Coal seam high-pressure water jet automatic drilling and slotting cooperative system and method

Abstract

A coal seam high-pressure water jet automatic drilling and slotting cooperative system, comprising a drilling and slotting cooperative control platform (1), an automatic regulation and control slotting pump set (2) and an automatic regulation and control drilling machine (3). The drilling and slotting cooperative control platform comprises a gas geological management system, a decision analysis system, a drilling and slotting cooperative execution system, a monitoring feedback system and an information management and evaluation system; a construction operation parameter instruction sent by the drilling and slotting cooperative control platform is executed by the automatic regulation and control slotting pump set and the automatic regulation and control drilling machine; and the gas geological management system records coal seam geological information, and the decision analysis system analyzes and formulates reasonable drilling and slotting construction parameters on the basis of the coal seam geological information. The drilling and slotting cooperative execution system and the monitoring feedback system achieve drilling and slotting cooperative construction on the basis of an operation parameter instruction, monitor field operation construction parameters and feed back and adjust the field operation construction parameters in real time; and the information management and evaluation system evaluates the outburst prevention and treatment effect of a coal seam in a drilling and slotting cooperative implementation region. Further disclosed is a coal seam high-pressure water jet automatic drilling and slotting cooperative method. The system improves the safety of field operators, and reduces the investment and labor intensity of personnel.

Description

A coal seam high-pressure water jet automatic drilling and cutting coordinated system and method Technical Field

[0001] The present invention belongs to the field of coal seam gas control and relates to a coal seam high-pressure water jet automatic drilling and cutting coordination system and method. Background Art

[0002] With the development of coal mine disaster prevention and control technologies and equipment, hydraulic measures have become one of the main technical means of coal seam pressure relief and permeability enhancement. Among them, high-pressure water jetting has been widely promoted and applied in mines as a coal seam pressure relief and permeability enhancement measure due to its technical advantages of precise controllable and uniform pressure relief and permeability enhancement. However, due to the complex geological conditions of coal and gas occurrence, especially in high-stress and structural zones, high-pressure water jetting construction is difficult, and phenomena such as hole collapse, hole blockage, and drill burial are prone to occur. In addition, on-site construction is often based on the experience and judgment of on-site personnel, and there is a certain degree of blindness in the selection of construction parameters, which often leads to uneven coal seam pressure relief and permeability enhancement and low on-site construction efficiency. This results in poor coal seam pressure relief and permeability enhancement, seriously restricting coal seam gas extraction and increasing the gas control cycle.

[0003] In recent years, with the intelligent upgrading of the coal industry, "fewer people, no one" operations have gradually been realized. The work of controlling gas in high-gas and outburst mines has made significant progress in the intelligent development of gas geological analysis and monitoring. However, in the on-site implementation of the "four-in-one" outburst prevention measures at the two levels of coal mines, it still relies on traditional construction methods, and the automation and intelligent operation of technical equipment lags behind. As the main means of preventing and controlling coal mine gas disasters, high-pressure water jet technology and equipment urgently need to develop a coal seam high-pressure water jet automatic drilling and cutting coordination system and method to improve the automation level of drilling and cutting construction, and improve the coal seam pressure relief and permeability enhancement effect and construction efficiency. At the same time, it can improve the safety of on-site operators, reduce personnel input and labor intensity.

[0004] Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a coal seam high-pressure water jet automatic drilling and cutting coordination system and method to realize the automation of drilling and high-pressure water jet cutting construction, realize drilling and cutting coordination and autonomous control, improve the coal seam pressure relief and permeability enhancement effect and construction efficiency, reduce personnel input, improve the safety of on-site workers, and reduce labor intensity.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A coal seam high-pressure water jet automatic drilling and cutting coordination system, comprising a drilling and cutting coordination control platform 1, an automatic control cutting pump group 2 and an automatic control drilling rig 3;

[0008] The drilling and cutting collaborative control platform 1 includes a gas geological management system, a decision analysis system, a drilling and cutting collaborative execution system, a monitoring feedback system, and an information management and evaluation system;

[0009] The control automatically controls the slotting pump group and the automatically controls the drilling rig to execute the construction operation parameter instructions issued by the drilling and cutting collaborative control platform;

[0010] The gas geological management system records coal seam geological information, and the decision analysis system analyzes the coal seam geological information in combination with historical data to determine the coal seam type and coal outburst prevention measures;

[0011] The decision analysis system sends a construction operation command to the drilling and cutting collaborative execution system to control the automatic control drilling rig 3 to start drilling and the automatic control slotting pump group 2 to start slotting. The decision analysis system analyzes and determines reasonable drilling and cutting construction parameters such as drilling spacing, drilling depth, slotting process, and slotting radius based on the basic coal seam parameter information provided by the gas geological management system.

[0012] The monitoring feedback system monitors the operation parameter instructions and device performance indicators during the drilling and slitting construction executed by the drilling and slitting coordinated execution system to control the automatic control drilling rig 3 and the automatic control slitting pump group 2;

[0013] The monitoring feedback system sends the monitoring parameters of drilling and slitting to the information management and evaluation system;

[0014] The monitoring and feedback system also sends slitting parameter feedback to the automatic control slitting pump group, sends drilling rig parameter feedback to the automatic control drilling rig and drilling and cutting coordinated execution system, and sends drilling and slitting parameter feedback to the decision analysis system; the decision analysis system formulates slitting parameters based on the construction data and sends slitting operation commands;

[0015] The coal seam high-pressure water jet automatic drilling and cutting coordination system further includes a roadway positioning sensor 4 and a wireless positioning and cutting device 12. The roadway positioning sensor 4 is arranged within a certain range of the roadway construction site;

[0016] The automatic control slotting pump group 2 is also provided with a pump group positioning receiver 2-1;

[0017] The automatic control drilling rig 3 is also provided with a drilling rig positioning receiver 3-1;

[0018] The wireless positioning and slitting device 12 is used to receive the positioning signal of the slitting;

[0019] The tunnel positioning sensor 4, the wireless positioning and slitting device 12, the pump group positioning receiver 2-1 and the drilling rig positioning receiver 3-1 are kept at a certain distance from each other, and the signal is transmitted wirelessly to the automatic drilling and cutting coordination system, which automatically moves to the next construction site according to the drilling construction spacing;

[0020] The pure amount of gas extracted from the boreholes within one month after the completion of drilling and cutting construction in all units is counted, and the effective radius of drilling and cutting, coal seam gas extraction rate, and coal seam extraction compliance evaluation are analyzed by the information management and evaluation system to evaluate the gas control effect in the unit.

[0021] Optionally, the coal seam geological information includes the width of the coal seam working face, the type of coal seam roof rock layer, the type of coal seam floor rock layer, the stability of the roof and floor, the thickness of the coal seam, the inclination of the coal seam, the location of the fault structure in the coal seam, the type of coal body damage, the coal body strength coefficient, the gas pressure and the gas content.

[0022] Optionally, the decision analysis system determines the parameters of the cutting process and the cutting radius according to the coal seam thickness, the coal body damage type, the coal body solidity coefficient, and the coal and rock conditions while drilling;

[0023] When the coal body damage type is type IV, the cutting process is the ring cutting process;

[0024] When the coal body damage type is type I, type II, type III or coal seam structural area, the cutting process is the flat cutting process;

[0025] When the coal seam thickness is 0-3m, the cutting radius is 1m;

[0026] When the coal seam thickness is 3 to 6 m, the cutting radius is 2 m;

[0027] When the coal seam thickness is ≥6m, the cutting radius is 2m and double rows of cutting holes are arranged;

[0028] When the coal body solidity coefficient f≤0.5, the cutting radius is 2.5m;

[0029] When the coal body solidity coefficient is 0.5≤f≤1, the cutting radius is 2m;

[0030] When the coal body solidity coefficient f≥1, the cutting radius is 1m;

[0031] The slitting process for the broken area of ​​the coal hole section is the circular cutting process, and the slitting process for the complete area of ​​the coal hole section is the flat cutting process.

