicates that the interaction between the drill bit and the current formation remains stable, and the current drilling area is defined as a stable drilling state. The specific conditions are as follows:

[0094] The direction of change of the drill pipe advance displacement parameters remains constant, meaning that the trend indicators corresponding to the drill pipe advance displacement parameters satisfy the formula. ;

[0095] The drill bit rotation parameters did not exhibit repeated directional changes (the number of directional reversals within a continuous period was less than the preset reversal count), meaning the trend indicators corresponding to the drill bit rotation parameters did not appear in [the specified timeframe]. and Alternating between them;

[0096] The drilling rig load response parameters did not show a trend opposite to the direction of the drill pipe thrust displacement change; that is, the trend indicators corresponding to the drilling rig load response parameters did not correspond to the trend indicators corresponding to the drill pipe thrust displacement parameters. The correspondence;

[0097] The mud circulation response parameters did not show a sustained abnormal trend opposite to the propulsion changes.

[0098] When continuous If, during a drilling stage, the following conditions are simultaneously met, it indicates that the bottom constraint on the drill bit is reduced, and there is a change in the spatial structure of the current area. The current drilling area is then identified as a cave response state. The specific conditions are as follows:

[0099] The drill pipe advance displacement parameter continues to increase, meaning the trend indicator corresponding to the drill pipe advance displacement parameter satisfies the formula. ;

[0100] The drilling rig load response parameters continue to decrease, meaning the trend of change in the drilling rig load response parameters satisfies the formula. ;

[0101] The mud circulation response parameters and drilling rig load parameters change in the same direction. That is, within the same drilling depth stage, the changing trends of the mud circulation response parameters and drilling rig load parameters satisfy the formula. ;

[0102] All responses of increased thrust and decreased load correspond to the same drilling depth range.

[0103] When continuous If the following conditions are met simultaneously during a drilling stage, it indicates that the continuity of the rock mass in the current area is reduced, and the drill bit is affected by incomplete rock mass. The current drilling area is then identified as a fractured formation response state. The specific conditions are as follows:

[0104] The direction of change of the drill pipe advance displacement parameters alternates between positive and negative values ​​between adjacent stages, meaning that the trend indicators corresponding to the drill pipe advance displacement parameters satisfy the formula. Furthermore, the alternating changes continue as the drilling depth advances;

[0105] The direction of change of the drill bit rotation operation parameters alternates between positive and negative synchronously between adjacent stages, that is, the trend indicators corresponding to the drill bit rotation operation parameters satisfy the formula. ;

[0106] The drilling rig load response parameters and drill pipe advance displacement parameters always change in opposite directions. That is, the trend indicators corresponding to the drilling rig load response parameters and the trend indicators corresponding to the drill pipe advance displacement parameters satisfy the formula... ;

[0107] The alternating relationship persists throughout multiple drilling stages.

[0108] When continuous If the following conditions are met simultaneously during a drilling phase, it indicates that the drill bit has entered a region of low-strength filling medium, and the current drilling region is defined as the response state of a weak filling layer. The specific conditions are as follows:

[0109] The drill pipe advance displacement parameter continues to increase, meaning the trend indicator corresponding to the drill pipe advance displacement parameter satisfies the formula. ;

[0110] The drilling rig load response parameters continue to decrease, meaning the trend of change in the drilling rig load response parameters satisfies the formula. ;

[0111] The mud circulation response parameters did not change synchronously with the drilling rig load parameters. Specifically, within the same drilling depth stage, the changing trends of the mud circulation response parameters and the drilling rig load parameters did not satisfy the formula... ;

[0112] All responses of increased thrust and decreased load correspond to the same drilling depth range.

[0113] It should be noted that the difference between the response state of the weak filling layer and the response state of the karst cave is that: in the area of ​​the weak filling layer, although the displacement of the drill pipe continues to increase, the increase process is characterized by slow and continuous change. The amplitude of the change in the advance of adjacent stages is less than the preset karst cave inrush threshold. The karst cave inrush threshold is calculated based on the set of advance changes corresponding to the historical marked karst cave response stages, and the statistical distribution range is calculated. The inrush discrimination threshold is determined based on the distribution range.

