Deep formation borehole-cavern mining system and method

Abstract

Disclosed are a deep formation borehole-cavern mining system and method. The system comprises: an access borehole system, which has a borehole (1), wherein the borehole is in communication with a cavern (2), and the borehole is configured as a return channel and / or an injection channel; a borehole-cavern mining device (3), which has a crushing assembly (301) and / or a removal and transport assembly (302), wherein the crushing assembly is used for controlled-morphology mining, and the removal and transport assembly is used for removing or transporting ore particles to the return channel; and a particle flow lifting system, which is used for lifting the mined ore particles to the surface through the return channel. The mining system solves the technical problems of poor support effect and low efficiency of ore particle removal and transport during cavern mining in deep formations, enabling large-scale and high-efficiency mining operations in deep formations or non-hard formations.

Description

Deep Formation Borehole Mine Mining System and Method

[0001] Related applications

[0002] This application claims priority to Chinese invention patent with patent application number 202510313143.6, application date 2025.03.17, and invention title "Deep Formation Wellhole Cave Mining System". Technical Field

[0003] This invention relates to the field of mining, and more particularly to a deep strata well-hole tunnel mining system and method. Background Technology

[0004] With the increasing global emphasis on sustainable development and the green economy, the strategic value of high-value mineral resources will become even more prominent. Various tools and equipment needed for production and daily life consume vast amounts of mineral resources. For example, cutting-edge equipment such as deep space and deep-sea exploration, basic scientific research, nuclear fusion devices, supercomputing, and high-speed transportation are generating ever-increasing demand for precious metals and other rare elements. The abundant and valuable mineral resources hidden within deep strata are crucial for future human survival and development, as well as for technological progress. Therefore, geological and mining technologies must evolve to reach deeper regions. However, developing mineral resources deep within the Earth presents more complex, demanding, and unpredictable engineering and geological environments. With increasing mining depth, traditional mining techniques lead to exponentially increasing risks of major accidents and development costs, making large-scale deep mineral development virtually impossible with current traditional methods. Therefore, a new technological system is urgently needed to effectively develop mineral resources within deep strata and subsurface marine strata, enabling exploration into deeper geological formations.

[0005] In existing technologies, the mining of underground solid mineral deposits mainly adopts the vertical shaft tunnel method. This involves transporting mining equipment into the strata through vertical shafts, inclined tunnels, and horizontal tunnels, carrying out mining operations underground, and using transportation equipment such as vehicles or conveyor belts to transport the ore out. However, as the mining depth increases, more and more strata become unminable due to problems such as rock bursts, outbursts, roof falls, collapses, and water infiltration. Mining using the above method creates huge underground spaces, requiring the use of complex support equipment to support the formed chambers. However, collapses can still occur when mining deep strata or non-hard strata, leading to the interruption of mining operations.

[0006] Since the Song Dynasty in China, when water was injected into wells to dissolve salt ore, people have been exploring new methods for extracting deep minerals. How to mine minerals from deep strata has long been a matter of great concern. In the 1970s, scholars proposed using high-pressure water jets to impact the well walls in rock or coal seams to create cavities for mining solid minerals. While this method can create cavities for low-hardness minerals, it is limited by the jetting distance, making it difficult to control the extraction volume. Furthermore, the jet used for impact cannot be controlled, making it impossible to precisely break the rock. With the formation of cavities, the broken mineral particles cannot be effectively carried out of the wellbore by circulating water, making it impossible to form large, controllable cavity sizes. This hinders industrial-scale mining and makes it difficult to achieve the desired morphological shape of the mining space. Therefore, this method is even less effective for developing deep metal deposits. Similar technologies include raised shaft drilling and borehole enlargement techniques. While traditional reverse shaft construction can serve a mining function under special circumstances, it is mainly used to excavate ventilation shafts from horizontal roadways to the surface and relies on the roadway to transport the reverse shaft drill bit. In contrast, reamers can be lowered into the borehole with the cutter blades retracted and the borehole gradually enlarged as the drill string rotates inside the borehole. However, the enlargement range of reamers is very limited, generally not exceeding 30% of the borehole diameter. Furthermore, reamers are less effective in inclined or horizontal shafts and cannot work stably. Therefore, none of the above-mentioned existing technologies can be used to expand the mining range within the ore body.

[0007] In addition, when mining minerals in the strata beneath water bodies (oceans, lakes), existing technologies mainly adopt the coastal development method, which involves drilling vertical shafts on the shore and then excavating tunnels into the strata beneath the sea. In essence, this method also achieves ore mining and transportation through the shaft tunnel method. However, this method cannot extend far into the ocean and also poses a serious risk of water seepage. Therefore, there is an urgent need to develop an effective technology for mining deep minerals and minerals in the strata beneath the ocean.

[0008] Therefore, this invention proposes a deep-seated wellbore and tunnel mining system and method to overcome the shortcomings of existing technologies. Based on a wellbore system, this invention employs wellbore and tunnel robots in the form of tunnel clusters or dynamic tunnels to conduct large-scale, high-efficiency mining operations in deep or non-hard strata, forming a wellbore and tunnel mining technology. This technology, together with existing drilling and completion technologies and vertical shaft mining technologies, constitutes a more complete underground mining engineering technology system, which will play a significant role in the efficient development of deep-earth mineral resources and mineral resources in marine overburden strata. Summary of the Invention

[0009] The purpose of this invention is to provide a deep stratum well-hole mining system and method, which can achieve safe and efficient deep stratum mining operations by combining controlled morphological excavation and ore particle removal.

[0010] Another objective of this invention is to provide a deep stratum borehole mining system and method, which simultaneously performs real-time filling operations during the mining process, reduces the free surface area of ​​the formed borehole, reduces the free space volume in the borehole, improves the stability of the borehole, reduces the requirements for support effect, and is effectively applicable to mining in deep strata or non-hard strata.

[0011] The objective of this invention can be achieved using the following technical solutions:

[0012] This invention provides a deep formation wellbore tunnel mining system, comprising:

[0013] A traffic well system, wherein the traffic well system has at least one well, the well depth is greater than 100m, the diameter of the well is less than 1m, wherein the internal channel formed by the well is connected to the mining pit, and the internal channel formed by the well is configured as a return channel and / or an injection channel, wherein the return channel is used to transport the ore particles mined in the pit to the outside, and the injection channel is used to inject circulating fluid from the outside into the pit;

[0014] At least one borehole mining device, the borehole mining device having a crushing assembly and / or a clearing assembly, the crushing assembly being used to excavate ore on the rock wall of the borehole in a controlled manner or to crush ore inside the borehole, the clearing assembly being used to clean or transport ore particles inside the borehole to the return discharge channel so that the ore particles are discharged from the borehole by the circulating fluid;

[0015] A particle flow lifting system is used to lift the ore particles mined by the wellbore and cavern mining device to the outside of the well via the return channel;

[0016] The wellbore and tunnel mining device has one of the following structures:

[0017] The wellbore and tunnel mining device has a control actuator and a serpentine crawling section. The length of the serpentine crawling section is greater than 5 times the diameter of the wellbore. The control actuator is used to drive the serpentine crawling section to bend, so as to drive the wellbore and tunnel mining device to perform three-dimensional spatial movement within the tunnel. In the bent state, the serpentine crawling section has at least one support point with the surrounding rock of the tunnel, so as to support the wellbore and tunnel mining device through the surrounding rock of the tunnel.

[0018] Alternatively, the wellbore tunnel mining device includes a control actuator, a wellbore crawling device, and a serpentine body. The wellbore crawling device is located at the rear of the serpentine body, and the length of the serpentine body is greater than 5 times the diameter of the wellbore. The control actuator is used to drive the wellbore crawling device and the serpentine body to move, so that the wellbore tunnel mining device moves within the tunnel. The wellbore tunnel mining device has at least one support structure for supporting the serpentine body against the inner wall of the tunnel.

[0019] Alternatively, the wellbore and tunnel mining device may have a control actuator, a crawling assembly, and a serpentine body. The crawling assembly may be disposed on the side of the serpentine body or connected in series with the serpentine body. The length of the serpentine body may be greater than three times the diameter of the wellbore. The control actuator may be used to drive the crawling assembly to move the wellbore and tunnel mining device within the wellbore.

[0020] This invention provides a deep formation wellbore tunnel mining system, comprising:

[0021] A traffic shaft system having at least two wells with a diameter of less than 1m, wherein the internal channels formed by the wells are connected to the mining pits, and the internal channels formed by the wells are configured as a return channel and an injection channel. The return channel is used to transport the ore particles mined in the pits to the outside of the shaft, and the injection channel is used to inject circulating fluid into the traffic shaft system from the outside of the shaft or to transport fluidized filling material into the pit from the outside of the shaft.

[0022] At least one borehole mining device, the borehole mining device having a crushing assembly and / or a clearing assembly, the crushing assembly being used to excavate ore from the rock wall of the borehole in a controlled manner, and the clearing assembly being used to clean or transport ore particles in the borehole to the return channel so as to discharge the ore particles from the borehole through the circulating fluid;

[0023] A three-dimensional filling device for wellbore; the three-dimensional filling device for wellbore has a control actuator, the control actuator is used to drive the three-dimensional filling device for wellbore to move within the cavity, the three-dimensional filling device for wellbore to three-dimensional to fill the cavity with the fluid filling material through the injection channel in a controllable form, so as to reduce the free space volume of the cavity.

[0024] This invention provides a method for mining deep formation wellbore tunnels, comprising the following steps:

[0025] Step S1: Drill at least two wells, and the two wells are connected underground, wherein at least one of the wells passes through the mineral layer or the boundary of the mineral layer;

[0026] Step S2: Install a circulation pump outside the wellbore with the injection channel and connect the output port of the circulation pump to the wellbore to inject circulating fluid into the wellbore; or, insert a gas lift pipeline into the wellbore with the return channel to inject gas into the wellbore and promote the circulation of the circulating fluid in the wellbore; or, install a particulate flow pump into the wellbore with the return channel to discharge the particulate flow in the wellbore out of the well.

[0027] Step S3: Lower the wellbore and tunnel mining device with the crushing assembly into the well;

[0028] Step S4: Inject circulating fluid into the wellbore through the circulating pump; or, inject gas into the wellbore through the gas lift pipeline; or, discharge the particulate flow in the wellbore out of the well through the particulate flow pump; simultaneously, control the movement of the wellbore and tunnel mining device within the tunnel.

[0029] In step S4, the wellbore mining device performs three-dimensional movable fixed-point crushing within the wellbore using a crushing assembly and / or a clearing assembly, so as to excavate the wellbore in a controllable manner.

[0030] Step S5: Gradually form the cavity of the preset shape.

[0031] The beneficial effects of this invention are:

[0032] I. The deep strata borehole and tunnel mining system proposed in this invention uses a serpentine crawling section or serpentine body as the main form of the tunnel mining equipment. This allows for maximum load and capacity while maintaining borehole passability, supporting the crushing and clearing assembly to achieve mining operations. This ensures that the borehole and tunnel mining device with a certain length-to-diameter ratio can achieve significant extension, especially in horizontal or slightly dipped strata, effectively expanding the mining coverage area within the tunnel. Simultaneously, this invention utilizes the advantages of smaller borehole diameters, higher long-term safety compared to tunnels, and greater stability throughout the mining cycle. Based on a access shaft system, it expands mining from the borehole to form tunnels, and the borehole and tunnel mining device with a certain length-to-diameter ratio enters and moves within the tunnel to expand the mining area.

[0033] II. In this deep-stratum borehole mining system, by continuously backfilling the boreholes during the mining process, the free surface area and free space volume of the boreholes are reduced, thereby improving their stability. This is particularly effective for boreholes formed during the mining of deep or non-hard strata, significantly reducing the requirements for support equipment. It can also substantially reduce the spacing between boreholes, or, as mining progresses, the backfill material can act as a buffer for the boreholes, allowing them to move and thus increasing ore recovery. Due to the setup of multiple wells, and the mobility of both the well-hole and three-dimensional filling devices, the free space shape and volume of the well can be controlled by excavating and filling the well in a controlled manner. In particular, the natural stability of strip-shaped or arched wells is utilized to maintain a controllable excavation working space in real time. As the excavation and filling faces move forward, the controllable excavation working space can move in real time as excavation and filling proceed, ensuring the stability of the well during the overall excavation process.