[0032] Optionally, if the fault structure position in the coal seam is z, the area within 100m near the fault structure position Z of the coal seam is divided into one outburst prevention and extraction standard assessment unit.

[0033] Optionally, when the width of the coal seam working face is 600m long × 200m wide, the coal seam roof rock type and the coal seam floor rock type are fine sandstone, the stability of the roof and floor is stable, the coal seam thickness is 5m, the coal seam inclination is 2°, the position of the fault structure in the coal seam is 300m, there is a fault structure, the coal body damage type is II, the coal body strength coefficient f is 0.5, the gas pressure is 0.9MPa, and the gas content is 12m 3 / t;

[0034] The coal seam is divided into three outburst prevention and extraction standard assessment units: 0m-200m is the first unit, 200m-400m is the second unit, and 400m-600m is the third unit;

[0035] In the first and third units, horizontal cutting drilling 10 is implemented, and in the second unit, gas extraction drilling is carried out by ring-horizontal cutting cross drilling 9 and horizontal cutting drilling 10;

[0036] According to the construction parameters of drilling spacing of 5m and drilling depth of 100m, the rotation speed is set to 80r / min and the advancement speed is 3min / m.

[0037] Optionally, the drilling and cutting coordinated execution system controls the automatic regulation of the drilling machine 3 to start drilling and drilling construction work, and constructs the second unit element structural zone area ring-flat cutting cross drilling 9;

[0038] The monitoring and feedback system monitors the drilling footage, drill pipe speed, and drilling torque of the automatic control drilling rig 3, transmits the data to the gas geological management system in real time, and records the data;

[0039] During the drilling of ring-cut cross-hole 9, the drill rod advancement speed was normal and the coal cuttings were discharged evenly within the 0-40m and 60-80m sections of the coal hole. The monitoring drill speed was 80r / min, the advancement speed was 3m / min, and the torque was 3000N·m. The coal body was broken within the 40-60m and 80-100m sections. The drill speed was 100r / min, the advancement speed was 3.5m / min, and the torque was 2500N·m, which were within the construction parameter range. The construction data was recorded and uploaded to the gas geological management system.

[0040] Starting from the bottom of the borehole, a circular cut groove 9-1 is constructed within the range of 80-100m and 40-60m, and a horizontal cut groove 9-2 is constructed within the range of 60-80m and 20-40m;

[0041] The cutting radius is 1 to 1.5 m, and the cutting pressure is 80 to 100 MPa. During cutting, the circular cutting speed is set at 60 r / min, the pressure is 80 to 100 MPa, and the torque is 5000 N·m. During horizontal cutting, the drill rod pullback speed is 10 min / m and the pressure is 80 to 100 MPa.

[0042] Determine that the spacing between the annular cut grooves 9-1 in the annular-horizontal cross drill hole 9 is 3m, the spacing between the horizontal cut grooves 9-2 is 5m of the cutting depth, and the spacing between the annular cut grooves 9-1 and the horizontal cut grooves 9-2 is 4m;

[0043] The spacing between the annular cut grooves 9-1 in the annular-flat cut cross drilled hole 9 or the flat cut drilled hole annular-flat cut cross drilled hole is 2 to 3 times the cut radius, the spacing between the flat cut grooves 9-2 is 3 to 5 times the cut depth, and the spacing between the annular cut grooves and the flat cut grooves is 3 times;

[0044] According to the slotting parameters, the automatic control slotting pump group 2 and the automatic control drilling rig 3 coordinate to control the drilling back-off slotting from the bottom of the borehole; the circular slotting groove 9-1 is cut 7 times in the range of 40-60m and 80-100m in the coal hole section, and the horizontal slotting groove 9-2 is cut 4 times in the range of 60-80m and 20-40m;

[0045] During the slitting operation, the slitting pressure is monitored at 80-100 MPa, the flow rate is 110-130 L / min, the single-knife slitting time is 10-15 minutes, the oil temperature of the slitting pump group 2 is automatically adjusted to 40°-50°C, and the water level is maintained at more than 2 / 3. All construction operation parameters are within the normal range.

[0046] During the slitting operation, the drill rig 3 is monitored and automatically controlled to maintain a drill rod speed of 60 r / min and a drill torque of less than or equal to 5000 N·m during ring cutting, and a drill rod pullback speed of 10 min / m during flat cutting;

[0047] During monitoring construction, the angle deviation of the nozzle of the flat cutting slot 9-2 is ≤±10°, which is within the normal range of deviation;

[0048] After the construction of the ring-flat cross drilling 9 is completed, the automatic control cutting pump 2 and the automatic control drilling rig 3 are controlled to move to the flat cutting drilling 10 in sequence according to the tunnel positioning sensor. The flat cutting slot spacing is 5m, the coal hole section cutting range is 20 to 100m, and 15 cuttings are made; repeat the above steps to complete the flat cutting drilling 10 and the flat cutting construction drilling 11 in sequence; similarly, complete the flat cutting drilling construction in the first unit and the third unit.

[0049] Optionally, the monitoring feedback system monitors the automatic control of the slotting pump group 2, the automatic control of the drilling rig 3 equipment operating parameters and the drilling and cutting construction parameters;

[0050] Specifically, the drilling rig footage, drill rod speed, and drill rig torque are transmitted to the gas geological management system in real time. Different drill rod speeds are set for drilling or ring cutting of coal seams with different geological conditions. When the drill rod speed and torque monitoring parameters deviate by 30% from the set parameters during drilling and cutting, the data feedback decision analysis system and the drilling and cutting coordinated execution system automatically control the drilling rig to reduce the speed of the drilling rig 3 by 50% and the cutting pressure of the cutting pump group to 0.

[0051] When drilling and cutting the slots, the wireless positioning slotting device senses the slotting angle. When the angle deviation is ±15°, the slotting angle is corrected to 0°.

[0052] Monitor the drilling slag volume, slag slurry concentration, and gas concentration parameters during drilling and cutting operations. Set critical parameters for the slag volume of the seams for coal seams with different geological conditions. When the monitored drilling slag volume exceeds the set critical value by 10%, the automatic control of the drill rig 3 is reduced by 50%, and the slit pressure of the slit pump group 2 is automatically controlled to drop to 50 MPa. When the slag slurry concentration during slit cutting exceeds 50%, the automatic control of the slit pump group 2 is stopped, and the drill rig 3 is automatically controlled to withdraw the drill to the next slit position.

[0053] During the monitoring drilling construction, when constructing the annular cut slot 9-1, the drilling slag discharge volume is 0.8~1.0t, and the slag slurry concentration is 20~30%; when constructing the annular cut slot 9-1, the drilling slag discharge volume is 1~1.5t, and the slag slurry concentration is 30%~35%; during the implementation of the cutting, the concentration of the gushing gas within the construction range is monitored to be ≤0.5%; according to the designed position and number of the annular cut slot 9-1 and the flat cut slot 9-2 in the hole, the drill is withdrawn in sequence to complete the cutting drilling construction.

[0054] Optionally, the effective radius of the drilling extraction is greater than 1 / 2 of the drilling spacing, otherwise it is determined that there is a gas extraction blank zone in the coal seam;

[0055] During the extraction period, the gas extraction concentration of a single gas extraction borehole shall not be less than 30%, otherwise it is determined that the borehole has leakage and is not sealed tightly, and needs to be resealed; the residual gas content and gas pressure of the coal seam are measured and input into the information management and evaluation system to prevent sudden gas outbursts. 3 / t, gas pressure below 0.6MPa is the standard. If it exceeds the standard value, the extraction time will be extended by half a month until the measured value is below the standard value.