[0114] Construct a corresponding drilling status identifier based on the determined current drilling status. ,in, This indicates a stable drilling state. Indicates the response state of the karst cave. Indicates the response state of the fractured strata. This indicates the response status of the weak fill layer and transmits the constructed drilling status identifier to subsequent implementation steps.

[0115] S2: Dynamically adjust drilling operation parameters based on the determined drilling status.

[0116] Specifically, dynamically adjusting drilling operation parameters based on a defined drilling state involves analyzing the interaction between the drilling rig and the current rock formation based on the changing trends of drill bit advance parameters, drill bit rotation parameters, drilling rig load parameters, and mud circulation parameters under different drilling states. Then, according to the control requirements corresponding to different formation response states, the drill pipe advance control parameters, drill bit rotation control parameters, drilling rig load control parameters, and mud circulation control parameters are adjusted in a coordinated manner. This is implemented as follows:

[0117] Analyzing the interaction between the drilling rig and the current rock formation involves determining the corresponding drilling operation parameter adjustment methods based on the response changes in the drill bit advance process, drill bit rotation process, drilling rig load process, and mud circulation process under different drilling conditions. This includes coordinated adjustment of drill pipe advance control parameters, drill bit rotation control parameters, drilling rig load control parameters, and mud circulation control parameters, specifically implemented as follows:

[0118] When the determined drilling status indicator satisfies the formula When this condition is met, it indicates that a stable interaction relationship is maintained between the drill bit and the underground rock formation. The current drilling operation parameters are then maintained as follows:

[0119] The drill pipe propulsion control parameters are maintained at The drill bit rotation control parameters are kept at 100°C. The drilling rig load control parameters are maintained at [value]. and the mud circulation control parameters are maintained at .

[0120] When the determined drilling status indicator satisfies the formula When this occurs, it indicates a change in the spatial structure of the current area, requiring adjustments to the current drill pipe advance control parameters, drill rig load control parameters, and mud circulation control parameters. Specifically:

[0121] Adjusting the current drill pipe propulsion control parameters based on the relationship between the change in propulsion displacement and the preset propulsion change threshold yields the following:

[0122] When the relationship between the change in propulsion displacement and the preset propulsion change threshold satisfies the formula At that time, reduce the propulsion control parameters to ,in, This represents the adjustment factor, the specific value of which is set by the implementer based on the actual application scenario, and must satisfy the formula. , This indicates the adjusted propulsion control parameters;

[0123] When the relationship between the change in propulsion displacement and the preset propulsion change threshold satisfies the formula At the same time, maintain a slight reduction in propulsion control parameters. ,in, This represents the adjustment factor, the specific value of which is set by the implementer based on the actual application scenario, and must satisfy the formula. , This indicates the adjusted propulsion control parameters.

[0124] The adjusted drilling rig load control parameters satisfy the formula While meeting the minimum load limit ,in, Indicates the minimum effective load control value. This indicates the adjusted drilling rig load control parameters.

[0125] Adjust the mud circulation control parameters according to the mud circulation status, specifically as follows:

[0126] When the mud circulation state remains continuous, adjust the mud circulation control parameters as follows: ;

[0127] When the mud circulation status shows a downward trend, increase the mud circulation control parameters to... ,in, This represents the adjustment factor, the specific value of which is set by the implementer based on the actual application scenario, and must satisfy the formula. , This indicates the adjusted mud circulation control parameters.

[0128] When the determined drilling status indicator satisfies the formula When this occurs, it indicates a decrease in the continuity of the rock mass in the current area. Adjustments are then made to the current drill rod advance control parameters, drill rig load control parameters, and drill bit rotation control parameters, specifically:

[0129] Reduce propulsion control parameters to ,in, This represents the adjustment factor, the specific value of which is set by the implementer based on the actual application scenario, and must satisfy the formula. , This indicates the adjusted propulsion control parameters.