[0034] Third, this deep strata borehole mining system, through the combination of a borehole mining device with a crushing assembly and a borehole mining device with a clearing assembly, or through the combination of a borehole mining device with a crushing assembly, a borehole mining device with a clearing assembly, and a three-dimensional filling device through the borehole, can effectively improve the clearing efficiency of ore particles, and is especially suitable for large-scale, high-efficiency mining operations in deep strata or non-hard strata.

[0035] IV. This deep-seated wellbore mining system is designed for deep ore formations. Since conventional mining equipment with large diameters and large free spaces, such as vertical shafts, roadways, and inclined tunnels, cannot be used for construction, this invention employs wellbore mining devices and three-dimensional filling devices that allow passage through the wellbore for deep-seated mining operations. Mining operations can be completed without the need for roadways, tunnels, or vertical shafts. Furthermore, because this invention uses a roadway-free development and mining method, it employs a staged crushing method. In-situ staged crushing of the ore is carried out inside the mined wellbore until the ore is crushed to a particle size range suitable for mixing into a particle stream (i.e., a particle size range suitable for safe transport within the wellbore) before being discharged externally.

[0036] V. This deep-stratum wellbore and tunnel mining system aims to develop mineral resources through wells. Utilizing the three-dimensional movement characteristics of a serpentine structure, it achieves three-dimensional controllable mining from the linear wellbore to the surface (mining face) and then to the volume (the space within the tunnel). The serpentine structure mining device of this invention enables larger-scale crushing and better adapts to the unique artificial geological environment from the wellbore to the tunnel. The serpentine crawling section or serpentine body described in this invention is a flexible device body that can adapt to complex well networks, significantly increasing the contact between a single well and the formation, and also better expanding the mining's reach, allowing mining operations to move radially towards the wellbore. The tunnel is formed by crushing from the inside of the wellbore outwards. During the mining process, the tail of the wellbore and tunnel mining device can remain inside the wellbore for easy connection of power lines or umbilical cables. Furthermore, when it is necessary to withdraw the wellbore, since the tail of the wellbore mining device is already inside the wellbore, there is no need to locate the wellbore, and the wellbore can be easily withdrawn directly.

[0037] VI. This deep-stratum borehole and tunnel mining system enables tunnelless operation. The mining equipment can not only pass through small boreholes but also perform mining and backfilling work within the tunnel. Therefore, this invention, by incorporating a crushing assembly and a secondary crushing assembly into the borehole and tunnel mining device, satisfies the need for flexible movement of the mining device within the tunnel. Furthermore, to fully utilize the ease of fixing and dragging within the borehole, and to achieve both fixation and movement of the mining device within the borehole, it better utilizes the tunnel space layout and increases the reliability of the borehole mining process. Primary crushing is achieved through the crushing assembly, followed by secondary or even multiple crushing through the secondary crushing assembly, which solves the problem of rockfall during mining and allows for in-situ crushing of obstructing rocks, significantly improving the system's reliability.

[0038] VII. This deep stratum borehole and tunnel mining system can achieve ore granulation within the tunnel, thus eliminating the need for roadways or ore chutes as ore transport channels. This allows for better tunnel-free mining. In cases where the surface is covered by water, this invention can isolate the mining system from the water body through a water-proof pipe and a shaft, enabling the development of mineral resources within water-covered strata through the borehole. This achieves the goal of safely and efficiently developing underground mineral resources while protecting water bodies (such as oceans on the Earth's surface).

[0039] 8. In this deep stratum borehole-tunnel mining system, the function of the tunnel is to provide temporary space for mining. After mining, the space needs to be filled using backfilling measures, eliminating the need for long-term support of vertical shafts in existing mining processes. This invention utilizes the small cross-sectional area and volume of boreholes, making them easy to preserve for extended periods. Mining is based on boreholes and done in tunnel form, with backfilling occurring as mining progresses. Even if only the borehole-tunnel mining device of this invention is used to gradually excavate in the form of tunnels, the collapse of the tunnels after excavation will not affect the safety of the small-section boreholes. When using a three-dimensional backfilling device, controllable backfilling can be achieved, improving the tunnel filling rate and roof connection effect, avoiding stress concentration and stratum rheology that could affect adjacent mining areas. Furthermore, if adhesive backfill or solidifiable backfill material is used, the backfill material becomes part of the tunnel wall, and the tunnel moves as mining progresses, significantly reducing waste.

[0040] IX. In this deep-stratum borehole mining system, a method is proposed to use blasting devices, jet devices, arc-induced devices, or fracturing devices to weaken the rock until it is broken down to a size suitable for forming a particle flow before being discharged from the borehole, facilitating mining with borehole mining equipment. Its unique advantage lies in utilizing auxiliary wells to release stress, weaken the rock mass, and even pre-fracture it, avoiding the problem of weak support in serpentine sections or serpentine bodies, thus significantly reducing the mining difficulty of borehole mining equipment. Especially in horizontal or slightly dipped strata, borehole mining equipment based on serpentine sections or serpentine bodies can effectively expand the mining coverage within the borehole and break the ore in situ to a particle size and block size suitable for composite fluidized transport.

[0041] 10. This invention proposes a borehole mining device comprising a clearing assembly or a secondary crushing assembly, capable of in-situ processing of large rocks or accumulated ore particles within the borehole. The borehole mining device significantly expands the mining range within the borehole through three-dimensional spatial movement, extracting the ore. The clearing assembly on the borehole mining device can move within the borehole to areas where ore particles accumulate using a serpentine crawling section or serpentine body, sucking up and discharging the ore particles or clearing them to the return drain, thus achieving a significant expansion of mining operations within horizontal ore layers. This invention completes the entire process within the borehole, from crushing and stripping the ore from the borehole wall to crushing it to a point where it can be transported through the return drain, achieving the goal of directly mining deep solid mineral deposits in the form of a particle flow. Attached Figure Description

[0042] The following figures are intended only to illustrate and explain the present invention and do not limit the scope of the invention. Wherein:

[0043] Figure 1 is one of the schematic diagrams of the deep formation well-hole tunnel mining system of the present invention in the tunnel;

[0044] Figure 2 is one of the schematic diagrams of the crawling mode of the wellbore mining device of the deep strata wellbore mining system of the present invention;

[0045] Figure 3 is a second schematic diagram of the crawling mode of the wellbore mining device in the deep strata wellbore mining system of the present invention;

[0046] Figure 4 is a schematic diagram of the third type of crawling mode of the wellbore mining device in the deep strata wellbore mining system of the present invention;

[0047] Figure 5 is a fourth schematic diagram of the crawling mode of the wellbore mining device in the deep strata wellbore mining system of the present invention;

[0048] Figure 6 is one of the structural schematic diagrams of the wellbore mining device of the deep strata wellbore mining system of the present invention;

[0049] Figure 7 is a schematic diagram of the angle actuator in the deep formation well hole mining system of the present invention;

[0050] Figure 8 is a magnified view of a portion of Figure 7;

[0051] Figure 9 is a second schematic diagram of the wellbore mining device of the deep strata wellbore mining system of the present invention;

[0052] Figure 10 is a second schematic diagram of the deep formation well-hole tunnel mining system of the present invention in the tunnel.

[0053] Figure 11 is a front view of the support arm in the deep formation well hole mining system of the present invention in the deployed state;

[0054] Figure 12 is a top view of the support arm in the deep formation well hole mining system of the present invention in the deployed state;

[0055] Figure 13 is a third schematic diagram of the wellbore mining device of the deep strata wellbore mining system of the present invention;

[0056] Figure 14 is the fourth structural schematic diagram of the wellbore mining device of the deep strata wellbore mining system of the present invention;

[0057] Figure 15 is one of the structural schematic diagrams of the support arm in the deep formation well hole mining system of the present invention in the deployed state;

[0058] Figure 16 is the fifth structural schematic diagram of the wellbore mining device of the deep strata wellbore mining system of the present invention;

[0059] Figure 17 is one of the cross-sectional views of the crawling assembly in the deep formation well hole mining system of the present invention;

[0060] Figure 18 is a second cross-sectional view of the crawling assembly in the deep formation well hole mining system of the present invention;

[0061] Figure 19 is a third cross-sectional view of the crawling assembly in the deep formation well hole mining system of the present invention;

[0062] Figure 20 is one of the structural schematic diagrams of the support arm in the extended state of another crawling assembly in the deep formation well hole mining system of the present invention;

[0063] Figure 21 is a second structural schematic diagram of the support arm in the extended state of another type of crawling assembly in the deep formation well hole mining system of the present invention;

[0064] Figure 22 is a third structural schematic diagram of the support arm in the extended state of another type of crawling assembly in the deep formation well hole mining system of the present invention;

[0065] Figure 23 is one of the schematic diagrams of mining and cleaning in the wellbore and tunnel mining system of the present invention.

[0066] Figure 24 is a magnified view of a portion of Figure 23;

[0067] Figure 25 is a second schematic diagram of the mining and cleaning process within the wellbore and tunnel mining system of the present invention.

[0068] Figure 26 is the third schematic diagram of the mining and cleaning process in the wellbore and tunnel mining system of the present invention.

[0069] Figure 27 is a schematic diagram of the cleaning and transportation process within the wellbore and tunnel mining system of the present invention.

[0070] Figure 28 is a schematic diagram of the structure of the well-hole mining device in the deep strata well-hole mining system of the present invention (the sixth one).

[0071] Figure 29 is the fourth schematic diagram of the mining and cleaning process in the wellbore and tunnel mining system of the present invention.

[0072] Figure 30 is one of the schematic diagrams of mining and backfilling in the wellbore and cave mining system of the present invention in deep formations;

[0073] Figure 31 is a second schematic diagram of the mining and filling process within the wellbore and cavern mining system of the present invention.

[0074] Figure 32 is the third schematic diagram of the mining and backfilling process in the wellbore and cavern mining system of the present invention.

[0075] Figure 33 is one of the schematic diagrams of the deep formation well hole and tunnel mining system of the present invention;

[0076] Figure 34 is a second schematic diagram of the deep formation well hole and tunnel mining system of the present invention;

[0077] Figure 35 is one of the schematic diagrams of the mining process of the deep strata well-hole tunnel mining system of the present invention;

[0078] Figure 36 is a second schematic diagram of the mining process of the deep strata well-hole tunnel mining system of the present invention;

[0079] Figure 37 is the third schematic diagram of the mining process of the deep strata well-hole tunnel mining system of the present invention;

[0080] Figure 38 is a control logic diagram of the deep formation well hole and cave mining system of the present invention.

[0081] The reference numerals in the accompanying drawings of this invention are as follows: 1. Wellbore; 101. Main wellbore; 102. Branch wellbore; 103. Shallow hole in the wall; 2. Cavern; 201. Cavern connecting opening; 3. Wellbore and cavern mining device; 301. Crushing assembly; 3011. Secondary crushing assembly; 3012. Jaw crusher assembly; 30121. Crushing jaw; 30122. Crushing jaw connecting body; 3013. Insertion part; 3014. Blasting device; 302. Cleaning assembly; 3021. Hydraulic cleaning assembly; 3022. Rake; 3023. Spiral cleaning assembly; 3024. Chain cleaning assembly; 30241. Conveyor belt; 30242. Drive wheel; 3025. Loading assembly; 303. Snake-shaped crawling section; 3031. Controllable deflection joint; 304. Support Support arm; 3041, First support arm; 3042, Second support arm; 3043, Receiving groove; 3044, Swing rod; 3045, Top rod; 305, Crawling assembly; 3051, First crawling section; 3052, Rotating shaft; 3053, Second crawling section; 3054, Hinge structure; 3055, First drive motor; 3056, Drive cylinder; 306, Serpentine body; 307, Wellbore crawling device; 308, Torsional isolation assembly; 4. Through-flow channel; 401. Suction inlet; 402. Suction pipe; 403. Suction pipe control actuator; 5. Energy line; 51. Power motor; 6. Umbilical cable; 7. Tubing string; 71. Drill pipe; 72. Flexible pipe; 8. Drive rod; 9. Wellbore spiral conveying structure; 10. Three-dimensional filling device through the wellbore; 11. Angle actuator; 1101. Arc surface; 11011. First tooth; 1102. Transmission rod; 11021. Second tooth; 11022. Annular boss; 11023. Umbrella-shaped inclined surface; 1103. Drive rod; 11031. Conical surface; 1104. Second drive motor; 12. Cavern sensing module; 13. Telescopic actuator. Detailed Implementation

[0082] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention. After reading the present invention, any modifications of the present invention in various equivalent forms by those skilled in the art fall within the scope defined by the appended claims.