[0056] A method for automatic drilling and cutting coordination of coal seams using high-pressure water jets, the method comprising the following steps:

[0057] Automatically control the cutting pump group and the drilling rig to execute the construction operation parameter instructions issued by the drilling and cutting collaborative control platform;

[0058] The gas geological management system records coal seam geological information, and the decision analysis system analyzes the coal seam geological information in combination with historical data to determine the coal seam type and coal outburst prevention measures;

[0059] The decision-making analysis system sends a construction operation command to the drilling and cutting collaborative execution system, controlling the automatic control of the slitting pump group 2 to start slitting and the automatic control of the drilling rig 3 to start drilling. The decision-making analysis system analyzes and determines the appropriate drilling and cutting construction parameters such as drilling hole spacing, drilling depth, slitting process, and slitting radius based on the basic coal seam parameter information provided by the gas geological management system.

[0060] The drilling and cutting collaborative execution system sends drilling and cutting operation parameter instructions to the monitoring feedback system;

[0061] The monitoring feedback system sends the monitoring parameters of drilling and cutting to the information management and evaluation system;

[0062] The monitoring feedback system also sends slotting parameter feedback to the automatic control slotting pump group, sends drilling rig parameter feedback to the automatic control drilling rig and drilling and cutting coordinated execution system, and sends drilling and slotting parameter feedback to the decision analysis system;

[0063] The coal seam high-pressure water jet automatic drilling and cutting coordination system further comprises a roadway positioning sensor 4 and a wireless positioning and cutting device 12, wherein the roadway positioning sensor 4 is arranged within a certain range of the roadway construction site;

[0064] The automatic control slotting pump group 2 is also provided with a pump group positioning receiver 2-1;

[0065] The automatic control drilling rig 3 is also provided with a drilling rig positioning receiver 3-1;

[0066] The wireless positioning and slitting device 12 is used to receive the positioning signal of the slitting;

[0067] The tunnel positioning sensor 4, the wireless positioning and slitting device 12, the pump group positioning receiver 2-1 and the drilling rig positioning receiver 3-1 are kept at a certain distance from each other, and the signal is transmitted wirelessly to the automatic drilling and cutting coordination system, which automatically moves to the next construction site according to the drilling construction spacing;

[0068] The monitoring and feedback system monitors and automatically controls the slitting pressure, flow rate, slitting operation time, oil temperature, and water level of the slitting pump group 2 during operation, monitors and automatically controls the drill pipe speed and rig torque of the drilling rig 3, and monitors the amount of drilling slag, slag slurry concentration, and gas concentration during drilling and cutting operations.

[0069] After the drilling construction of the second unit is completed, the automatic control of the cutting pump group and the automatic control drilling rig are controlled to move to the next borehole in turn according to the tunnel positioning system sensor, and the above steps are repeated to complete the drilling in the first and third units in turn.

[0070] Optionally, the information management and evaluation system collects statistics on the pure amount of gas extracted from the boreholes within one month after the drilling and cutting construction in all units is completed, analyzes the effective radius of the borehole extraction, the coal seam gas extraction rate, and the coal seam extraction compliance evaluation to evaluate the gas control effect in the unit;

[0071] The effective extraction radius of the slit drilling hole is greater than 1 / 2 of the drilling hole spacing, otherwise it is determined that there is a gas extraction blank zone in the coal seam; the gas extraction concentration of a single construction should not be less than 30% during the extraction period, otherwise it is determined that the drilling hole has leakage and is not sealed tightly, and the hole is resealed; the residual gas content and gas pressure of the coal seam are measured and input into the information management evaluation system to prevent sudden gas outbursts. 3 / t, gas pressure below 0.6MPa is the standard. If it exceeds the standard value, the extraction time will be extended by half a month until the measured value is below the standard value.

[0072] The beneficial effects of this invention are as follows: through the innovative invention of a drilling and cutting collaborative control platform, an automatically controlled slotting pump unit, and an automatically controlled drilling rig, this invention changes the current situation where drilling and slotting are performed separately and rely on on-site construction experience. It incorporates functions such as geological management, decision-making analysis, monitoring feedback, and collaborative control, enabling automated, coordinated, and autonomous control of drilling and high-pressure water jet slotting, improving coal seam pressure relief and permeability enhancement, as well as construction efficiency. It also improves the safety of on-site operators, reduces personnel input and labor intensity, and has high on-site promotion value.

[0073] Other advantages, objects, and features of the present invention will be described in part in the following description and, in part, will be apparent to those skilled in the art upon examination of the following description or may be learned from practice of the present invention. The objects and other advantages of the present invention may be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below with reference to the accompanying drawings, in which:

[0075] FIG1 is a schematic diagram of the system of the present invention;

[0076] FIG2 is a diagram showing the composition of the system of the present invention;

[0077] FIG3 is a flow chart of the method of the present invention;

[0078] FIG4 is a flow chart of the sound and light alarm processing in the present invention.

[0079] Figure numerals: drilling and cutting collaborative control platform 1, automatic control of cutting pump group 2, automatic control of drilling rig 3, tunnel positioning sensor 4, pump group positioning receiver 2-1, drilling rig positioning receiver 3-1, coal seam 5, coal seam roof 6, coal seam floor 7, tunnel 8, ring-cut cross drilling hole 9, ring-cut slot 9-1, slot-cut slot 9-2, slot-cut drilling hole 10, slot-cut construction drilling hole 11, wireless positioning cutting device 12. DETAILED DESCRIPTION

[0080] The following describes the embodiments of the present invention by means of specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0081] Among them, the accompanying drawings are only for illustrative purposes and represent only schematic diagrams rather than actual pictures, and should not be understood as limiting the present invention. In order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the dimensions of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions may be omitted in the accompanying drawings.

[0082] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "back", etc. indicating directions or positional relationships, they are based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0083] Please refer to Figures 1 and 2, which disclose a coal seam high-pressure water jet automatic drilling and cutting coordination system, which can realize the automation of drilling construction and drilling slit cutting, and can overcome the problems of relying on on-site operators. It includes a drilling and cutting coordination control platform 1, an automatic control slit cutting pump group 2, and an automatic control drilling rig 3. The drilling and cutting coordination control platform mainly realizes the functions of coal seam gas geological management, decision analysis, monitoring feedback, etc., and controls the automatic control slit cutting pump group 2 and the automatic control drilling rig 3 to execute construction operation parameter commands. The automatic control slit cutting pump group 2 mainly performs slit cutting construction in the borehole, monitors slit cutting parameters and corrections, and ensures the coal seam slit cutting pressure relief and permeability enhancement effect. The automatic control drilling rig 3 mainly realizes the coordinated operation of autonomous drilling construction and slit cutting construction to improve construction efficiency.