[0130] Adjusting the current drill bit rotation control parameters based on the relationship between the change in drill bit rotation control parameters and the preset rotation change threshold, we have:

[0131] When the relationship between the change in the drill bit rotation control parameters and the preset rotation change threshold satisfies the formula When adjusting the current drill bit rotation control parameters to satisfy the formula ,in, Indicates the threshold for rotational change. This indicates the adjusted drill bit rotation control parameters.

[0132] Adjusting the current drilling rig load control parameters based on the relationship between the change in the drilling rig load control parameters and the preset load fluctuation threshold yields the following:

[0133] When the relationship between the change in the drilling rig load control parameters and the preset load fluctuation threshold satisfies the formula At that time, adjust the current drilling rig load control parameters to satisfy the formula. ,in, Indicates the load fluctuation threshold. This indicates the adjusted drilling rig load control parameters.

[0134] When the determined drilling status indicator satisfies the formula When this occurs, it indicates that the drill bit has entered a low-strength filling medium region. Adjustments are then made to the current drill pipe advance control parameters, drilling rig load control parameters, drill bit rotation control parameters, and mud circulation control parameters, specifically:

[0135] Reduce propulsion control parameters to ,in, This represents the adjustment factor, the specific value of which is set by the implementer based on the actual application scenario, and must satisfy the formula. , This indicates the adjusted propulsion control parameters;

[0136] The adjusted drilling rig load control parameters meet the minimum load limit. ,in, Indicates the minimum effective load control value. This indicates the adjusted drilling rig load control parameters;

[0137] Adjust the current drill bit rotation control parameters to satisfy the formula ,in, Indicates the threshold for rotational change. This indicates the adjusted drill bit rotation control parameters;

[0138] Adjust the mud circulation control parameters according to the mud circulation status, specifically as follows:

[0139] When the mud circulation state remains continuous, adjust the mud circulation control parameters as follows: ;

[0140] When the mud circulation status shows a continuous decline, increase the mud circulation control parameters to... ,in, This represents the adjustment factor, the specific value of which is set by the implementer based on the actual application scenario, and must satisfy the formula. , This indicates the adjusted mud circulation control parameters.

[0141] It should be noted that the preset thresholds and adjustment coefficients involved in the dynamic adjustment of drilling operation parameters include the thrust variation threshold. Rotation change threshold Load fluctuation threshold Minimum load limit Adjustment coefficient , , These terms are used to describe the parameter adjustment boundaries and adjustment intensity of drilling equipment under different karst response states, specifically:

[0142] Advancement change threshold The calibration is based on the statistical range of advance changes during the stable drilling stage and the characteristics of abrupt advance changes in confirmed abnormal formation stages, used to distinguish between normal and abnormal advance changes; rotational change threshold. and load fluctuation threshold The minimum load limit is determined based on the fluctuation range of drill bit rotation parameters and drilling rig load parameters during the stable drilling phase, and is used to limit the magnitude of parameter changes under abnormal formation conditions; Determined based on the minimum effective load range during normal rock breaking of the drilling rig, it is used to ensure that the drill bit continues to have basic cutting ability; , Based on the current propulsion change relative to the propulsion change threshold The degree of deviation is determined to enable adaptive adjustment of propulsion control strength under different degrees of anomaly; The parameters are determined based on the degree of change of the mud circulation response parameters relative to the mud circulation anomaly threshold, and are used to achieve mud circulation compensation control.

[0143] All parameters can be obtained through statistical analysis of historical operating data during the stable drilling phase, analysis of construction data in marked karst anomaly areas, and a limited number of on-site calibration experiments.

[0144] S3: Feedback correction of drilling operation parameters based on the adjustment results.