[0083] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0084] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0085] Implementation Method 1

[0086] As shown in Figures 1 to 38, this invention provides a deep stratum borehole mining system. This system includes a traffic shaft system, a particle flow hoisting system, and at least one borehole mining device. The traffic shaft system has at least one borehole 1 with a diameter less than 1 m. The internal channel formed by the borehole 1 communicates with a mined cavity 2. The internal channel of the borehole 1 is configured as a return flow channel and / or an injection channel. The return flow channel is used to transport the mined ore particles from the cavity 2 to the outside. The inlet channel is used to inject circulating fluid from outside the well into the cavern 2; the well-hole cavern mining device 3 has a crushing assembly 301 and / or a cleaning assembly 302. The crushing assembly 301 is used to mine the ore on the rock wall of the cavern 2 in a controlled manner or to crush the ore inside the cavern 2. The cleaning assembly 302 is used to clean or transport the ore particles inside the cavern 2 to the return channel so that the ore particles can be discharged from the cavern 2 by circulating fluid; the particle flow lifting system is used to lift the ore particles mined by the well-hole cavern mining device 3 to the outside of the well via the return channel.

[0087] The deep strata borehole and tunnel mining system of the present invention is suitable for mining operations in tunnels 2 through boreholes 1 with a diameter of less than 1m. The resulting access borehole system has multiple boreholes 1 with a diameter of less than 1m. Each borehole 1 includes at least a return channel and an injection channel respectively connected to the tunnel 2. The return channel is used to transport the ore particles mined from the excavated tunnel to the outside, and the injection channel is used to transport fluidized filling material from the outside into the tunnel 2, achieving a material balance between extraction and filling. During the mining process, a movable borehole and tunnel mining device 3 is installed in the borehole 1 and / or tunnel 2. The serpentine-moving borehole and tunnel mining device 3 breaks the rock within the tunnel 2, forming particles and blocks that can be fluidized and transported, thus achieving controlled morphological mining of the tunnel 2 (i.e., excavation of the mining face).

[0088] This invention, through the cooperation of the well-hole and tunnel mining device 3 and the traffic well system, can effectively improve the efficiency of rock crushing and ore particle removal, and is especially suitable for large-scale and high-efficiency mining operations in deep strata or in the lower strata of the ocean.

[0089] In this invention, wellbore 1 refers to the circular tubular hole drilled by the drill bit (vertical shaft or tunnel in unconventional technology). The advantage of using a small-diameter circular tubular wellbore 1 in this invention is that it facilitates efficient drilling with the drill bit, and the drilling method similar to that of oil and gas wells can replace the construction of vertical shafts and tunnels, which can significantly reduce costs and increase efficiency.

[0090] In this invention, the wellbore and tunnel mining device 3 can be one of the following three structures:

[0091] As shown in Figures 1 to 10, the first structure is as follows: the wellbore tunnel mining device 3 has a control actuator and a serpentine crawling section 303. The length of the serpentine crawling section 303 is greater than 5 times the diameter of the wellbore 1. The control actuator is used to drive the serpentine crawling section 303 to bend, so as to drive the wellbore tunnel mining device 3 to perform three-dimensional spatial movement within the tunnel 2. In the bent state, the serpentine crawling section 303 has at least one support point with the surrounding rock of the tunnel 2, so as to support the wellbore tunnel mining device 3 through the surrounding rock of the tunnel 2. The length of the serpentine crawling section 303 is greater than 5 times the diameter of the wellbore 1, the purpose of which is to achieve contact with the inner wall of the wellbore 1 through the bending of the serpentine crawling section 303, so as to achieve the purpose of fixing the wellbore tunnel mining device 3.

[0092] As shown in Figure 21, the wellbore tunnel mining device 3 on the right side of the figure has a control actuator, a wellbore crawling device 307, and a serpentine crawling section 303. The wellbore crawling device 307 is located at the rear of the serpentine crawling section 303, and the length of the serpentine crawling section 303 is greater than 5 times the diameter of the wellbore. The control actuator is used to drive the wellbore crawling device 307 and the serpentine crawling section 303 to move, so that the wellbore tunnel mining device 3 can be pushed into the tunnel from the wellbore, solving the problem that the serpentine crawling section 303 is difficult to move on its own in the wellbore. After entering the tunnel 2, the serpentine crawling section 303 can move in a serpentine manner, mimicking the crawling method of snakes to move within the tunnel 2. In this embodiment, a secondary crushing assembly 3011 is also provided at the front end of the wellbore tunnel mining device 3 on the right side.

[0093] As shown in Figures 11 and 12, the second structure is as follows: the well-hole tunnel mining device 3 has a control actuator, a well-hole crawling device 307, and a serpentine body 306. The well-hole crawling device 307 is located at the rear of the serpentine body 306, and the length of the serpentine body 306 is greater than 5 times the diameter of the well hole. The control actuator is used to drive the well-hole crawling device 307 and the serpentine body 306 to move, so that the well-hole tunnel mining device 3 moves within the tunnel 2. The well-hole tunnel mining device 3 has at least one support structure for supporting the serpentine body 306 against the inner wall of the tunnel 2. The length of the serpentine body 306 is greater than 5 times the diameter of the well hole, thus providing sufficient length for crawling and accommodating the crushing assembly 301 and / or the cleaning assembly 302. The control actuator drives the serpentine body 306 to perform actions to achieve crawling, mimicking the crawling behavior of reptiles to move within the tunnel 2. The support arm 304 serves as the support structure for the borehole and tunnel mining device. The function of this support structure is to improve the stability of the borehole and tunnel mining device 3 during operation, to bear the reaction force generated by the crushing assembly, or to provide feed force (also known as drilling pressure) to the crushing assembly.

[0094] As shown in Figures 16-19 and 20-22 (left side), the third structure of the wellbore and tunnel mining device 3 is as follows: The wellbore and tunnel mining device 3 has a control actuator, a crawling assembly 305, and a serpentine body 306. The crawling assembly 305 is located on the side of the serpentine body 306 or connected in series within the serpentine body 306. The length of the serpentine body 306 is greater than three times the diameter of the wellbore 1. The control actuator is used to drive the crawling assembly 305 to move the wellbore and tunnel mining device 3 within the tunnel 2. In particular, as shown in Figures 20-22, a crawling method different from that shown in Figures 16-19 is illustrated. This crawling method also utilizes the extension and retraction of the serpentine body 306 itself, and the two sets of support arms 304 at the front and rear, together with the serpentine body 306 between them, constitute the crawling assembly 305. The borehole excavation device 3 on the left side of the diagram uses two sets of support arms 304 and a telescopic actuator 13 to achieve crawling. The two sets of support arms and the telescopic actuator 13 form a crawling assembly that works together to achieve crawling. For example: First, the front support arm 304 extends and presses against the wall; second, the telescopic actuator shortens; third, the rear support arm 304 extends and presses against the wall; fourth, the front support arm 304 retracts; fifth, the telescopic actuator extends, propelling the front of the borehole excavation device 3 forward.

[0095] It should be noted that the aforementioned structures are used to enable the through-hole tunnel mining device 3 to crawl within the tunnel 2. The through-hole tunnel mining device 3 must include at least one of a crushing assembly 301 and a clearing assembly 302, or both, to significantly expand the mining area at the bottom of the shaft. In specific implementation, the crushing assembly 301 can crush the ore on the rock wall of the tunnel 2, or crush large pieces of ore that have fallen into the tunnel 2 to a particle size or block size that can be transported by the particle flow lifting system. Alternatively, the crushing assembly 301 can directly crush the ore from the rock wall to a particle size or block size that can be transported by the particle flow lifting system. In this invention, the average diameter of the ore must be crushed to within 1 / 3 of the diameter of the return channel before it can be transported by the particle flow lifting system. In this invention, the equivalent diameter of the cross-section of the cavity 2 is generally greater than twice the diameter of the borehole 1, thereby providing the necessary space for mining operations. Simultaneously, it is necessary to ensure that the borehole-through cavity mining device 3 in this invention has the ability to enter the cavity 2 through the borehole 1. During implementation, this invention eliminates the need for roadways; the largest passage connecting the cavity 2 is the borehole 1. Therefore, the borehole-through cavity mining device 3 proposed in this invention enables crawling within the cavity 2, thereby significantly expanding the space at the bottom of the shaft.

[0096] In an optional embodiment of the present invention, the wellbore tunnel mining device 3 includes at least a control actuator with two degrees of freedom (i.e., the control actuator can control at least two degrees of freedom of the serpentine crawling section 303 or the serpentine body 306), thereby controlling the serpentine crawling section 303 or the serpentine body 306 to switch between a first state and a second state. The first state is when the serpentine crawling section 303 or the serpentine body 306 is in a reset state or an unbent state within the tunnel 2, and the second state is when the serpentine crawling section 303 or the serpentine body 306 is in a bent state within the tunnel 2. By driving the serpentine crawling section 303 or the serpentine body 306 to switch between the first state and the second state, the control actuator enables the wellbore tunnel mining device 3 to move within a small-diameter wellbore 1 and to be fixed within the tunnel 2. It should be noted that the wellbore and tunnel mining device 3 of the present invention is in the first state from the time it is lowered into the wellbore 1 until it is transported to the mining position by the drill string or pipeline crawler. After reaching the mining position or entering the tunnel 2, the serpentine crawling section or serpentine body 306 performs crawling and other activities under the drive of the control actuator, and then can enter the second state.

[0097] In an optional embodiment of the present invention, as shown in Figures 9 to 20 and 22, the wellbore tunnel mining device 3 has a support arm 304. The crawling assembly 305 or the support arm 304 is a controllable deployment structure, that is, by controlling the structure that can be deployed outward, the wellbore tunnel mining device 3 includes at least a drive component with two degrees of freedom control. The drive component is used to control the controllable deployment structure to switch between a deployed state and a reset state. The control actuator is used to control the crawling assembly 305 or the support arm 304 to switch between a first state and a second state. The first state is when the crawling assembly 305 or the support arm 304 is in a reset state or a non-deployed state within the tunnel 2, and the second state is when the crawling assembly or the support arm is in a deployed state within the tunnel 2. The control actuator drives the crawling assembly 305 or the support arm 304 to switch between the first state and the second state, so that the wellbore tunnel mining device 3 can move in the small-diameter wellbore 1 and be fixed within the tunnel 2. In this embodiment, the wellbore and cavern mining device 3 is in the first state from before it enters the wellbore 1 until it is transported to the mining position by the drill string or pipeline crawler. After reaching the mining position or entering the cavern 2, the crawler assembly 305 or the support arm 304 performs actions such as unfolding and crawling under the drive of the control actuator.

[0098] In an optional embodiment of the present invention, as shown in Figure 9, the support arm extends to both sides of the borehole tunnel mining device and presents a rhomboid shape. This design further reduces the possibility of being stuck by falling rocks and increases the safety of the equipment. The support arm and the zigzag crawling section work together to achieve crawling. This technical solution optimizes the crawling stability of the borehole tunnel mining device based on the zigzag crawling section, especially when the zigzag crawling section cannot provide support against the tunnel wall, the support arm can provide reliable support. In addition, the support arm can also bear the reaction force generated during the rock breaking process of the crushing assembly.

[0099] In an optional embodiment of the present invention, as shown in Figures 1 to 6 and Figures 11 to 14, the serpentine body 306 or the serpentine crawling section 303 has a through-flow channel 4, which communicates with the return flow channel and / or injection channel. The through-flow channel 4 is used to extract ore particles from the well 2 and transport the resulting ore particle flow to the outside of the well. At least part or all of the rear portion of the wellbore mining device 3 is inserted into the wellbore 1, and the through-flow channel 4 communicates with the outside of the well via the return flow channel and / or injection channel. Alternatively, a tubing string 7 can be connected to the rear portion of the wellbore mining device 3, inserted into the wellbore 1, and the through-flow channel 4 communicates with the outside of the well via the tubing string 7. The section of the wellbore 1 inserted into the rear of the wellbore 3 is a flexible tube 72. The flexible tube 72 can deflect within the wellbore 1 or the wellbore 2, which does not affect the movement of the front section of the wellbore 3, and at the same time can maintain communication with the inside of the wellbore 1, so as to facilitate the return of ore particles to the outside of the well through the wellbore 1 or the aforementioned tube string 7; in addition, it can also provide circulating fluid from the outside of the wellbore to the wellbore 3.