[0084] The width of the coal seam 5 working face is 600m long and 200m wide. The coal seam roof 6 and coal seam floor 7 are both fine sandstone, the roof and floor are stable, the coal seam thickness is 5m, the coal seam dip is 2°, there are two small fault structures at 300m to 400m in the middle of the coal seam, the coal body failure type is II, the coal body strength coefficient f is 0.5, the gas pressure is 0.9MPa, and the gas content is 12m 3 / t;

[0085] The above coal seam geological information is entered into the gas geological management system for archiving and analysis, and the decision analysis system analyzes the coal seam geological information entered in combination with the basic information of the historical database. The coal body solidity coefficient f of this coal seam is 0.5, the gas pressure is 0.9MPa, and the gas content is 12m 3 / t belongs to outburst coal seam, and outburst prevention measures shall be in accordance with the outburst coal seam prevention and control management;

[0086] Furthermore, the width of the coal seam working face is 600m long and 200m wide. The coal seam roof 6 and coal seam floor 7 are both fine sandstone, and the roof and floor are stable. There are two small fault structures at 300m to 400m in the middle of the coal seam. The coal seam can be divided into three outburst prevention and extraction standard evaluation units: 0m to 200m is the first unit, 200m to 400m is the second unit, and 400m to 600m is the third unit.

[0087] Furthermore, the seam thickness is 5m, the coal seam dip is 2°, and the coal body damage type is II. It can be determined that the coal seam thickness is moderate and the integrity is good, and a single row of horizontal slot drilling can be constructed;

[0088] Furthermore, it can be determined that the drilling spacing between the three units is 5m, the drilling depth is 100m, the cutting process of the first and third units is the flat cutting process, the second unit is the flat cutting process, and the structural zone is the ring-flat cutting process.

[0089] Furthermore, the construction operation commands formulated by the decision analysis system are sent to the drilling and cutting collaborative execution system.

[0090] After receiving the construction operation command, the drilling and cutting collaborative execution system controls the automatic control slotting pump group 2 and the automatic control drilling rig 3 to start drilling and slotting operations;

[0091] Furthermore, the construction drilling holes in the first and third units are flat-cut drilling holes 10, and the second unit is flat-cut drilling holes 10 and cross drilling holes 9 are arranged in the ring-flat-cut structural zone, with a drilling spacing of 5m and a depth of 100m;

[0092] Furthermore, taking the gas extraction drilling holes in the second unit as an example, the ring-cut cross drilling 9 and the flat-cut drilling 10 were implemented, and the implementation effect was briefly described;

[0093] The coal seam high-pressure water jet automatic drilling and cutting coordination system further includes a roadway positioning sensor 4 and a wireless positioning and cutting device 12. The roadway positioning sensor 4 is arranged within a certain range of the roadway construction site;

[0094] The automatic control slotting pump group 2 is also provided with a pump group positioning receiver 2-1;

[0095] The automatic control drilling rig 3 is also provided with a drilling rig positioning receiver 3-1;

[0096] The wireless positioning and slitting device 12 is used to receive the positioning signal of the slitting;

[0097] The tunnel positioning sensor 4, the wireless positioning and cutting device 12, the pump group positioning receiver 2-1 and the drilling rig positioning receiver 3-1 maintain a certain distance between each other, and the signal is transmitted wirelessly to the automatic drilling and cutting coordination system, which automatically moves to the next construction site according to the drilling construction spacing.

[0098] Furthermore, tunnel positioning sensors 4 were deployed within 50m of the tunnel construction site, two on each side of the tunnel 8, for a total of four. The positioning signal connectivity of the pump unit positioning receiver 2-1 and the drill rig positioning receiver 3-1 was tested. The distance between the automatic slitting pump unit 2 and the rear sensor was 15m, the distance between the automatic slitting drill rig 3 and the front sensor was 15m, and the distance between the slitting pump unit 2 and the automatic slitting drill rig 3 was 20m, ensuring a reasonable and safe construction working distance.

[0099] Furthermore, according to the construction parameters of 5m drilling spacing and 100m drilling depth, the rotation speed is set to 80r / min and the advance speed is set to 3min / m. The drilling and cutting coordinated execution system automatically controls the drilling rig 3 to start drilling and construct the second unit element structural zone area ring-cut cross drilling 9;

[0100] Furthermore, the monitoring and feedback system monitors the main parameters of the automatic control drilling rig 3, including the drilling rig construction footage, drill pipe speed, and drilling rig torque, and transmits the data to the gas geological management system in real time and records them;

[0101] Furthermore, during drilling and cutting, when the drill pipe speed and torque monitoring parameters deviate from the set parameters by 30%, the data feedback decision analysis system and the drilling and cutting coordinated execution system control the automatic control drill rig 3 to reduce the speed of the automatic control drill rig 3 by 50% and the cutting pressure of the automatic control slitting pump group 2 to 0, thereby avoiding drill buried, drill stuck, and other phenomena;

[0102] Furthermore, during the drilling of the ring-cut cross-hole 9, the drill rod advancement speed in the coal hole sections 0-40m and 60-80m was normal, and the coal dust discharge was uniform. The monitoring drill speed was 80r / min, the advancement speed was 3m / min, and the torque was 3000N·m. The coal body was broken in the range of 40-60m and 80-100m. The drill speed was 100r / min, the advancement speed was 3.5m / min, and the torque was 2500N·m, all within the construction parameter range. The construction data was recorded and uploaded to the gas geological management system.

[0103] Furthermore, based on the drilling parameters uploaded to the gas geology management system, the decision-making analysis system generates slotting instructions. Starting from the bottom of the borehole, circular slots 9-1 are constructed within the 80-100m and 40-60m ranges, while horizontal slots 9-2 are constructed within the 60-80m and 20-40m ranges.

[0104] Furthermore, the slit radius is 1 to 1.5 meters, and the slit pressure is 80 to 100 MPa. During slit cutting, the circular cutting speed is set at 60 r / min, the pressure is 80 to 100 MPa, and the torque is 5000 N·m. During flat cutting, the drill pipe pullback speed is 10 min / m, and the pressure is 80 to 100 MPa.

[0105] Furthermore, it is determined that the spacing between the annular cut grooves 9-1 in the annular-horizontal cross-drilling hole 9 is 3m, the spacing between the horizontal cut grooves 9-2 is 5m of the cutting depth, and the spacing between the annular cut grooves 9-1 and the horizontal cut grooves 9-2 is 4m;

[0106] Furthermore, according to the slotting parameters, the automatic control slotting pump group 2 and the automatic control drilling rig 3 are coordinated to control the drill back slotting from the bottom of the borehole; the circular slotting groove 9-1 is cut 7 times in the range of 40-60m and 80-100m in the coal hole section, and the horizontal slotting groove 9-2 is cut 4 times in the range of 60-80m and 20-40m;

[0107] The monitoring and feedback system mainly monitors the operating parameters of the automatic control slotting pump group 2, the automatic control drilling rig 3 equipment and the drilling and cutting construction parameters;

[0108] Furthermore, the monitoring feedback system monitors the main parameters of the automatic control of the slitting pump group 2 during operation, such as slitting pressure, flow rate, slitting operation time, oil temperature, water level, etc., monitors the main parameters of the automatic control of the drilling rig 3, such as drill pipe speed, drilling rig torque, etc., and monitors the parameters such as drilling slag volume, slag slurry concentration, gas concentration, etc. during the drilling and cutting construction;

[0109] Furthermore, when executing the slitting construction, the slitting pressure is monitored to be 80-100MPa, the flow rate is 110-130L / min, the single-knife slitting time is 10-15min, the oil temperature of the slitting pump group 2 is automatically adjusted to 40°-50°, and the water level is maintained at 2 / 3. All construction operation parameters are within the normal range.

[0110] Furthermore, during the slitting operation, the drill rig 3 is monitored and automatically controlled, with the drill rod speed of 60 r / min and the drill rig torque of 5000 N·m during ring cutting, and the drill rod pull-back speed of 10 min / m during flat cutting.