[0145] Specifically, feedback correction of drilling operation parameters based on the adjustment results involves re-determining the drilling status after the operation parameters have been adjusted, establishing a new drilling status identifier, and then performing feedback correction of the drilling operation parameters based on this new identifier. The specific implementation is as follows:

[0146] The adjusted drilling operation status was re-acquired, specifically as follows:

[0147] The drill pipe displacement detection component is used to detect the adjusted drill pipe propulsion process and obtain the adjusted drill pipe propulsion control parameters. The drill bit rotation detection component is used to detect the adjusted drill bit rotation process and obtain the adjusted drill bit rotation control parameters. The drilling rig operation detection component is used to detect the adjusted drilling rig operation load response process and obtain the adjusted drilling rig load control parameters. The adjusted mud circulation status is detected using a mud circulation detection component to obtain the adjusted mud circulation control parameters. And reconstructed into an adjusted set of drilling response parameters. ,in, This represents the set of drilling response parameters after adjustment.

[0148] The drilling status is redefined based on the adjusted response parameters, as follows:

[0149] Based on the adjusted set of drilling response parameters, the trend indicators for the changes in each drilling operation parameter after adjustment are redefined, specifically as follows:

[0150] Based on the changes in the adjusted drill pipe propulsion parameters, determine the trend indicator of the adjusted propulsion change. Based on the changes in the adjusted drill bit rotation parameters, determine the trend indicator of the adjusted rotation. Based on the changes in the adjusted drilling rig load parameters, determine the trend indicator of the adjusted load change. Based on the changes in the adjusted mud circulation parameters, determine the trend indicators of the adjusted mud circulation changes. .

[0151] Based on the adjusted trend indicators, the process for determining the stable drilling state, karst response state, fractured formation response state, and weak filling layer response state is re-executed to obtain the adjusted drilling state indicators. ,in, This indicates the adjusted drilling status.

[0152] Feedback correction of drilling operation parameters is performed based on the adjusted drilling status indicators, as follows:

[0153] The drilling status indicators obtained before adjustment are compared with those after adjustment. Based on the comparison results, feedback corrections are made to the drilling operation parameters, specifically:

[0154] If the adjusted drilling status indicator satisfies the formula This indicates that after adjusting the operating parameters, a stable interaction relationship has been re-established between the drill bit and the current formation. In this case, the currently adjusted drilling operating parameters should be maintained. No further adjustments will be made.

[0155] If the adjusted drilling status indicator satisfies the formula This indicates that there are still abnormal formation responses in the current drilling area. The anomaly type is determined based on the adjusted status indicator, and the corresponding drilling operation parameters are corrected based on the determined anomaly type, as follows:

[0156] When the adjusted drilling status indicator satisfies the formula If the current spatial structure changes, the adjustment strategy for the propulsion parameters, load parameters, and mud circulation parameters corresponding to the cave response state will be re-executed.

[0157] When the adjusted drilling status indicator satisfies the formula If the current situation indicates that the rock mass continuity is still reduced in the current area, then the adjustment strategy for the propulsion parameters, rotation parameters, and load parameters corresponding to the fractured strata response state will be re-executed.

[0158] When the adjusted drilling status indicator satisfies the formula If the current area still contains low-strength filling medium, then the adjustment strategy for the propulsion parameters, load parameters, rotation parameters, and mud circulation parameters corresponding to the weak filling layer response state will be re-executed.

[0159] It should be noted that, in order to avoid repeated adjustments in continuous abnormal formation areas that lead to continuous changes in drilling parameters, a limit is set on the number of adjustments in the feedback correction process, as follows:

[0160] Set the current parameter adjustment count to And set the maximum number of adjustments allowed. The value is determined based on the response cycle of the drilling rig control system and the continuous influence range of abnormal formations, and is used to limit the number of feedback adjustments.

[0161] If the comparison between the current number of parameter adjustments and the maximum allowed number of adjustments satisfies the formula... Then, continue to execute the corresponding feedback correction process based on the adjusted drilling status indicator;

[0162] If the comparison between the current number of parameter adjustments and the maximum allowed number of adjustments satisfies the formula... Stop the automatic feedback adjustment process and maintain the current drilling operating parameters. It also outputs current drilling status information, parameter adjustment records, and abnormal response information for construction control personnel to make further judgments.