[0100] In an optional embodiment of the present invention, the traffic well system has at least two channels communicating with the cavity 2. These two channels can be two independent wells 1, or they can be two interconnected channels formed within a single well 1 by installing a tubular string 7. Specifically, the configuration is as follows:

[0101] The two channels are two independent wellbores 1, each connected to a cavern 2 formed by mining within the formation. The internal channels formed by the two wellbores 1 are configured as an injection channel and a runoff channel, respectively. Alternatively, at least one tubing string 7 is installed within at least one wellbore 1. The hollow cavity inside the tubing string 7 serves as one channel, and the annulus between the tubing string 7 and the inner wall of the wellbore 1 forms another channel, thus forming at least two channels in one wellbore 1, namely an injection channel and a runoff channel.

[0102] As shown in Figures 30 and 31, the cavern 2 has at least two cavern connection ports 201, which are respectively connected to the two well holes 1. The two cavern connection ports 201 are used to allow the well hole mining device 3 to enter the cavern 2 and to discharge ore particles from the cavern 2. In one embodiment of the present invention, the traffic well hole system has at least two well holes 1, at least one well hole 1 is configured as a return channel, and at least the other well hole 1 is configured as an injection channel. The two well holes 1 are respectively a main well hole 101 and a branch well hole 102, or the two well holes 1 are double horizontal wells, or the two well holes 1 are a connecting well formed by two wells connected underground.

[0103] In another embodiment, as shown in Figure 33, the two wells are either connected boreholes or drilled using a U-shaped well method, meaning that the two wells share a horizontal or nearly horizontal section. The two wellhead mining devices can be lowered into the two wellheads respectively and carried out mining operations along the radial direction of the horizontal section away from the wellhead to form a well.

[0104] In a more practical embodiment of the present invention, with a main wellbore 101 and branch wellbores 102, since the main wellbore 101 cannot completely penetrate the ore layer, some wellbores extending from the main wellbore 101 are used as extensions of the main wellbore to enter the ore layer, forming the main wellbore 101 and the branch wellbores 102 connected to it. A cavern 2 is formed by mining from within the branch wellbores 102. As shown in Figure 10, the wellbore 1 includes at least one main wellbore 101 and a branch wellbore 102. The main wellbore 101 is connected to the cavern 2 through the branch wellbores 102. At least some of the branch wellbores 102 and / or the main wellbore 101 cooperate to form a return flow channel and an injection channel, respectively.

[0105] In the traffic well system of this embodiment, when there is only one main well 101 and multiple branch wells 102 extending from the main well 101, the cavity 2 and the branch wells 102 include at least one cavity connection port 201; when there are two main wells 101 in the traffic well system and at least one main well 101 has a branch well 102, the two main wells 101 can be directly connected to the cavity 2 or connected to the cavity 2 through the branch wells 102. By cooperating with any branch well 102 extending from any main well 101 and any main well 101, at least two connections with the cavity 2 can be achieved, thereby realizing fluid circulation.

[0106] In an optional embodiment of the present invention, the wellbore and tunnel mining device 3 further includes a control device electrically connected to a control actuator. The control actuator can be of various drive structures, capable of driving the wellbore and tunnel mining device 3 to perform corresponding actions according to the actual working conditions required by the wellbore 1 and the tunnel 2. The control actuator includes one or more of an angle actuator 11, a telescopic actuator, a rotary actuator, and a traction actuator. The angle actuator 11 is used to drive the serpentine body 306 or the serpentine crawling section 303 to bend; the telescopic actuator is used to drive the serpentine body 306 or the serpentine crawling section 303 to extend or retract.

[0107] In an optional embodiment of the present invention, the borehole tunnel mining device 3 further includes a control circuit and a work sensor. The control circuit is communicatively connected to the work sensing module and electrically connected to the control actuator. The work sensing module can collect motion information of the borehole tunnel mining device 3 or collect data information such as stress, pressure, flow rate, and current and convert it into motion information to determine the attitude of the borehole tunnel mining device 3. Then, the control circuit controls the control actuator to achieve the purpose of controlling the operation of the control actuator. The work sensing module includes a rotary transformer, an encoder, a displacement sensor, a stress sensor, a pressure sensor, a flow sensor, a current sensor, a potential sensor, and / or a magnetometer. The work sensing module is installed on the borehole tunnel mining device 3 (it may be installed on the serpentine crawling section 303, or on the serpentine body 306, or on the crawling assembly 305). In the environment of the tunnel 2 filled with mud or ore, the borehole tunnel mining device 3 can also form a tactile sensation through the work sensor, thereby sensing the position of the rock wall of the tunnel 2. For example, when the serpentine crawling segment 303, the serpentine torso 306, or the crawling assembly 305 reaches its extension limit, it means that it has touched the rock wall of the cave 2.

[0108] In an optional embodiment of the present invention, as shown in FIG6, the wellbore mining device 3 further includes a control circuit and a wellbore sensing module 12 for detecting the shape of the wellbore 2 and the location of falling rocks. The wellbore mining device 3 has an installation window, and the wellbore sensing module 12 can be installed in the installation window. In addition, the wellbore mining device 3 has a circuit housing, in which a signal acquisition circuit is installed. The signal acquisition circuit is connected to the wellbore sensing module 12 via a cable or optical fiber. The signal acquisition circuit is used to acquire the signals detected by the wellbore sensing module 12. The signal acquisition circuit is connected to a communication terminal outside the well via a cable, optical fiber, and / or a wireless transceiver, thereby transmitting information inside the wellbore 2 to the outside. The wellbore sensing module 12 can be one or more of the following: visual sensor, radar, sonar, lidar, and tactile sensor. The cavern sensing module 12 can accurately guide the well-hole cavern mining device 3 to precisely break the walls of the cavern 2, locate large fallen rocks for secondary breaking, or clear accumulated ore. For rockfall detection, existing equipment such as acoustic imaging detectors, visual imaging detectors, phased-array acoustic sensor arrays, or laser scanning detectors can be used to accurately detect the location of the rockfall. For example, the cavern sensing module 12 can be a sonar device composed of multiple acoustic sensor arrays. The sonar device can detect the location of the cavern 2 walls and the degree of mining within the liquid-filled cavern 2.

[0109] For example, the cave sensing module 12 can be a sonar device composed of multiple acoustic sensor arrays. The sonar device can detect the position of the cave wall and the degree of mining in the liquid-filled cave 2.

[0110] In an optional embodiment of the present invention, as shown in FIG16, an energy line 5 for supplying power to the wellbore mining device 3 is provided inside the wellbore 1. The wellbore mining device 3 is connected to a power source located outside the well via the energy line 5, or alternatively, a power supply battery may be mounted on the wellbore mining device 3.

[0111] Furthermore, as shown in Figure 16, the deep formation borehole mining system also includes an umbilical cable 6 installed inside the borehole 1. The umbilical cable 6 also serves as an energy line 5. One end of the umbilical cable 6 is connected to the borehole mining device 3, and the other end is connected to energy equipment outside the borehole. The umbilical cable can be an electrical wire, hydraulic line, gas line, and / or optical fiber. The energy equipment can include a power source, hydraulic source, gas source, and / or communication terminal. Specifically, the borehole mining device 3 has a cable installed inside, which is electrically connected to the control terminal of the crushing assembly 301. The cable passes through the borehole 1 and is electrically connected to the power source outside the borehole, driving the crushing assembly 301 to operate via power supply. Alternatively, the borehole mining device 3 has a hydraulic line installed inside, and a hydraulic source is connected to the control terminal of the crushing assembly 301 via the hydraulic line. The hydraulic source is located inside the borehole mining device 3 or behind it, controlling the operation of the crushing assembly 301 hydraulically.

[0112] In an optional embodiment of the present invention, corresponding to the first structure of the wellbore tunnel mining device 3 described above, the wellbore tunnel mining device 3 has a serpentine crawling section 303, a crushing assembly 301 and / or a cleaning assembly 302 disposed at the front of the serpentine crawling section 303 and / or connected in series in the middle of the serpentine crawling section 303. The serpentine crawling section 303 may be configured as follows:

[0113] (1) The serpentine crawling section 303 includes a plurality of controllable deflection joints 3031 connected in sequence. Each controllable deflection joint 3031 has an angle actuator 11, which is used to drive the controllable deflection joint 3031 to deflect. The controllable deflection joint series formed by the plurality of controllable deflection joints 3031 is used for crawling and working in the cave 2 and / or well hole 1. The angle actuator 11 may be a hydraulic cylinder set between two adjacent controllable deflection joints 3031. The two adjacent controllable deflection joints 3031 are hinged (e.g., hinged by a universal joint). The cylinder body of the hydraulic cylinder is set on one controllable deflection joint 3031, and the piston rod of the hydraulic cylinder is connected to another controllable deflection joint 3031. The bending angle between the two controllable deflection joints 3031 is adjusted by driving the extension length of the piston rod.

[0114] (2) The serpentine crawling section 303 includes at least one articulated joint series, which comprises several articulated joints connected in sequence. Adjacent articulated joints are connected in sequence by hinges or joints. A traction actuator is provided at the end of the articulated joint series. The articulated joint series is connected to the traction actuator through a traction transmission structure. The traction actuator is used to drive the serpentine crawling section 303 to crawl and operate within the cavern 2 and / or wellbore 1 through the traction transmission structure. The traction transmission structure is a rope, belt, or chain arranged along the articulated joint series and connected to each articulated joint. The traction actuator may be, but is not limited to, a hydraulic cylinder. Multiple articulated joints are connected in series through the traction transmission structure. The piston rod of the hydraulic cylinder is connected to the traction transmission structure. The extension and retraction of the piston rod of the hydraulic cylinder can pull one of the multiple traction transmission structures, thereby causing the articulated joint series to bend and deflect. Of course, the traction actuator can also be an electrically driven actuator, a pneumatic actuator, or other hydraulic actuator that can controllably perform deflection actions.

[0115] (3) The serpentine crawling section 303 includes at least one elastic body and multiple traction components arranged along the length of the elastic body. The end of the elastic body is equipped with a traction actuator having at least two degrees of freedom. The elastic body is connected to the traction actuator via a traction transmission structure. The traction actuator is used to drive the elastic body to move within the cavity 2 and / or wellbore 1 via the traction transmission structure. The elastic body is an elastic rod or elastic tube, and the traction transmission structure is a rope, belt, or chain.

[0116] (4) The serpentine crawling section 303 includes a soft body structure and multiple crawling assembly structures. The soft body structure is a series of universal joints or a flexible hose. The multiple crawling assembly structures are arranged along the length of the soft body structure to drive the serpentine crawling section 303 to move within the cavern 2 and / or wellbore 1. The multiple crawling assembly structures can use the same structure as the serpentine crawling section 303 to achieve movement within the cavern 2 and / or wellbore 1.

[0117] (5) The serpentine crawling section 303 includes at least one series of hinge joints and multiple sets of crawling assembly structures. The series of hinge joints is formed by connecting multiple hinge joints in sequence. Adjacent hinge joints are connected by hinges or joints. The multiple sets of crawling assembly structures are used to drive the serpentine crawling section 303 to move within the cavern 2 and / or wellbore 1. The multiple sets of crawling assembly structures can use the same structure as the serpentine crawling section 303 to achieve movement within the cavern 2 and / or wellbore 1.

[0118] (6) The serpentine crawling section 303 has multiple articulated joints and rotary joints along its axis. The rotary joints are located between two adjacent articulated joints, and the axis of the rotary joints is set along the axis of the serpentine crawling section 303. The angle actuator 11 or the pull actuator drives the angle deflection of the articulated joints, and the rotary actuator drives the rotary joints to rotate. By adjusting the orientation of the articulated joints, the serpentine crawling section 303 can be controlled with two degrees of freedom so that the serpentine crawling section 303 can perform three-dimensional spatial motion. Among them, the angle actuator 11 can be a hydraulic cylinder set between the articulated joints and the rotary joints. The articulated joints and the rotary joints are hinged (e.g., hinged through a universal joint). The cylinder body of the hydraulic cylinder can be set on the articulated joint (or the rotary joint), and the piston rod of the hydraulic cylinder is connected to the rotary joint (or the articulated joint). The bending angle between the articulated joints and the rotary joints is adjusted by driving the extension length of the piston rod. The traction force transmission structure is a rope, belt, or chain, and the traction actuator can be, but is not limited to, a hydraulic cylinder. The articulated joint and the slewing joint are connected in series through the traction force transmission structure. The piston rod of the hydraulic cylinder is connected to the traction force transmission structure. The extension and retraction of the piston rod can pull one of the multiple traction force transmission structures, thereby causing the serpentine crawling section 303 to bend and deflect at one or more joints. Of course, the traction actuator can also be an electrically driven actuator, a pneumatic actuator, or other hydraulic actuator that can controllably perform deflection actions.