[0111] Furthermore, during monitoring construction, the angle deviation of the nozzle of the flat-cut slot 9-2 was ≤±10°, which was within the normal range of deviation value;

[0112] Furthermore, during drilling, monitoring was performed to determine the drilling slag discharge volume during the circumferential cut slot 9-1, which was 0.8-1.0 tons, with a slag slurry concentration of 20-30%. During the circumferential cut slot 9-2, the drilling slag discharge volume was 1-1.5 tons, with a slag slurry concentration of 30-35%. During the slit cutting process, monitoring was performed to ensure that the gas emission concentration within the construction area was ≤0.5%. The drill was then withdrawn sequentially according to the designed location and number of the circumferential cut slot 9-1 and the horizontal cut slot 9-2 within the hole to complete the slit drilling.

[0113] After the ring-and-flush cross-drilling hole 9 is completed, the automatic slitting pump unit 2 and the automatic drilling rig 3 are controlled to move to the flush drilling hole 10 in sequence according to the roadway positioning system sensors. The slitting slots are spaced 5 meters apart, the slitting range of the coal hole section is 20 to 100 meters, and 15 slitting cuts are made. Repeat the above steps to complete flush drilling hole 10 and flush construction drilling hole 11. Similarly, the flush drilling holes in the first and third units are completed.

[0114] The pure amount of gas extracted from the boreholes within one month after the completion of drilling and cutting construction in all units is counted, and the effective radius of drilling and cutting, coal seam gas extraction rate, and coal seam extraction compliance evaluation are analyzed by the information management and evaluation system to evaluate the gas control effect in the unit.

[0115] Furthermore, the effective extraction radius of the seam drilling hole should be greater than 1 / 2 of the drilling hole spacing, otherwise it is determined that there is a gas extraction blank zone in the coal seam. The gas extraction concentration of a single construction should not be less than 30% during the extraction period, otherwise it is determined that the drilling hole has leakage and is not sealed tightly, and the hole should be resealed. By measuring the residual gas content and gas pressure of the coal seam, the information management and evaluation system is input to prevent sudden gas outbursts. The residual gas content of the coal seam is 6m 3 / t, gas pressure below 0.6MPa is the standard. If it exceeds the standard value, the extraction time should be extended by half a month until the measured value is below the standard value.

[0116] Furthermore, by counting the extraction data of each slotted borehole for one month, the average gas extraction volume per hole is 0.8m 3 / min, and the average extracted gas concentration is 65%.

[0117] Furthermore, through the analysis of the information management and evaluation system, the total amount of gas in each unit coal seam is 3600000m 3 In 30 days, the total gas volume extracted from 40 slotted boreholes in each unit was 1,382,400 m 3 The coal seam gas extraction rate is 38.4%, the effective radius of single hole extraction is 2.4m, and the residual gas content of the coal seam is 7.3m 3 / t, gas pressure 0.54MPa. Based on the above, it can be determined that within 30 days of extraction, the coal seam cutting and drilling holes are tightly sealed and there is no leakage. However, if the coal seam gas extraction is not supplemented, the effective radius of the drilling extraction should be less than 1 / 2 of the drilling spacing, and there is a gas extraction blank zone in the coal seam. Although the residual gas pressure of the coal seam is reduced to 0.6MPa, the coal seam gas extraction rate is low and the residual gas content of the coal seam is greater than 6m 3 / t, it is preliminarily determined that the coal seam extraction in this area does not meet the standards, and the extraction time should be extended by half a month until the measured value is below the standard value.

[0118] Furthermore, the extraction data of each slotted borehole for 45 consecutive days was counted, and the average gas extraction volume per hole was 0.7m 3 / min, and the average extraction gas concentration is 55%. According to the information management and evaluation system analysis, the total gas volume of each unit coal seam is 3600000m 3 In 30 days, the total gas volume extracted from 40 slotted boreholes in each unit was 1,814,400 m 3 The coal seam gas extraction rate is 50.4%, the effective radius of single hole extraction is 2.9m, and the residual gas content of the coal seam is 5.9m 3 / t, gas pressure 0.45MPa.

[0119] Furthermore, the information management and evaluation system determined that within 45 days after the completion of the drilling construction in this working face, there was no extraction blank zone between the boreholes in the three units, the drilling and sealing quality was good, the coal seam extraction rate was 50.4%, the effective extraction radius of a single hole was 2.9m, and the residual gas content of the coal seam was 5.9m. 3 / t, gas pressure 0.45MPa. Comprehensively determined, the coal seam extraction at this working face met the standards. The above results and data were uploaded to the drilling and cutting collaborative control platform for display, concluding coal seam gas extraction work.

[0120] As shown in FIG3 , it is a flow chart of the method of the present invention, which includes a manual mode and an automatic mode.

[0121] Manual mode: Start the slit pump unit, and after confirmation, turn on the power supply; start the drilling rig, and after confirmation, turn on the power supply.

[0122] Automatic mode:

[0123] S1: Enter the coal seam geological information into the gas geological management system for archiving and analysis; determine whether it is a circular cut or a directional cut; if it is a circular cut, proceed to S11; if it is a directional cut, proceed to S14;

[0124] S11: Annular slit;

[0125] S111: Start the drilling rig and confirm. If confirmed, go to S113; if not, return to S1;

[0126] S113: Drilling is performed according to the input drilling depth and drilling speed. If an abnormality occurs, the machine is regulated, or switched to manual mode, or the cause of the abnormality is prompted. If normal, the process proceeds to S114.

[0127] S114: When the drilling rig reaches the preset depth, the drill rod is locked, the drilling rig is shut down, a prompt is given to replace the tailpipe, and the drilling rig is restarted;

[0128] S115: Adjust the speed to 60r / min;

[0129] S116: Automatically start the high-pressure pump;

[0130] S117: Orifice return water ≥ 30L / min;

[0131] S118: boost cutting;

[0132] S119: Collecting data on drilling rig torque, drilling rig speed, and fluid output for status analysis;

[0133] S120: Determine whether the status is normal; if normal, proceed to S121; if abnormal, proceed to S1201;

[0134] S1201: Make adjustments; if the adjustment is unsuccessful, return to S119; if the adjustment is unsuccessful three times, enter manual mode, prompt the reason, and sound and light alarms; if the adjustment is successful, proceed to S118 according to the initial pressure, kerf time and drilling rig speed;

[0135] S121: boost cutting;

[0136] S122: Collecting data on drilling rig torque, drilling rig speed, and fluid output for status analysis;

[0137] S123: Determine whether the status is normal; if normal, proceed to S124; if abnormal, proceed to S1221;

[0138] S124: boost cutting;

[0139] S1221: Make adjustments; if the adjustment is unsuccessful, return to S122; if the adjustment is unsuccessful three times, enter manual mode, prompt the reason, and sound and light alarm; if the adjustment is successful, proceed to S121 according to the secondary pressure, cutting time and drilling rig speed;

[0140] S125: Collecting data on drilling rig torque, drilling rig speed, and fluid output for status analysis;

[0141] S126: Determine whether the status is normal; if normal, proceed to S127; if abnormal, proceed to S1261;

[0142] S1261: Parameter adjustment is performed. If unsuccessful, the process proceeds to S125. If successful, the process proceeds to S124 based on the three pressures, slit time, and drill speed. If all three adjustments are unsuccessful, the process enters manual mode, prompts the cause, and issues an audible and visual alarm.

[0143] S127: Slowly lower blood pressure;

[0144] S128: Pressure returns to zero; pump stops; drilling rig stops;

[0145] S129: Back off the drill to the next cut;

[0146] S130: Repeat the slitting operation; if the slitting is not completed, return to S115; if the slitting is completed, enter S131;

[0147] S131: Stop the pump, and after the drill rod is withdrawn, stop the drilling rig and prompt that the cutting is completed.