[0163] The drilling operation parameters that have undergone feedback correction will be used to construct the final set of drilling operation parameters. ,in, This represents the final determined drill pipe advance control parameters. This represents the final determined drill bit rotation control parameters. This represents the final determined drilling rig load control parameters. This represents the final determined mud circulation control parameters. This represents the final set of drilling operation parameters, used to control the subsequent construction process of the drilling equipment.

[0164] 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, and all such modifications or substitutions should be covered within the scope of protection claimed by the present invention.

Claims

1. An intelligent control method for drilling equipment used in pile foundation construction in karst areas, characterized in that: Includes the following steps: The drilling equipment continuously collects parameters such as drill rod advance, drill bit rotation, drilling rig load, and mud circulation response during drilling operations. Based on the drill bit advance depth, the construction parameters corresponding to different drilling stages are correlated to construct a set of corresponding formation response parameters. Based on the constructed set of formation response parameters, the trend indicators corresponding to the changes in each response parameter are determined. Based on the trend indicators corresponding to the changes in each response parameter between consecutive drilling stages, the area where the current drill bit is located is divided into stable drilling state, karst response state, fractured formation response state, and soft filling layer response state. Based on the response changes between the drill bit propulsion process, drill bit rotation process, drilling rig load process, and mud circulation process under different drilling conditions, the corresponding drilling operation parameter adjustment methods are determined, and the drill rod propulsion control parameters, drill bit rotation control parameters, drilling rig load control parameters, and mud circulation control parameters are adjusted in a coordinated manner. The adjusted drilling operation status is re-acquired, and the trend indicators of each drilling operation parameter after adjustment are re-determined based on the adjusted set of drilling response parameters. Based on the adjusted trend indicators, the determination process of stable drilling status, karst response status, fractured strata response status, and weak filling layer response status is re-executed to obtain the adjusted drilling status indicators. The drilling status indicators obtained before adjustment are compared with the adjusted drilling status indicators, and the drilling operation parameters are corrected based on the comparison results. The drilling operation parameters that have completed the feedback correction are used to construct the final set of drilling operation parameters.

2. The intelligent control method for drilling equipment used in pile foundation construction in karst areas as described in claim 1, characterized in that: The corresponding set of formation response parameters is constructed as follows: The drill pipe displacement detection component is used to detect the advance of the drill pipe along the borehole axial direction and obtain the drill pipe advance displacement parameters. The drill bit rotation detection component is used to detect the operating status of the drill bit during rotation and obtain the drill bit rotation parameters. ; The drilling rig operation monitoring component is used to collect data on load changes generated during the operation of the drilling equipment, thereby obtaining the drilling rig load response parameters. ; The mud circulation monitoring system is used to detect the mud circulation status during drilling operations and obtain mud circulation response parameters. ; Based on the drilling depth information corresponding to the drill pipe advance process, the drilling parameters acquired within the same spatial range are correlated. The drill pipe advance displacement parameters, drill bit rotation parameters, drilling rig load response parameters, and mud circulation response parameters acquired within the same drilling stage are combined to form the formation response parameter set corresponding to the current drilling stage. ,in, Indicates the first The set of formation response parameters corresponding to each drilling stage.