[0119] In an optional embodiment of the present invention, corresponding to the second structure of the wellbore tunnel mining device 3 described above, the wellbore tunnel mining device 3 includes a serpentine body 306 and a wellbore crawling device 307. The wellbore crawling device 307 includes a wellbore fixing mechanism and / or a telescopic mechanism. The wellbore fixing mechanism can be fixedly connected to or abut against the inner wall of the wellbore 1. The crushing assembly 301 and / or the cleaning assembly 302 are disposed at the front or side of the serpentine body 306.

[0120] The serpentine torso 306 can be configured in the following ways:

[0121] (I) The serpentine torso 306 includes an extended arm and a rear torso. The serpentine torso 306 and the surrounding rock of the cave 2 have at least one support point. The extended arm is located in front of the support point. The torso body is located between the support point and the well crawling device 307. The serpentine torso 306 has at least two degrees of freedom control actuators to perform at least two degrees of freedom motion control on the serpentine torso 306. The extended arm includes multiple controllable deflection joints 3031. Each controllable deflection joint 3031 corresponds to an independent angle actuator. Alternatively, the extended arm is composed of multiple articulated structures connected in series. A traction actuator is provided at the rear of the extended arm. The controllable deflection joints 3031 are connected to the traction actuator through a traction force transmission structure. The traction force transmission structure is fixedly connected to the outside of the extended arm. The traction actuator controls the extended arm through the traction force transmission mechanism to drive the extended arm to perform three-dimensional spatial motion. The traction force transmission structure includes a rope, belt, or chain, and the traction actuator can be, but is not limited to, a hydraulic cylinder. Multiple controllable deflection joints 3031 are connected in series through the traction force transmission structure. The piston rod of the hydraulic cylinder is connected to the traction force transmission structure. The extension and retraction of the piston rod of the hydraulic cylinder can pull one of the multiple traction force transmission structures, thereby causing the extended arm to bend and deflect. Of course, the traction actuator can also be an electrically driven actuator, a pneumatic actuator, or other hydraulic actuator that can controllably perform deflection actions.

[0122] (II) The serpentine body 306 comprises at least two controllable deflection joints 3031 and at least one telescopic joint, arranged sequentially from back to front as a borehole crawling device 307, at least one controllable deflection joint 3031, at least one telescopic joint, at least one controllable deflection joint 3031, and a crushing assembly 301 and / or a cleaning assembly 302. Adjacent controllable deflection joints 3031 are connected by a hinge structure that allows them to bend. The hinge structure is connected to an angle actuator 11, which drives the hinge structure to bend. The serpentine body 306 is connected to the front of the borehole crawling device 307. The angle actuator 11 can be a hydraulic cylinder positioned between the two hinge structures. The two hinge structures can be hinged via a universal joint. The cylinder body of the hydraulic cylinder can be mounted on one hinge structure, and the piston rod of the hydraulic cylinder is connected to the other hinge structure. The bending angle between the two hinge structures is adjusted by driving the extension length of the piston rod.

[0123] (III) The serpentine body 306 includes multiple controllable deflection joints 3031 and a rotary joint. The rotary joint is located between any two articulated joints or at the connection between the serpentine body 306 and the wellbore crawling device 307. The controllable deflection joint 3031 drives the articulated joint to deflect by means of an angle actuator 11 or a traction actuator. The rotary joint controls the serpentine body 306 with two degrees of freedom by adjusting the orientation of the articulated joint, so that it can complete three-dimensional spatial motion. The angle actuator 11 can be a hydraulic cylinder located between the articulated joint and the rotary joint. The articulated joint and the rotary joint are hinged (e.g., hinged by a universal joint). The cylinder body of the hydraulic cylinder can be located on the articulated joint (or the rotary joint), and the piston rod of the hydraulic cylinder is connected to the rotary joint (or the articulated joint). The bending angle between the articulated joint and the rotary joint is adjusted by driving the extension length of the piston rod. The traction force transmission structure is a rope, belt, or chain, and the traction actuator can be, but is not limited to, a hydraulic cylinder. The articulated joint and slewing joint are connected in series through the traction force transmission structure. The piston rod of the hydraulic cylinder is connected to the traction force transmission structure. The extension and retraction of the piston rod can pull one of the multiple traction force transmission structures, thereby causing the serpentine body 306 to bend and deflect at one or more joints. Of course, the traction actuator can also be an electrically driven actuator, pneumatic actuator, or other hydraulic actuator that can controllably perform deflection actions. Furthermore, the serpentine body provides a body with a controllable shape. It requires the drive of a wellbore crawling device or crawling assembly 305 to achieve crawling functionality. A serpentine crawling section with its own crawling capability can serve as a substitute for the serpentine body.

[0124] In an optional embodiment of the present invention, as shown in Figures 16 to 19, the wellbore tunnel mining device 3 includes a serpentine body 306 and a crawling assembly 305. The crawling assembly 305 includes a crawling mechanism hinged to the serpentine body 306, and a control actuator is used to drive the crawling mechanism to perform crawling operations. The wellbore tunnel mining device 3 has at least an extended state and a retracted state. When the wellbore tunnel mining device 3 is in the retracted state, the length-to-diameter ratio of the wellbore tunnel mining device 3 is greater than 3, and when the wellbore tunnel mining device 3 moves along the wellbore 1, the axial direction of the wellbore tunnel mining device 3 is consistent with the axial direction of the wellbore 1. The serpentine body 306 is hinged or rotatably connected to the crawling mechanism, and a drive component including at least two degrees of freedom control is also connected between the crawling mechanism and the serpentine body 306. The drive component is used to control the serpentine body 306 to perform crawling operations or switch between the retracted state and the extended state. The drive component can be a hydraulic cylinder or a motor. The crawling mechanism has multiple contact points with the inner wall of the well 2, of which at least two contact points are located on both sides of the axial direction of the serpentine trunk 306, and the distance between the two contact points is greater than or equal to twice the diameter of the well hole 1.

[0125] In some embodiments of the present invention, both the serpentine crawling section 303 and the borehole crawling device 307 function as crawling devices. However, the serpentine crawling section 303 has the ability to pass through the borehole 1 and can be deployed and crawling inside the tunnel 2. They have the same function but different structures and movement environments. The borehole crawling device 307 can be replaced by a common pipe crawler, but the serpentine crawling section 303 has a deployable serpentine structure or leg structure. The serpentine crawling section 303 is used to drive the borehole tunnel mining device 3 to move within the tunnel 2, while the borehole crawling device 307 is used to drive the borehole tunnel mining device 3 to move within the borehole 1. Specifically, as shown in FIG16, the serpentine crawling section 303 (or serpentine body 306) has crawling assemblies 305 symmetrically arranged on both sides of the serpentine body 306. The crawling assembly 305 can be, but is not limited to, a leg-shaped crawling mechanism, a claw-shaped crawling mechanism, and a fin-shaped crawling mechanism. In this embodiment, a crawling assembly 305 can be constructed by a crawling mechanism and a control actuator.

[0126] Specifically, as shown in Figures 16 to 19, the crawling mechanism includes at least two crawling segments, namely a first crawling segment 3051 and a second crawling segment 3053. One end of the first crawling segment 3051 is rotatably connected to the serpentine body 306 via a rotating shaft 3052. The rotating shaft 3052 is connected to the piston rod of the drive cylinder 3056, and the cylinder body of the drive cylinder 3056 is rotatably connected to the serpentine body 306. By controlling the extension and retraction of the piston rod, the first crawling segment 3051 is driven to swing back and forth, thereby realizing the forward and backward crawling action of the crawling mechanism. The other end of the first crawling segment is connected to one end of the second crawling segment via a hinge structure 3054. The control actuator includes at least two angle actuators 11. The rotating shaft 3052 and the hinge structure 3054 are respectively connected to the two angle actuators 11, and the two angle actuators 11 are respectively used to drive the rotating shaft 3052 and the hinge structure 3054 to rotate. In this embodiment, one angle actuator for driving the rotating shaft 3052 is the aforementioned drive cylinder 3056, and the other angle actuator 11 for driving the hinge structure 3054 can be a first drive motor 3055. The output shaft of the first drive motor 3055 is connected to the hinge structure 3054. The first drive motor 3055 can drive the lower end of the second crawling section 3053 to rotate towards or away from the serpentine body 306, thereby realizing the folding or unfolding of the crawling assembly 305. During actual movement, by controlling the lower end of the second crawling section 3053 to rotate away from the serpentine body 306, the lower end of the second crawling section 3053 can be raised during the process, making it easier to avoid larger ore particles and ensuring smooth movement. During actual movement, the drive cylinder 3056 can drive the first crawling section 3051 to swing back and forth, thereby driving the second crawling section 3053 on it to move back and forth, thus realizing the movement.

[0127] In the above embodiments of the present invention, as shown in Figures 6 to 8, the specific structure of the angle actuator 11 is as follows: it can be rotatably connected between two adjacent controllable deflection joints 3031 via a rotating shaft. In one of the adjacent controllable deflection joints 3031, the end of one controllable deflection joint 3031 has an arc-shaped surface 1101, and a first tooth 11011 is provided on the arc-shaped surface 1101. Inside the other controllable deflection joint 3031, a horizontally extending drive rod 1103 and an obliquely arranged transmission rod 1102 are provided. One end of the transmission rod 1102 has a second tooth 11021 arranged circumferentially. The second tooth 11021 and the first tooth 11021 are connected... The transmission rod 1102 is meshed with the second tooth 1102. A ring-shaped boss 11022 is formed in the middle of the transmission rod 1102 along its circumference. The ring-shaped boss 11022 has an umbrella-shaped inclined surface 11023 on the side facing away from the second tooth 11021. A third tooth (not shown) is provided on the umbrella-shaped inclined surface 11023. A conical surface 11031 is formed at one end of the drive rod 1103. A fourth tooth (not shown) is provided on the conical surface 11031. The drive rod 1103 is rotatably disposed inside the controllable deflection joint 3031. The fourth tooth and the third tooth are kept in a meshing state. The other end of the drive rod 1103 is connected to the output shaft of the second drive motor 1104. The second drive motor 1104 can drive the drive rod 1103 to rotate, which in turn drives the transmission rod 1102 to rotate. Since the second tooth 11021 meshes with the first tooth 11011, the rotation of the transmission rod 1102 will drive the controllable deflection joint 3031 with the arc surface 1101 to rotate, thereby realizing the rotation control of two adjacent controllable deflection joints 3031.

[0128] In this invention, the serpentine crawling section 303 includes multiple controllable deflection joints 3031 or articulated joints. The deflection limit angle of the controllable deflection joints 3031 or articulated joints is greater than 5°. The control actuator drives the controllable deflection joints 3031 or articulated joints to deflect and support the well hole mining device 3 to operate stably in the well hole 2.

[0129] In this invention, the serpentine body 306 includes multiple controllable deflection joints 3031. The deflection limit angle of the controllable deflection joints 3031 is greater than 5°. The control actuator drives the controllable deflection joints 3031 to deflect, supporting the well hole mining device 3 to operate stably in the well hole 2.

[0130] In this invention, the maximum extension angle between the crawling mechanism and the serpentine body 306 is greater than 20°, so that the extension range of the crawling mechanism can support the stable operation of the well hole mining device 3 in the well hole 2.