[0148] S14: directional slit;

[0149] S141: Start the drilling rig;

[0150] S142: Confirm whether it is started; if it is started, go to S143; if it is not started, return to S1;

[0151] S143: Drilling is performed according to the input drilling depth and drilling speed. If an abnormality occurs, the machine is regulated, or switched to manual mode, or the cause of the abnormality is prompted. If normal, the process proceeds to S144.

[0152] S144: When the drilling rig reaches the preset depth, the drill rod is locked, the drilling rig is shut down, a prompt is given to replace the tailpipe, and the drilling rig is restarted;

[0153] S145: Adjust the nozzle angle;

[0154] S146: Automatically start the high pressure pump;

[0155] S147: Orifice return water ≥ 30L / min;

[0156] S148: boost cutting;

[0157] S149: Collecting data on drilling rig torque, drilling rig speed, and fluid output for status analysis;

[0158] S150: Determine whether the status is normal; if normal, proceed to S151; if abnormal, proceed to S1501;

[0159] S1501: Make adjustments; if the adjustment is unsuccessful, return to S149; if the adjustment is unsuccessful three times, enter manual mode, prompt the reason, and sound and light alarms; if the adjustment is successful, proceed to S148 based on the initial pressure, cutting time and drilling rig speed;

[0160] S151: The drill pipe stops moving, the hole washing procedure is carried out, the pressure is slowly reduced, and the slag is removed by rotation; the drilling rig speed duration is 90 seconds, the pressure reduction time is 30 seconds, the pressure stabilization time is 60 seconds, when f≤0.4, the pressure is 5 MPa, when 0.4<f≤0.8, the pressure is 20 MPa, and when f>0.8, the pressure is 30 MPa;

[0161] S152: boost cutting;

[0162] S153: Collecting data on drilling rig speed and fluid output for status analysis;

[0163] S154: Determine whether the status is normal; if normal, proceed to S155; if abnormal, proceed to S1541;

[0164] S1541: Make adjustments; if the adjustment is unsuccessful, return to S153; if the adjustment is unsuccessful three times, enter manual mode, prompt the reason, and sound and light alarms; if the adjustment is successful, proceed to S152 based on the secondary pressure, cutting time and drilling rig speed;

[0165] S155: The drill pipe stops moving, the hole washing procedure is carried out, the pressure is slowly reduced, and the slag is removed by rotation; the drilling rig speed duration is 90 seconds, the pressure reduction time is 30 seconds, and the pressure stabilization time is 60 seconds. When f≤0.4, the pressure is 5 MPa, when 0.4<f≤0.8, the pressure is 20 MPa, and when f>0.8, the pressure is 30 MPa;

[0166] S156: boost cutting;

[0167] S157: Collect data on drilling rig speed and fluid output for status analysis;

[0168] S158: Determine whether the status is normal; if normal, proceed to S159; if abnormal, proceed to S1581;

[0169] S1581: Parameter adjustment is performed. If unsuccessful, the process proceeds to S157. If successful, the process proceeds to S124 based on the three pressures, slitting time, and drilling speed. If all three adjustments are unsuccessful, the process enters manual mode, prompts the cause, and issues an audible and visual alarm.

[0170] S159: The drill pipe stops moving, the hole washing procedure is carried out, the pressure is slowly reduced, and the slag is removed by rotation; the drilling rig speed duration is 90 seconds, the pressure reduction time is 30 seconds, and the pressure stabilization time is 60 seconds. When f≤0.4, the pressure is 5 MPa, when 0.4<f≤0.8, the pressure is 20 MPa, and when f>0.8, the pressure is 30 MPa;

[0171] S160: pressure returns to zero; pump stops; drilling rig stops;

[0172] S161: Drill back to the next cut;

[0173] S162: Repeat the slitting operation; if the slitting is not completed, return to S145; if the slitting is completed, enter S163;

[0174] S163: Stop the pump, and after the drill rod is withdrawn, stop the drilling rig and prompt that the cutting is completed.

[0175] When the parameters are that the torque increases by 20% and the liquid output increases by 20%, the coal seam becomes soft and the soft coal cutting process is carried out.

[0176] When the parameters show a 20% increase in torque and a 20% increase in fluid output, an orange drill-holding warning state is displayed, and the pressure is reduced by one level and the speed is increased by one level.

[0177] When the parameters are that the torque increases by 30% and the fluid output increases by 50%, a red warning state of drill holding is presented and low-pressure hole washing treatment is performed.

[0178] When the water level in the water tank is lower than 50%, the water supply will be in orange warning state and sound and light alarm will be activated.

[0179] When the water level in the water tank is lower than 30%, a red water supply warning state is displayed and an audible and visual alarm is issued.

[0180] When the water level in the water tank is lower than 10%, a water shortage warning state is presented and the high-pressure pump is shut down.

[0181] When the parameters show that the liquid inlet volume is normal and the pressure is lower than 40Mpa, and the rated working pressure cannot be reached, the high-pressure pump is shut down.

[0182] When the parameter pressure exceeds the set value by 10Mpa, it presents an abnormal pressure increase state. When the pressure exceeds 60Mpa, the high-pressure pump is shut down and the speed is reduced to 100r / min within 10s. When the pressure is less than 6-Mpa, the pressure is reduced to 20Mpa within 10s and the speed is reduced to 100r / min.

[0183] When the oil temperature exceeds 80°C, the oil temperature will be in orange warning state and prompt processing will be performed.

[0184] When the oil temperature exceeds 90°C, a red oil temperature warning state is displayed and the high-pressure pump is shut down.

[0185] Table 1 is the basis for judging drilling and cutting parameters.

[0186] Table 1

[0187] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions, which should all be included in the scope of the claims of the present invention.

Claims

1. A high-pressure water jet automatic drilling and cutting collaborative system for coal seams, characterized in that: it includes a drilling and cutting collaborative control platform (1), an automatically regulated slitting pump unit (2) and an automatically regulated drilling rig (3); the drilling and cutting collaborative control platform (1) includes a gas geology management system, a decision-making analysis system, a drilling and cutting collaborative execution system, a monitoring and feedback system and an information management and evaluation system; the automatically regulated slitting pump unit and the automatically regulated drilling rig are controlled to execute the construction operation parameter instructions issued by the drilling and cutting collaborative control platform; the gas geology management system records the coal seam geological information, and the decision-making analysis system analyzes based on the coal seam geological information and combines historical data to judge the coal seam type and outburst prevention measures; the decision-making analysis system sends construction operation commands to the drilling and cutting collaborative execution system, controls the automatically regulated drilling rig (3) to start drilling, and controls the automatically regulated slitting pump unit (2) to start slitting; the decision-making analysis system analyzes and determines the drilling and cutting construction parameters such as the drilling spacing, drilling depth, slitting process, and slitting radius according to the coal seam basic parameter information provided by the gas geology management system; the monitoring and feedback system monitors the operation parameter instructions and device performance indicators during the drilling and slitting construction executed by the automatically regulated drilling rig (3) and the automatically regulated slitting pump unit (2) controlled by the drilling and cutting collaborative execution system; the monitoring and feedback system also sends slitting parameter feedback to the automatically regulated slitting pump unit, also sends drilling rig parameter feedback to the automatically regulated drilling rig and the drilling and cutting collaborative execution system, and also sends drilling and slitting parameter feedback to the decision-making analysis system; the decision-making analysis system adjusts in time according to the construction data, re-adjusts and formulates slitting parameters, and sends slitting construction operation commands; the monitoring and feedback system also sends monitoring parameters of drilling and slitting to the information management and evaluation system; the high-pressure water jet automatic drilling and cutting collaborative system for coal seams further includes a roadway positioning sensor (4) and a wireless positioning slitting device (12), and the roadway positioning sensor (4) is arranged within a certain range of the roadway construction site; the automatically regulated slitting pump unit (2) is also provided with a pump unit positioning receiver (2-1); the automatically regulated drilling rig (3) is also provided with a drilling rig positioning receiver (3-1); the wireless positioning slitting device (12) is used to receive the positioning signal of slitting and monitor the slitting positioning angle during the construction of the borehole; the roadway positioning sensor (4), the pump unit positioning receiver (2-1) and the drilling rig positioning receiver (3-1) maintain a certain distance, and the signal is wirelessly transmitted to the automatic drilling and cutting collaborative system, and automatically moves to the next construction site for construction according to the drilling construction spacing; After the drilling and cutting holes in all units are constructed, the pure gas extraction volume of the drilled holes is monitored for one month, and the information management and evaluation system analyzes the effective radius of borehole gas extraction, the coal seam gas extraction rate, and the coal seam extraction compliance judgment to evaluate the gas control effect within the unit.