3. The intelligent control method for drilling equipment used in pile foundation construction in karst areas as described in claim 1, characterized in that: The trend indicator corresponding to the change of each response parameter is determined based on the constructed set of formation response parameters, as follows: Calculate the response changes between adjacent drilling stages based on the set of formation response parameters. , This indicates the change in response parameters that occurs as the current drilling stage transitions to the next drilling stage. Determine the corresponding trend indicator based on the changes in each response parameter during adjacent response stages. Trend indicator This indicates the direction of change of the corresponding parameter in adjacent drilling stages. These represent different response parameters, including: drill pipe advance displacement parameters, drill bit rotation operation parameters, drilling rig load response parameters, and mud circulation response parameters; Set the trend determination depth to be continuous. One drilling stage; When the trend indicator satisfies the formula When the value is 0, it indicates that the corresponding response parameter maintains the same trend of change during the continuous drilling phase; When the trend indicator satisfies the formula When, it means that the corresponding response parameter is at the th time. The drilling stage to the first The value increases between drilling stages; When the trend indicator satisfies the formula When, it means that the corresponding response parameter is at the th time. The drilling stage to the first The value decreases between drilling stages; When the trend indicator satisfies the formula When, it means that the corresponding response parameter is at the th time. The drilling stage to the first The values ​​remained unchanged between each drilling stage.

4. The intelligent control method for drilling equipment used in pile foundation construction in karst areas as described in claim 1, characterized in that: The stable drilling state is as follows: When continuous If the following conditions are met simultaneously during a drilling stage, it indicates that the interaction between the drill bit and the current formation remains stable, and the current drilling area is defined as a stable drilling state. The specific conditions are as follows: The direction of change of the drill pipe advance displacement parameters remains constant, meaning that the trend indicators corresponding to the drill pipe advance displacement parameters satisfy the formula. ; The drill bit rotation parameters did not show repeated directional changes; that is, the trend indicators corresponding to the drill bit rotation parameters were not displayed. and Alternating between them; The drilling rig load response parameters did not show a trend opposite to the direction of the drill pipe thrust displacement change; that is, the trend indicators corresponding to the drilling rig load response parameters did not correspond to the trend indicators corresponding to the drill pipe thrust displacement parameters. The correspondence; The mud circulation response parameters did not show a sustained abnormal trend opposite to the propulsion changes.

5. The intelligent control method for drilling equipment used in pile foundation construction in karst areas as described in claim 1, characterized in that: The specific response state of the karst cave is as follows: When continuous If, during a drilling stage, the following conditions are simultaneously met, it indicates that the bottom constraint on the drill bit is reduced, and there is a change in the spatial structure of the current area. The current drilling area is then identified as a cave response state. The specific conditions are as follows: The drill pipe advance displacement parameter continues to increase, meaning the trend indicator corresponding to the drill pipe advance displacement parameter satisfies the formula. ; The drilling rig load response parameters continue to decrease, meaning the trend of change in the drilling rig load response parameters satisfies the formula. ; The mud circulation response parameters and drilling rig load parameters change in the same direction. That is, within the same drilling depth stage, the changing trends of the mud circulation response parameters and drilling rig load parameters satisfy the formula. ; All responses of increased thrust and decreased load correspond to the same drilling depth range.

6. The intelligent control method for drilling equipment used in pile foundation construction in karst areas as described in claim 1, characterized in that: The specific response state of the fractured formation is as follows: When continuous If the following conditions are met simultaneously during a drilling stage, it indicates that the continuity of the rock mass in the current area is reduced, and the drill bit is affected by incomplete rock mass. The current drilling area is then identified as a fractured formation response state. The specific conditions are as follows: The direction of change of the drill pipe advance displacement parameters alternates between positive and negative values ​​between adjacent stages, meaning that the trend indicators corresponding to the drill pipe advance displacement parameters satisfy the formula. Furthermore, the alternating changes continue as the drilling depth advances; The direction of change of the drill bit rotation operation parameters alternates between positive and negative synchronously between adjacent stages, that is, the trend indicators corresponding to the drill bit rotation operation parameters satisfy the formula. ; The drilling rig load response parameters and drill pipe advance displacement parameters always change in opposite directions. That is, the trend indicators corresponding to the drilling rig load response parameters and the trend indicators corresponding to the drill pipe advance displacement parameters satisfy the formula... ; The alternating relationship persists throughout multiple drilling stages.