[0131] It should be noted that, since the borehole and tunnel mining device 3 of this invention needs to be able to pass through the borehole 1, its shape is a serpentine structure with a large length-to-diameter ratio. Therefore, by setting the aforementioned controllable bending structure or controllable unfolding structure, the borehole and tunnel mining device 3 can achieve support or fixation in the three-dimensional space of the tunnel 2 through deformation. The spatial structure formed after the controllable bending structure (i.e., the serpentine crawling section 303 is in a bending state) can abut against the rock wall surface of the borehole 1 or tunnel 2, and the applied clamping force can be converted into frictional force to provide support for the borehole and tunnel mining device 3. Similarly, the controllable unfolding structure (i.e., the unfolded support arm 304) expands and abuts against the rock wall surface of the borehole 1 or tunnel 2 after unfolding, and the applied clamping force can be converted into frictional force to provide support for the borehole and tunnel mining device 3. The sum of the contact forces generated between the controllable bending structure and the rock wall inside the wellbore 2 is greater than the buoyancy and gravity of the wellbore mining device 3; the sum of the contact forces generated between the controllable deployable structure and the rock wall inside the wellbore 2 is also greater than the buoyancy and gravity of the wellbore mining device 3. In this embodiment, when the actuator drives the controllable bending structure to reset inside the wellbore 2 or drives the controllable deployable structure to reset inside the wellbore 2, the wellbore mining device 3 retracts into a long strip shape to pass through the wellbore 1 with optimal passage.

[0132] In an optional embodiment of the present invention, as shown in Figures 9, 11, 12 and 20, the wellbore and cavern mining device 3 further includes a support arm 304, which is disposed at the front of the serpentine crawling section 303 or the serpentine body 306, or at the middle of the serpentine crawling section 303 or the serpentine body 306; a control actuator is used to drive the support arm 304 to extend to abut against the inner wall of the cavern 2, so as to fix the wellbore and cavern mining device 3 inside the cavern 2, thereby providing a stable operating environment for the wellbore and cavern mining device 3.

[0133] In this embodiment, as shown in Figures 11, 12, and 20, the wellbore mining device 3 includes at least one support arm 304. One end of the support arm 304 is connected to the serpentine crawling section 303 or the serpentine body 306 via a hinge structure. A hydraulic cylinder is hinged between the support arm 304 and the serpentine crawling section 303 or the serpentine body 306. By controlling the extension and retraction of the piston rod of the hydraulic cylinder, the support arm 304 is either retracted towards the serpentine crawling section 303 or the serpentine body 306, or extended away from the serpentine crawling section 303 or the serpentine body 306. When the support arm 304 is in the extended state, its length is greater than twice the diameter of the wellbore 1. The serpentine crawling section 303 or serpentine body 306 of the well-hole and tunnel mining device 3 of the present invention can improve its flexibility and give it a stronger turning ability, thereby improving the passability of the well-hole and tunnel mining device 3 in complex structure wells, tunnels 2 and at the interface between well 1 and tunnel 2. However, at the same time, it is difficult for the well-hole and tunnel mining device 3 of the present invention to achieve its stability in the tunnel as in the prior art through tracked vehicles, vehicle chassis or bases. Therefore, the stability of the well-hole and tunnel mining device 3 in well 1 and tunnel 2 can be enhanced by setting the support arm 304.

[0134] In this embodiment, as shown in FIG15, the support arm 304 is a support arm 304 capable of two degrees of freedom rotation; or, the support arm 304 includes at least a first support arm 3041 and a second support arm 3042 in two segments, the first support arm 3041 being hinged to the serpentine crawling segment 303 or the serpentine torso 306; the second support arm 3042 being telescopically connected to the first support arm 3041 (e.g., connected via an electric telescopic rod), and the telescopic length between the second support arm 3042 and the first support arm 3041 being controlled by a telescopic actuator; or the second support arm 3042 being hinged to the first support arm 3041, and the included angle between the second support arm 3042 and the first support arm 3041 being controlled by an angle control actuator. The angle actuator 11 can be a hydraulic cylinder disposed between the second support arm 3042 and the first support arm 3041. The second support arm 3042 and the first support arm 3041 can be hinged together via a universal joint. The cylinder body of the hydraulic cylinder can be disposed on the second support arm 3042, and the piston rod of the hydraulic cylinder is connected to the first support arm 3041. The bending angle between the first support arms 3041 can be adjusted by driving the extension length of the piston rod. In some embodiments, as a preferred option, the number of support arms 304 can be at least three. The three support arms 304 are distributed at intervals along the circumferential direction of the serpentine crawling section 303 or the serpentine body 306, so as to provide support in different directions and provide stable support in three-dimensional space for the serpentine crawling section 303 or the serpentine body 306.

[0135] In this embodiment, as a preferred embodiment, as shown in FIG15, a receiving groove 3043 is also provided on the serpentine crawling section 303 or the serpentine body 306. When the support arm 304 is retracted, it can enter the receiving groove 3043. The receiving groove 3043 is used to accommodate the support arm 304 in order to improve the passability of the serpentine crawling section 303 or the serpentine body 306 in the wellbore 1.

[0136] In this embodiment, as shown in Figures 9 and 10, the wellbore drilling device 3 includes at least two support arms 304. The two support arms 304 are distributed circumferentially along the serpentine crawling section 303 or the serpentine body 306 to provide support in different directions. Of course, in some more advanced embodiments, the two support arms 304 may be symmetrically distributed on the sides of the serpentine crawling section 303 or the serpentine body 306 to improve its stability.

[0137] In this invention, a specific structure of the support arm 304 is as shown in Figure 20. As shown in Figure 20, the support arm 304 on the well hole and cavern mining device 3 on the left can fix the well hole and cavern mining device 3 in the cavern 2. The support arm 304 includes multiple swing arms 3044 and a top rod 3045. One end of each swing arm 3044 is rotatably mounted on the serpentine crawling section 303 or the serpentine body 306 via a rotating shaft. The other end of each swing arm 3044 is rotatably connected to the middle of the top rod 3045. The output shaft of a drive motor is connected to the rotating shaft, allowing the swing arms 3044 to swing. When positioning the borehole / tunnel mining device 3 is required, the drive motor drives the swing arms 3044 to swing towards the inner wall of the tunnel 2 until the opposite side of the top rod 3045 abuts against the inner wall of the tunnel 2, thus fixing the borehole / tunnel mining device 3 within the tunnel 2 and locking its position. This method significantly increases the stability of the equipment during mining operations. Of course, the movement of the borehole / tunnel mining device 3 within the tunnel 2 can also be achieved through the cooperation of multiple support arms 304. When the wellbore mining device 3 needs to move forward inside the wellbore 2, the rear support arm 304 remains in contact with the inner wall of the wellbore 2, while the front support arm 304 retracts and swings forward to a preset angle before extending to contact the inner wall of the wellbore 2. Then, the rear support arm 304 retracts and repeats the action of the front support arm 304, thus enabling the wellbore mining device 3 to move forward inside the wellbore 2.

[0138] As shown in Figures 2-4, 20-22, and 35-37, in an optional embodiment of the present invention, at least one of the wellbore tunnel mining devices includes the crushing assembly, which is disposed at the front and / or side of the wellbore tunnel mining device. The crushing assembly is used to crush rocks on the tunnel wall or crush rocks that have fallen into the tunnel.

[0139] The crushing assembly is one or more combinations of a primary crushing assembly, a secondary crushing assembly, a drilling assembly, and an insertion crushing assembly 3011.

[0140] In an optional embodiment of the present invention, at least one borehole tunnel mining device 3 includes a crushing assembly 301, which is disposed at the front and / or side of the borehole tunnel mining device 3. The crushing assembly 301 is used to crush rocks on the wall of the tunnel 2 or crush rocks that have fallen into the tunnel 2. The crushing assembly 301 may be one or more combinations of a primary crushing assembly, a secondary crushing assembly, a drilling assembly, and an insertion crushing assembly.

[0141] Specifically, the crushing assembly is a jet crushing assembly, a cutting crushing assembly, a jaw crusher assembly, or an impact crushing assembly;

[0142] When the crushing assembly is the jet crushing assembly, a through flow channel is provided inside the wellbore cavern mining device. The through flow channel is connected to a high-pressure pump outside the well via a tubing string. The high-pressure pump is used to pump high-pressure fluid to the jet crushing assembly. The jet crushing assembly shown is also used as an insertion crushing assembly in this invention.

[0143] Alternatively, when the crushing assembly is the cutting and crushing assembly, the cutting and crushing assembly has a rotating shaft arranged along the axis of the wellhead mining device, and the rotating shaft of the cutting and crushing assembly is connected to the rotating shaft of the motor, and the motor is connected to a power source outside the well via a power line;

[0144] Alternatively, when the crushing assembly is the jaw crusher assembly, the jaw crusher assembly includes a jaw crusher connecting body and a jaw crusher, the jaw crusher is hinged to the jaw crusher connecting body, the jaw crusher connecting body and the jaw crusher are respectively connected to a drive mechanism, the drive mechanism is used to drive the jaw crusher to move along an axial direction away from or near the front end of the return channel, and the drive mechanism is connected to a power source outside the well via a power line; the jaw crusher assembly is generally used as a secondary crushing assembly 3011 in this invention;

[0145] Alternatively, when the crushing assembly is the impact crushing assembly, the impact crushing assembly includes an impact head and an impact device body. The impact head is slidably connected to the impact device body and is driven by a power assembly. The impact head reciprocates in the front-to-back direction under the drive of the power assembly, and the power assembly is connected to a power source outside the well via a power line.

[0146] As shown in Figures 20-22, a support arm is also provided on the outer side or rear of the crushing assembly. The support arm 304 is also used to provide the feed force or drilling pressure required during rock breaking. The support arm also includes a telescopic actuator, the telescopic direction of which is generally consistent with the improved direction of the crushing assembly, used to squeeze the crushing assembly into the rock wall to generate feed force or drilling pressure. Preferably, when the cutting or impact crushing assembly at the front of the wellbore tunnel mining device is in either crawling mode, the support arm provided behind or on the outer side of the crushing assembly can provide feed force or drilling pressure.

[0147] Specifically, the secondary crushing assembly 3011 includes a shell and a crushing section. The crushing section is located inside the shell, which has an inlet end and an outlet end. The inlet end communicates with the cavity 2, and the outlet end communicates with the return discharge channel. Ore particles can enter the shell through the inlet end, where they are subjected to secondary crushing by the crushing section. After reaching the required particle size or block size, the particles are discharged through the outlet end to the return discharge channel, and then discharged outside the well. The crushing section can be a jaw crusher, bar crusher, roller crusher, cone crusher, or crushing rotor, or other crushing equipment capable of crushing.

[0148] When the breaking part is a jaw or a rod, the jaw or rod is hinged to the shell through a drive mechanism. Under the drive of the drive mechanism, the jaw or rod moves open and close along an axis away from or close to the shell. The drive mechanism is connected to a power source outside the well through a power line.

[0149] When the crushing part is a roller, the roller is rotatably connected to the housing and is connected to the drive mechanism. The drive mechanism is connected to the power source outside the well through a power line.

[0150] When the crushing part is a cone, the cone is rotatably or oscillatingly connected to the shell. The maximum diameter of the cone is smaller than the diameter of the well hole 1. The cone is connected to the drive mechanism via transmission. The drive mechanism is connected to an external power source through a power line.

[0151] When the crushing part is a stone crushing rotor, the stone crushing rotor is rotatably connected to the shell. The diameter of the stone crushing rotor is smaller than the diameter of the well hole 1. The stone crushing rotor is connected to the drive mechanism. The drive mechanism is connected to the power source outside the well through the power line.

[0152] As shown in Figures 2 and 4, in an optional embodiment of the present invention, the wellbore and cavern mining device in Figure 2 is equipped with a jet-type crushing assembly at the front. This assembly can be lowered to the mining position through the wellhead of the wellbore 1, where a high-pressure jet crushes or breaks up the well wall or cavern wall, thereby removing the wellbore and cavern mining device including the jet-type crushing assembly. Then, the wellbore and cavern mining device including the secondary crushing assembly shown in Figure 4 is lowered. The crushing part of the secondary crushing assembly 3011 in Figure 4 is a roller, which is rotatably connected to the housing. The rotation of the roller crushes large pieces of rock, which are then discharged back out of the wellhead through the through-flow channel 4 inside the wellbore and cavern mining device 3. The secondary crushing assembly 3011 can be replaced with any crushing assembly capable of crushing rock based on any principle.