2. A high-pressure water jet automatic drilling and cutting collaborative system for coal seams according to claim 1, characterized in that: The coal seam geological information includes the width of the coal seam working face, the types of rock strata in the coal seam roof, the types of rock strata in the coal seam floor, the stability of the roof and floor, the coal seam thickness, the coal seam dip angle, the location of fault structures existing in the coal seam, the type of coal body failure, the coal body firmness coefficient, the gas pressure, and the gas content.

3. A coal seam high-pressure water jet automatic drilling and cutting collaborative system according to claim 1, characterized in that: The decision-making analysis system determines the parameters of the cutting slot process and the cutting slot radius according to the coal seam thickness, the type of coal body failure, the coal body firmness coefficient, and the coal and rock conditions during drilling; When the type of coal body failure is type Ⅳ, the cutting slot process selects the circumferential cutting process; When the type of coal body failure is type Ⅰ, type Ⅱ, type Ⅲ, or the coal seam structural area, the cutting slot process selects the flat cutting process; When the coal seam thickness is 0 - 3m, the cutting slot radius is 1m; When the coal seam thickness is 3 - 6m, the cutting slot radius is 2m; When the coal seam thickness ≥ 6m, the cutting slot radius is 2m, and double-row cutting slot boreholes are arranged; When the coal body firmness coefficient f ≤ 0.5, the cutting slot radius is 2.5m; When the coal body firmness coefficient 0.5 ≤ f ≤ 1, the cutting slot radius is 2m; When the coal body firmness coefficient f ≥ 1, the cutting slot radius is 1m; The cutting slot process for the broken area of the coal hole section selects the circumferential cutting process, and the cutting slot process for the complete area of the coal hole section selects the flat cutting process.

4. A coal seam high-pressure water jet automatic drilling and cutting collaborative system according to claim 2 or 3, characterized in that: If the location of the fault structure existing in the coal seam analyzed by the decision-making analysis system is z, the area within 100m near the coal seam fault structure location Z is demarcated as 1 outburst prevention and extraction compliance evaluation unit.

5. A coal seam high-pressure water jet automatic drilling and cutting collaborative system according to claim 2 or 3, characterized in that: When the width of the coal seam working face is 600m in length × 200m in width, the types of roof rock strata and floor rock strata of the coal seam are fine sandstone, the stability of the roof and floor is stable, the thickness of the coal seam is 5m, the dip angle of the coal seam is 2°, there is a fault structure at the 300m position in the coal seam, the coal body failure type is II, the coal body firmness coefficient f is 0.5, the gas pressure is 0.9MPa, and the gas content is 12m 3 / t; This coal seam is divided into three outburst prevention and extraction compliance evaluation units, 0m - 200m is the first unit, 200m - 400m is the second unit, and 400m - 600m is the third unit; Flat cutting boreholes (10) are implemented in the first and third units, and ring-flat cutting cross boreholes (9) and flat cutting boreholes (10) are implemented for the gas extraction boreholes in the second unit; According to the construction parameters of a borehole spacing of 5m and a borehole depth of 100m, the rotation speed is set to 80r / min, and the propulsion speed is 3min / m.

6. A coal seam high-pressure water jet automatic drilling and cutting collaborative system according to claim 5, characterized in that: The drilling and cutting collaborative execution system controls the automatic regulation drill rig (3) to start the borehole drilling construction operation and constructs the ring-flat cutting cross borehole (9) in the structural belt area of the second unit element; The monitoring and feedback system monitors the data of the drill rig construction footage, drill pipe rotation speed, and drill rig torque of the automatic regulation drill rig (3), and transmits the data to the gas geology management system in real time and records it; During the drilling construction of the ring-flat cut cross-borehole (9), the drill pipe propulsion speed is normal and the coal cuttings are discharged evenly within the ranges of 0 - 40m and 60 - 80m in the coal hole section. The monitored drill rig rotation speed is 80 r / min, the propulsion speed is 3 m / min, and the torque is 3000 N·m; within the ranges of 40 - 60m and 80 - 100m, the coal body is broken, the drill rig rotation speed is 100 r / min, the propulsion speed is 3.5 m / min, and the torque is 2500 N·m. Within the construction parameter range, the construction data is recorded and uploaded to the gas geology management system; The cutting slot parameters are formulated by the decision analysis system, and the cutting slot construction operation command is sent; starting from the bottom of the borehole, the circumferential cutting slots (9 - 1) are constructed within the ranges of 80 - 100m and 40 - 60m, and the flat cutting slots (9 - 2) are constructed within the ranges of 60 - 80m and 20 - 40m; The cutting radius is 1 - 1.5m, and the cutting pressure is 80 - 100 MPa; during the cutting slot construction, the circumferential cutting rotation speed is set at 60 r / min, the pressure is 80 - 100 MPa, and the torque is 5000 N·m; during flat cutting, the drill pipe pulling-back speed is 10 min / m, and the pressure is 80 - 100 MPa; The spacing between the circumferential cutting slots (9 - 1) in the ring-flat cut cross-borehole (9) or the flat cut borehole ring-flat cut cross-borehole is 2 - 3 times the cutting radius, and the spacing between the flat cutting slots (9 - 2) is 3 - 5 times the cutting depth. The spacing between the circumferential cutting slot and the flat cutting slot is 3 times; it is determined that the spacing between the circumferential cutting slots (9 - 1) in the ring-flat cut cross-borehole (9) is 3m, the spacing between the flat cutting slots (9 - 2) is 5m of the cutting depth, and the spacing between the circumferential cutting slot (9 - 1) and the flat cutting slot (9 - 2) is 4m; According to the cutting slot parameters, the automatic control cutting slot pump group (2) and the automatic control drill rig (3) cooperate to control the back-drilling type cutting slot from the bottom of the borehole; within the ranges of 40 - 60m and 80 - 100m in the coal hole section, 7 circumferential cutting slots (9 - 1) are constructed each, and within the ranges of 60 - 80m and 20 - 40m, 4 flat cutting slots (9 - 2) are constructed each; During the cutting slot construction, the monitored cutting pressure is 80 - 100 MPa, the flow rate is 110 - 130 L / min, the single-cutting slot time is 10 - 15 min, and the oil temperature of the automatic control cutting slot pump group (2) is 40° - 50°, and the water level remains above 2 / 3. All the construction operation parameters are within the normal range values; During the cutting slot construction, the circumferential cutting drill pipe rotation speed of the automatic control drill rig (3) is monitored at 60 r / min, and the drill rig torque is less than or equal to 5000 N·m. During flat cutting, the drill pipe pulling-back speed is 10 min / m; The deviation value of the nozzle angle of the flat cutting slot (9 - 2) during construction is monitored to be ≤ ±10°, within the normal range of the deviation value; After the construction of the ring - horizontal cutting cross - hole (9) is completed, control the automatic regulation cutting pump (2) and the automatic regulation drill rig (3) to move to the horizontal cutting hole (10) in sequence according to the roadway positioning sensor. The spacing of the horizontal cutting slots is 5 m, the cutting range of the coal hole section is 20 - 100 m, and 15 cuts are made; repeat the above steps to complete the horizontal cutting hole (10) and the horizontal cutting construction hole (11) in sequence; similarly, complete the horizontal cutting hole construction in the first unit and the third unit.