7. The intelligent control method for drilling equipment used in pile foundation construction in karst areas as described in claim 1, characterized in that: The response state of the weak fill layer is as follows: When continuous If the following conditions are met simultaneously during a drilling phase, it indicates that the drill bit has entered a region of low-strength filling medium, and the current drilling area is defined as the response state of a weak filling layer. The specific conditions are as follows: The drill pipe advance displacement parameter continues to increase, meaning the trend indicator corresponding to the drill pipe advance displacement parameter satisfies the formula. ; The drilling rig load response parameters continue to decrease, meaning the trend of change in the drilling rig load response parameters satisfies the formula. ; The mud circulation response parameters did not change synchronously with the drilling rig load parameters. Specifically, within the same drilling depth stage, the changing trends of the mud circulation response parameters and the drilling rig load parameters did not satisfy the formula... ; All responses of increased thrust and decreased load correspond to the same drilling depth range.

8. The intelligent control method for drilling equipment used in pile foundation construction in karst areas as described in claim 1, characterized in that: The specific method for determining the corresponding drilling operation parameter adjustment is as follows: Construct a corresponding drilling status identifier based on the determined current drilling status. ,in, This indicates a stable drilling state. Indicates the response state of the karst cave. Indicates the response state of the fractured strata. Indicates the response state of the weak fill layer; When the determined drilling status indicator satisfies the formula When the current drilling bit maintains a stable interaction with the underground rock formation, the current drilling operation parameters are maintained. When the determined drilling status indicator satisfies the formula When this occurs, it indicates that there is a change in the spatial structure of the current area, and adjustments should be made to the current drill rod advance control parameters, drill rig load control parameters, and mud circulation control parameters. When the determined drilling status indicator satisfies the formula When this occurs, it indicates that the continuity of the rock mass in the current area has decreased, and adjustments should be made to the current drill rod advance control parameters, drill rig load control parameters, and drill bit rotation control parameters. When the determined drilling status indicator satisfies the formula When this occurs, it indicates that the drill bit has entered a low-strength filling medium region, and adjustments are made to the current drill rod advance control parameters, drill rig load control parameters, drill bit rotation control parameters, and mud circulation control parameters.

9. The intelligent control method for drilling equipment used in pile foundation construction in karst areas as described in claim 1, characterized in that: The feedback correction of drilling operation parameters based on the comparison results is as follows: Based on the adjusted trend indicators, the process for determining the stable drilling state, karst response state, fractured formation response state, and weak filling layer response state is re-executed to obtain the adjusted drilling state indicators. ,in, Indicates the adjusted drilling status; The drilling status indicators obtained before adjustment are compared with the drilling status indicators after adjustment. Based on the comparison results, feedback corrections are made to the drilling operation parameters, specifically: If the adjusted drilling status indicator satisfies the formula This indicates that after adjusting the operating parameters, a stable interaction relationship has been re-established between the drill bit and the current formation. In this case, the currently adjusted drilling operating parameters should be maintained. No further adjustments will be made. If the adjusted drilling status indicator satisfies the formula If the status is positive, it indicates that there is still an abnormal formation response in the current drilling area. The anomaly type is determined based on the adjusted status identifier, and the corresponding drilling operation parameters are corrected based on the determined anomaly type.

10. The intelligent control method for drilling equipment used in pile foundation construction in karst areas as described in claim 9, characterized in that: The feedback correction of corresponding drilling operation parameters based on the determined anomaly type is as follows: When the adjusted drilling status indicator satisfies the formula If the current spatial structure changes, then the adjustment strategy for the propulsion parameters, load parameters, and mud circulation parameters corresponding to the cave response state will be re-executed. When the adjusted drilling status indicator satisfies the formula If the current situation indicates that the rock mass continuity is still reduced in the current area, then the adjustment strategy for the propulsion parameters, rotation parameters, and load parameters corresponding to the fractured strata response state will be re-executed. When the adjusted drilling status indicator satisfies the formula If the current area still contains low-strength filling medium, then the adjustment strategy for the propulsion parameters, load parameters, rotation parameters, and mud circulation parameters corresponding to the weak filling layer response state will be re-executed.

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