[0153] In an optional embodiment of the present invention, as shown in Figures 2 and 9, at least one borehole mining device 3 including a drilling assembly is used in conjunction with at least one borehole mining device 3 including an insertion crushing assembly; or, the borehole mining device 3 includes both a drilling assembly and an insertion crushing assembly. The jet crushing assembly in Figure 2 is provided with nozzles arranged axially and radially. The axially arranged nozzles are used to spray jets forward to break the rock and form shallow holes in the wall, while the radially arranged nozzles are used to spray jets laterally to expand the shallow holes and form volumetric crushing. When the jet crushing assembly is drilling forward, it is equivalent to the drilling assembly; when the jet crushing assembly is spraying radially, it is equivalent to the insertion crushing assembly.

[0154] As shown in Figure 9, a drilling assembly is provided at the front of the wellbore and cavern mining device. The drilling assembly is used to provide shallow holes in the wall for the insertion crushing assembly or blasting device. The drilling assembly is located at the front of the wellbore and cavern mining device and includes a drill bit and a power unit. The power unit is used to drive the drill bit to rotate and drill holes.

[0155] Furthermore, the wellbore tunnel mining device is equipped with both a drilling assembly and an insertion-type crushing assembly at its front end. The drilling assembly is located at the front end of the insertion-type crushing assembly, which is a static pressure rock-splitting assembly. In another optional embodiment, the wellbore tunnel mining device retains only the drilling assembly. After drilling, another wellbore tunnel mining device inserts the insertion-type crushing assembly into the downhole to achieve volumetric crushing. The insertion-type crushing assembly includes a static pressure rock-splitting assembly, a jet crushing assembly, or a blasting device.

[0156] As shown in Figure 9, the rock wall is broken simultaneously through the cooperation of the drilling assembly and the insertion-type crushing assembly. The drilling assembly and the insertion-type crushing assembly are respectively located at the front of the wellhead and cavern mining device 3. The drilling assembly includes a drill bit and a power unit. The power unit is used to drive the drill bit to rotate and drill holes in the rock wall. The insertion-type crushing assembly has an insertion part 3013 with a diameter smaller than that of the drill bit, so that the insertion part 3013 can be inserted into the shallow hole 103 drilled by the drilling assembly on the cavern wall.

[0157] In this embodiment, a shallow hole is drilled in the wall of the borehole 2 using a drilling assembly. An insert-type fracturing assembly is then inserted into this shallow hole to initially break or weaken the rock. The rock weakening tool can also be a blasting device 3014, a jetting device, an arc fracturing device, or a hydraulic fracturing device. These methods, such as blasting, high-pressure abrasive jetting, arc fracturing, plasma fracturing, or hydraulic fracturing, weaken or break the rock wall. These methods can be used simultaneously or alternately with the secondary fracturing of the fractured rock by the borehole / cave mining device 3. Specifically, the blasting device 3014 fractures the rock through blasting; the jetting device weakens the rock strength through impact or reduces rock strength and releases stress by jet fracturing; arc fracturing uses plasma or arc to fracture the rock around the auxiliary well; and the hydraulic fracturing device uses high pressure or pulsed pressure to fracture the rock. Using acid for jet fracturing or hydraulic fracturing can achieve better results.

[0158] The insertion-type crushing assembly can be an insertion-type blasting device, or it can be replaced by a jet-type crushing assembly as shown in Figure 2. The secondary crushing assembly in the borehole mining device 3 includes a housing and rollers, which can be replaced by crushing rollers or similar forms. Similarly, the secondary crushing assembly is usually located at the front end of the borehole mining device 3, and it includes at least a collecting roller and a crushing roller. The collecting roller collects nearby ore and rock to the crushing roller for pressure grinding, while the crushing roller is equipped with spiked structures, teeth, or other structures capable of grinding mineral particles, thereby performing secondary crushing of the ore particles.

[0159] In an optional embodiment of the present invention, as shown in FIG16, at least one wellbore cavern mining device includes a drilling assembly for drilling shallow holes in the wall of the cavern, and at least one of the wellbore cavern mining devices includes the insertion crushing assembly, and the insertion crushing assembly and the drilling assembly may be contained in the same wellbore cavern mining device.

[0160] In an optional embodiment of the present invention, as shown in FIG14, the well-hole tunnel mining device 3 has a through-flow channel 4 inside, which is connected to the return flow channel. The well-hole tunnel mining device 3 is provided with an intake port 401 connected to the through-flow channel 4 at the front or side. The secondary crushing assembly 3011 is provided at the intake port 401 and is used to further crush the ore particles entering the through-flow channel 4.

[0161] In an optional embodiment of the present invention, the crushing assembly 301 may be a jet crushing assembly, a cutting crushing assembly, a jaw crusher assembly, or an impact crushing assembly.

[0162] When the crushing assembly 301 is a jet crushing assembly, a through flow channel 4 is provided inside the wellbore and cavern mining device 3. The through flow channel 4 is connected to a high-pressure pump outside the well through a tubing string 7. The high-pressure pump is used to pump high-pressure fluid to the jet crushing assembly.

[0163] When the crushing assembly 301 is a cutting and crushing assembly, the cutting and crushing assembly has a rotating shaft arranged along the axis of the well hole mining device 3, and the rotating shaft of the cutting and crushing assembly is connected to the rotating shaft of the motor, and the motor is connected to a power source outside the well through a power line.

[0164] When the crushing assembly 301 is a jaw crusher assembly 3012, the jaw crusher assembly includes a jaw crusher connecting body 30122 and a jaw crusher 30121. The jaw crusher 30121 is hinged to the jaw crusher connecting body 30122. The jaw crusher connecting body 30122 and the jaw crusher 30121 are respectively connected to a drive mechanism. The drive mechanism is used to drive the jaw crusher 30121 to move along the axial direction away from or near the front end of the return channel. The drive mechanism is connected to a power source outside the well through a power line.

[0165] As shown in Figures 20 to 22, the wellhead and cavern mining device 3 on the left side of Figures 20 to 22, when the crushing assembly 301 is an impact crushing assembly, the impact crushing assembly includes an impact head and an impact equipment body. The impact head is slidably connected to the impact equipment body and is driven by the power assembly. The impact head reciprocates in the front-back direction under the drive of the power assembly. The power assembly is connected to the power source outside the well through the power line.

[0166] In an optional embodiment of the present invention, a through-flow channel 4 is provided inside the well-hole mining device 3 to discharge ore particles from the well 2 through the through-flow channel 4.

[0167] In another optional embodiment of the present invention, a hydraulic cleaning assembly 3021, a mechanical cleaning assembly, a chain cleaning assembly 3024, a spiral cleaning assembly 3023, or a loading assembly may be provided on the well hole and well hole mining device 3 to transport ore particles in the well hole 2 and well hole 1 to the return discharge channel.

[0168] In this embodiment, as shown in Figures 23 and 24, the hydraulic cleaning assembly 3021 is disposed at the front of the wellbore mining device 3 and / or connected in series in the middle of the wellbore mining device 3; wherein, the hydraulic cleaning assembly 3021 includes a nozzle, which sprays fluid to push ore particles to the inlet of the return channel.

[0169] In this embodiment, as shown in Figures 23 and 24, the mechanical cleaning assembly is located at the front of the borehole tunnel mining device 3 and / or connected in series in the middle of the borehole tunnel mining device 3. The mechanical cleaning assembly includes a rake 3022, a shovel, or a mechanical claw, which is used to push ore particles to the entrance of the return channel. Taking the rake 3022 as an example, as shown in Figures 23 and 24, the opening and closing movement of the rake 3022 relative to the serpentine body 306 can be achieved by an angle control element. The angle control element can be an electric cylinder or a hydraulic cylinder, driving the rake 3022 to rotate around its hinge point with the serpentine body 306 to perform the opening and closing movement. When the well-hole mining device 3 with the cleaning assembly 302 enters the well 1 or crawls into the well 2, the rake 3022 can be retracted. After finding the accumulation of ore particles in the well 2, the rake 3022 is unfolded, and the well-hole mining device 3 is pulled back into the well 1 by the umbilical cable 6 at the rear of the well-hole mining device 3, thus cleaning and moving the ore particles. In this embodiment, the umbilical cable 6 is installed inside the well 1, and the two ends of the umbilical cable 6 are respectively connected to the well-hole mining device 3 inside the well 2 and the power supply outside the wellhead.

[0170] In this embodiment, as shown in FIG26, the chain-type cleaning assembly 3024 is disposed at the front of the well-hole mining device 3 and / or connected in series in the middle of the well-hole mining device 3; wherein, the chain-type cleaning assembly 3024 includes a conveyor belt 30241, a drive wheel 30242 and a power motor 51. The conveyor belt 30241 is sleeved on the outside of the drive wheel 30242, and the output shaft of the power motor 51 is connected to the drive wheel 30242 to drive the conveyor belt 30241 to move. The conveyor belt 30241 is used to transfer ore particles to the entrance of the return channel.

[0171] In this embodiment, as shown in Figures 9 and 25, the spiral conveying assembly 3023 is disposed at the front of the wellbore mining device 3 and / or connected in series to the middle of the wellbore mining device 3; wherein, the spiral conveying assembly 3023 further includes a power motor 51, which is fixedly disposed at the front of the wellbore mining device 3 and / or connected in series to the middle of the wellbore mining device 3, and the power output end of the power motor 51 drives the spiral structure of the spiral conveying assembly 3023 to rotate, so as to transfer the ore particles to the entrance of the return channel.

[0172] In this embodiment, as shown in FIG28, the loading assembly 3025 includes a skip or flexible bag to load ore particles and transport them to the inlet of the return channel.

[0173] In another optional embodiment of the present invention, the borehole tunnel mining device 3 includes a secondary crushing assembly, which is used to perform secondary crushing on large falling rocks so that the crushed ore particles can be fluidized and transported to the return channel. The secondary crushing assembly is used to further crush the fallen ore to a degree that allows it to be transported in a fluid form.

[0174] In the above embodiments, the borehole and tunnel mining device 3 has a serpentine crawling section 303, which is used to drive the borehole and tunnel mining device 3 to move within the tunnel 2 to the position where ore particles accumulate, so as to clean up the accumulated ore particles; or, the borehole and tunnel mining device 3 has a borehole crawling device 307 and a serpentine body 306, the borehole crawling device 307 is used to drive the borehole and tunnel mining device 3 to move along the borehole axis within the borehole 1, and the serpentine body 306 can perform three-dimensional spatial movement within the tunnel 2 to clean up the accumulated ore particles; or, the borehole and tunnel mining device 3 includes a borehole crawling device, which is used to drive the borehole and tunnel mining device 3 to move within the tunnel 2 to the position where ore particles accumulate, so as to clean up the accumulated ore particles.

[0175] In an optional embodiment of the present invention, the borehole tunnel mining device 3 has a through-flow channel 4 inside, which is connected to the return flow channel. The front or side of the borehole tunnel mining device 3 is provided with an intake port connected to the through-flow channel 4. An ore particle screen is provided at the intake port, through which ore particles are drawn into the through-flow channel 4 for discharge. Larger ore particles are intercepted by the ore particle screen and subsequently crushed before discharge, thus avoiding blockage of the through-flow channel 4. The ore particle screen can be, but is not limited to, a screen, a mesh screen, or a grid screen.

[0176] In an optional embodiment of the present invention, the borehole tunnel mining device 3 has a crushing assembly 301 and a cleaning assembly 302. The borehole tunnel mining device 3 has an internal through-flow channel 4 for discharging ore particles from the tunnel 2. The cleaning assembly 302 includes a suction pipe 402 and a suction pipe control actuator 403. The end of the suction pipe 402 has a suction inlet 401. The suction pipe control actuator 403 is connected to the suction pipe 402 and is used to adjust the orientation of the suction inlet 401. The suction pipe control actuator 403 may be, but is not limited to, a hydraulic cylinder. The piston rod of the hydraulic cylinder is connected to the suction pipe 402, so that the extension and retraction of the piston rod causes the suction pipe 402 to rotate, thereby adjusting the orientation of the suction inlet 401.

[0177] In this invention, a working fluid with a density between 0.3 g / cm³ and 3 g / cm³ is injected into the borehole 1. This working fluid supports the borehole 1 and the cavity 2, or it mixes with ore particles and forms a particle flow that is discharged back into the borehole. The working fluid can be, but is not limited to, water, bentonite slurry, oil-based fluid, supercritical carbon dioxide, oil, etc.

[0178] In an optional embodiment of the present invention, the traffic well system includes at least two wells 1, and a plurality of caves 2 are respectively connected to the two wells 1. One well 1 is used to lower a well cave mining device 3 with a crushing assembly 301, and at the same time, the well 1 can also serve as an injection channel through which the well cave mining device 3 enters the cave 2 for crushing operations; the other well 1 serves as a return channel.