7. A coal seam high - pressure water jet automatic drilling and cutting collaborative system according to claim 6, characterized in that: the monitoring and feedback system monitors the operation parameters of the automatic regulation cutting pump group (2) and the automatic regulation drill rig (3) and the drilling and cutting construction parameters; specifically including the drilling progress of the drill rig, the rotation speed of the drill pipe, and the torque of the drill rig, and transmits the parameter data to the gas geology management system in real time; for coal seams with different geological conditions, different drill pipe rotation speeds are set for drilling construction or circumferential cutting construction; when the monitored rotation speed and torque parameters of the drill pipe during drilling and cutting deviate from the set parameters by 30%, the data feedback decision - making analysis system and the drilling and cutting collaborative execution system control the automatic regulation drill rig to reduce the rotation speed of the automatic regulation drill rig (3) by 50% and reduce the cutting pressure of the cutting pump group to 0; when the horizontal cutting slot is constructed by drilling, the wireless positioning cutting device monitors the cutting angle, and when the angle deviation is ±15°, the cutting angle is corrected to 0°; monitor the slag discharge amount, the concentration of the slag slurry, and the gas concentration parameters during the drilling and cutting construction. For coal seams with different geological conditions, critical parameters of the cutting slag discharge amount are given; when the monitored slag discharge amount of the drilling hole is greater than 10% of the set critical value, control the automatic regulation drill rig (3) to reduce the rotation speed by 50% and reduce the cutting pressure of the automatic regulation cutting pump group (2) to 50 MPa; when the concentration of the slag slurry during cutting is greater than 50%, stop the automatic regulation cutting pump group (2), and the automatic regulation drill rig (3) retreats the drill to the next cutting position; monitor that the slag discharge amount of the drilling hole during the construction of the circumferential cutting slot (9 - 1) is 0.8 - 1.0 t and the concentration of the slag slurry is 20 - 30% during the construction of the circumferential cutting slot (9 - 1), and the slag discharge amount of the drilling hole is 1 - 1.5 t and the concentration of the slag slurry is 30% - 35% during the construction of the circumferential cutting slot (9 - 1); monitor that the gas concentration gushing out within the construction range during cutting is ≤0.5%; according to the position and quantity of the designed circumferential cutting slot (9 - 1) and horizontal cutting slot (9 - 2) in the hole, perform sequential retreat - type cutting to complete the cutting hole construction.

8. A coal seam high - pressure water jet automatic drilling and cutting collaborative system according to claim 7, characterized in that: the effective radius of the borehole drainage is greater than 1 / 2 of the borehole spacing, otherwise it is determined that there is a blank zone for gas drainage in the coal seam; During the gas drainage period, the gas drainage concentration of a single gas drainage borehole shall not be less than 30%. Otherwise, it is determined that there is air leakage in the borehole and the sealing is not tight, and the borehole needs to be re-sealed. By measuring the residual gas content and gas pressure of the coal seam and inputting them into the information management evaluation system, the residual gas content of the coal seam specified in the outburst prevention evaluation is 6m 3 / t, and the gas pressure is below 0.6 MPa as the standard. If the standard value is exceeded, the gas drainage time is extended by half a month until the measured value is below the standard value.

9. A coal seam high - pressure water jet automatic drilling and cutting collaborative method, characterized in that: the method includes the following steps: the automatic regulation cutting pump group and the automatic regulation drill rig execute the construction operation parameter instructions issued by the drilling and cutting collaborative control platform; the gas geology management system records the coal seam geological information, and the decision - making analysis system analyzes based on the coal seam geological information and combines historical data to judge the coal seam type and outburst prevention measures; The decision-making analysis system sends construction operation commands to the drilling and cutting collaborative execution system, controls the automatic regulation and control of the slitting pump unit (2) to start slitting, and controls the automatic regulation and control of the drilling rig (3) to start drilling; the decision-making analysis system analyzes and determines reasonable drilling and cutting construction parameters such as the drilling interval, drilling depth, slitting process, and slitting radius based on the coal seam basic parameter information provided by the gas geology management system. The drilling and cutting collaborative execution system sends operation parameter instructions for drilling and cutting to the monitoring and feedback system. The monitoring and feedback system sends monitoring parameters for drilling and cutting to the information management and evaluation system. The monitoring and feedback system also sends slitting parameter feedback to the automatic regulation and control of the slitting pump unit, sends drilling rig parameter feedback to the automatic regulation and control of the drilling rig and the drilling and cutting collaborative execution system, and sends parameter feedback for drilling and cutting to the decision-making analysis system. The coal seam high-pressure water jet automatic drilling and cutting collaborative system further includes a roadway positioning sensor (4) and a wireless positioning slitting device (12), and the roadway positioning sensor (4) is arranged within a certain range of the roadway construction site. The automatic regulation and control of the slitting pump unit (2) is also provided with a pump unit positioning receiver (2-1). The automatic regulation and control of the drilling rig (3) is also provided with a drilling rig positioning receiver (3-1). The wireless positioning slitting device (12) is used to receive the positioning signal for slitting. The roadway positioning sensor (4), the wireless positioning slitting device (12), the pump unit positioning receiver (2-1), and the drilling rig positioning receiver (3-1) maintain a certain distance, and the signal is wirelessly transmitted to the automatic drilling and cutting collaborative system, and automatically moves to the next construction site for construction according to the drilling construction interval. The monitoring and feedback system monitors the slitting pressure, flow rate, slitting operation time, oil temperature, and water level during the operation of the automatic regulation and control of the slitting pump unit 2, monitors the drill pipe rotation speed and drilling rig torque of the automatic regulation and control of the drilling rig (3), and monitors the drilling slag discharge volume, slag slurry concentration, and gas concentration during the drilling and cutting construction of the borehole. After the drilling construction of the second unit is completed, control the automatic regulation and control of the slitting pump unit and the automatic regulation and control of the drilling rig to move the machines to the next borehole in sequence according to the roadway positioning system sensor, repeat the above steps, and complete the boreholes in the first unit and the third unit in sequence.

10. A coal seam high-pressure water jet automatic drilling and cutting collaborative method according to claim 9, characterized in that: The information management and evaluation system counts the pure gas extraction volume of the boreholes within one month after the completion of the drilling and cutting holes in all units, analyzes the effective extraction radius of the boreholes, the coal seam gas extraction rate, and the coal seam extraction compliance judgment to evaluate the gas control effect within the unit. The effective drainage radius of the slotted boreholes is greater than 1 / 2 of the borehole spacing; otherwise, it is determined that there is a blank zone for gas drainage in the coal seam. During the drainage period, the gas drainage concentration of a single construction should not be less than 30%; otherwise, it is determined that there is air leakage in the borehole and the sealing is not tight, and the borehole should be re-sealed. By measuring the residual gas content and gas pressure of the coal seam and inputting them into the information management evaluation system, according to the outburst prevention evaluation regulations, the residual gas content of the coal seam is 6m 3 / t, and the gas pressure is below 0.6 MPa as the standard. If the standard value is exceeded, the drainage time is extended by half a month until the measured value is below the standard value.

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