[0179] In another optional embodiment of the present invention, the traffic well system includes at least two wells 1, and a plurality of caves 2 are respectively connected to the two wells 1. One well 1 serves as an injection channel, and the other well 1 serves as a return channel. The well-hole cave mining device 3 enters the cave 2 from the well 1 to carry out cleaning operations or secondary crushing operations. The rear part of the well-hole cave mining device 3 is inserted into the well 1, and the front part of the well-hole cave mining device 3 includes a cleaning assembly 302 or a secondary crushing assembly, thereby solving the problem of rock carrying obstruction that may exist inside the cave 2, and realizing cleaning within the cave 2 through the well-hole cave mining device 3.

[0180] In another optional embodiment of the present invention, as shown in FIG24, at least one wellbore drilling device 3 includes at least one cleaning assembly 308 and / or a through-flow channel 4; a wellbore crawling device 307 and / or a drill pipe 71 are disposed behind the wellbore drilling device 3; the deep formation wellbore drilling system further includes a torque torsion isolation assembly 308 and a torque decoupling assembly, the torque torsion isolation assembly 308 connecting the wellbore drilling device 3 and the drill pipe 71, the drill pipe 71 being disposed behind the wellbore drilling device 3, and the torque decoupling assembly connecting the wellbore drilling device 3 and the drill pipe 71, the torque torsion isolation assembly 308 and the torque decoupling assembly cooperating to decouple the torque transmission between the drill pipe and the wellbore drilling device. The torque torsion isolation assembly 308 and the torque decoupling assembly adopt existing torque isolation and torque decoupling structures, and the specific structure is not limited here. During operation, rock cuttings flow from the through-flow channel 4 inside the borehole tunnel mining device 3 into the drill pipe 71 and / or the annulus between the drill pipe 71 and the well wall. The drill pipe 71 cleans the rock cuttings through continuous rotation. This invention provides a stable environment for the borehole tunnel mining device 3, which includes a secondary crushing assembly and has a cleaning function, by setting up a torque decoupling assembly. The torque of the drill pipe 71 rotation is arranged to avoid affecting the operation of the borehole tunnel mining device 3. In this embodiment, a borehole crawling device 307, a torque decoupling assembly, and the drill pipe 71 are sequentially arranged behind the borehole tunnel mining device 3. The borehole crawling device 307 is used to propel the borehole tunnel mining device 3 and to fix it in place, preventing it from rolling over.

[0181] In an optional embodiment of the present invention, the particle flow lifting system may be one of a mechanical lifting system, a fluid lifting system, or an air-lift hydraulic lifting system.

[0182] In this system, a tubing string 7 can be lowered into the access shaft system through any borehole 1 connected to the tunnel 2, and gas can be injected into the shaft through the tubing string 7, or through the annulus between the tubing string 7 and the shaft wall. This reduces the density of the particle flow within the shaft, thereby assisting in the lifting of the ore particle flow. Alternatively, the injected gas can be replaced with other particles with a density lower than that of the ore particles. Furthermore, a suction pump can be lowered into the access shaft system to lift the ore particle flow within the shaft through suction.

[0183] In a preferred embodiment of the present invention, the particles are lifted to the outside of the wellhead in the form of a particle flow through a fluid circulation method. Two well holes 1 located on the left and right sides of the well 2 can be connected to the well 2. A well hole mining device 3 with a cleaning assembly 302 and a well hole mining device 3 with a crushing assembly 301 are respectively installed in the left and right well holes 1. During actual operation, circulating fluid can be injected through the left well hole 1 to increase the pressure inside the well 2. The well hole mining device 3 located in the left well hole 1 is used to clean and transport ore particles. The pressurized circulating fluid inside the well 2 carries the ore particles to form a particle flow, which is discharged from the right well hole 1.

[0184] In a preferred embodiment of the present invention, the particles are lifted to the outside of the wellhead using a mechanical conveying method. As shown in Figure 29, in this embodiment, the particle lifting equipment through the wellhead can be a scraper lifting device or a spiral lifting device. The scraper lifting device or spiral lifting device is installed in the wellbore configured as a return channel. The scraper lifting device drives the scraper to circulate within the wellbore 1 via a chain, thereby carrying away the ore particles. The spiral lifting device includes a drive rod 8 and a wellbore spiral conveying structure 9. The drive rod 8 drives the wellbore spiral conveying structure 9 to rotate, thereby carrying away the ore particles. Both the scraper lifting device and the spiral lifting device mentioned above belong to mechanical lifting systems. In this embodiment, the ore particles are discharged by combining the mechanical lifting system with the circulating fluid within the wellbore 1. This not only leverages the high efficiency of fluid lifting but also relieves the blockage problem of the wellbore 1 using mechanical lifting, and allows for more thorough crushing of the ore. Especially in the horizontal section of the wellbore 1, the mechanical lifting system plays a more crucial role.

[0185] In an optional embodiment of the present invention, the deep formation wellbore tunnel mining system further includes a through-hole flexible filling device. This device is used to controllably fill the post-mining space to reduce the free space volume of the tunnel 2. The through-hole flexible filling device is a flexible bladder; by injecting filling material into the flexible bladder, it expands and fills the free space within the tunnel 2. Alternatively, the through-hole flexible filling device can also be a flexible tube, inserted into the tunnel 2 and into which filling material is injected to fill the free space.

[0186] Implementation Method 2

[0187] As shown in Figures 30 to 32, the present invention provides a deep formation wellbore tunnel mining system, which includes:

[0188] The traffic shaft system has at least two wells 1 with a diameter of less than 1m. The internal channels formed by the wells are connected to the mining pits 2. The internal channels formed by the wells are configured as a return channel and an injection channel. The return channel is used to transport the ore particles mined in the pits 2 to the outside of the shaft. The injection channel is used to inject circulating fluid from the outside of the shaft into the traffic shaft system or to transport fluidized filling material from the outside of the shaft into the pits 2.

[0189] The well-hole and cavern mining device 3 has a control actuator, which is used to drive the well-hole and cavern mining device 3 to move within the cavern 2. The well-hole and cavern mining device 3 is used to excavate the cavern 2 in a controllable manner.

[0190] The three-dimensional filling device 10 for the wellbore has a control actuator, which is used to drive the three-dimensional filling device 10 for the wellbore to move within the cavity 2. The three-dimensional filling device 10 for the wellbore is used to deliver fluid filling material to the cavity 2 through the injection channel for controlled filling, so as to reduce the free space volume of the cavity 2.

[0191] Furthermore, the control actuator includes one or more of the following: angle actuator 11, telescopic actuator 13, rotary actuator, and traction actuator; the three-dimensional filling device 10 for the wellbore is a serpentine filling device that can move within the cavity 2 and the wellbore 1 and output fluidized filling material, and each serpentine filling device includes a serpentine crawling section 303, a driving section, and a control module for controlling the serpentine crawling section 303 and the driving section; wherein, the serpentine crawling section 303 includes a plurality of controllable deflection joints 3031 connected in sequence, and the angle actuator 11 is connected between the controllable deflection joints 3031, and the angle actuator 11 is used to drive the controllable deflection. The deflection section 3031 deflects, and the controllable deflection section series formed by multiple controllable deflection sections 3031 is used for crawling and working in the cave 2 and / or well 1; or, the serpentine crawling section 303 includes a flexible section series composed of multiple controllable deflection sections 3031 connected in sequence, with adjacent controllable deflection sections 3031 connected in sequence by hinge or rotational connection, and the flexible section series is connected to the traction actuator through a traction force transmission structure, and the traction actuator is used to drive the serpentine crawling section 303 to crawl and work in the cave 2 and / or well 1 through the traction force transmission structure; wherein, the traction force transmission structure is a rope, belt or chain.

[0192] In this invention, the length of the serpentine filling device is at least three times the diameter of the wellbore 1.

[0193] In an optional embodiment of the present invention, the internal channels formed by the borehole 1 are configured as a return channel and / or an injection channel. The return channel is used to transport the ore particles mined in the well 2 to the outside of the borehole, and the injection channel is used to transport fluidized filling material from the outside of the borehole into the well 2. In this embodiment, as shown in Figures 30 to 32, the deep formation borehole mining system further includes at least one through-hole three-dimensional filling device 10. The through-hole three-dimensional filling device 10 includes a filling port and a through-flow channel 4 to realize the filling operation of the well 2; wherein, the through-hole three-dimensional filling device 10 may be one of the following structures:

[0194] (i) The three-dimensional filling device 10 through the well hole has a control actuator and a serpentine crawling section 303. The length of the serpentine crawling section 303 is greater than 5 times the diameter of the well hole 1. The control actuator is used to drive the serpentine crawling section 303 to bend so that the three-dimensional filling device 10 through the well hole can achieve three-dimensional spatial movement in the cavity 2.

[0195] (ii) The three-dimensional filling device 10 for wellbore has a control actuator, a wellbore crawling device 307 and a serpentine body 306. The wellbore crawling device 307 is located at the rear of the serpentine body 306. The length of the serpentine body 306 is greater than 5 times the diameter of the wellbore 1. The control actuator is used to drive the wellbore crawling device 307 and the serpentine body 306 to move so that the three-dimensional filling device 10 for wellbore can move within the cavity 2. The three-dimensional filling device 10 for wellbore has at least one support structure for supporting the serpentine body 306 against the inner wall of the cavity 2.

[0196] (III) The three-dimensional filling device 10 for the well hole has a control actuator, a crawling assembly 305 and a serpentine body 306. The crawling assembly 305 is located on the side of the serpentine body 306. The length of the serpentine body 306 is more than three times the diameter of the well hole 1. The control actuator is used to drive the crawling assembly 305 to move so that the three-dimensional filling device 10 for the well hole 2 can move within the cavity 2.

[0197] In this invention, the three-dimensional filling device 10 through the borehole has the same overall structure as the borehole tunnel mining device 3, except that it has different functional components. The borehole tunnel mining device 3 can be used for mining and clearing, while the three-dimensional filling device 10 through the borehole can be used for filling the tunnel 2. The three-dimensional filling device 10 through the borehole and the borehole tunnel mining device 3 can share the same serpentine crawling section 303 or serpentine body 306. When the three-dimensional filling device 10 through the borehole and the borehole tunnel mining device 3 share the same serpentine crawling section 303 or serpentine body 306, the filling material can be transported through the suction pipe 402 and the through flow channel 4 connected to the suction pipe 402. At this time, the suction port 401 serves as the filling outlet, injecting the filling material into the tunnel 2.

[0198] In the above embodiments, the filling material injected into the cavity 2 is a fluid filling material, which includes, but is not limited to, cemented filling materials, high-water filling materials, or paste filling materials. For example, concrete can be used as the fluid filling material. Of course, other fluid substances that solidify after standing for a period of time can also be used (such as slag mixed with adhesive, granules with a surface covered with adhesive, etc.). The specific material used for the fluid filling material is not limited here, as long as it can fill the excavated cavity 2 and ensure the stability of the space after filling. Filling materials and slurries with a certain viscosity or adhesive effect used in roadways and coal mining faces can be used as equivalent substitutes.

[0199] The deep formation borehole and tunnel mining system of the present invention is suitable for mining operations in tunnels 2 through boreholes with a diameter of less than 1m. The tunnel 2 is a strip-shaped tunnel with a diameter ranging from 0.1m to 3m and an axial length ranging from 2m to 50m. The resulting access borehole system has multiple boreholes 1 with a diameter of less than 1m. Each borehole 1 includes at least a return flow channel and an injection channel respectively connected to the tunnel 2. The return flow channel is used to transport the ore particles mined from the tunnel 2 to the outside, and the injection channel is used to transport fluidized bed material from the outside into the tunnel 2. In actual mining operations, a movable wellbore / tunnel mining device 3 and a three-dimensional filling device 10 are installed in the wellbore 1 and / or the tunnel 2. The wellbore / tunnel mining device 3 allows for controlled excavation of the tunnel 2, while the three-dimensional filling device 10 delivers fluid filling material into the tunnel 2 for controlled filling, thereby reducing the free space volume in the tunnel 2 and improving its stability. This is particularly effective for tunnels formed by mining in deep strata or non-hard strata, as it reduces the requirements for support equipment. Furthermore, in this invention, due to the setting of multiple well holes 1, and the fact that both the well hole and the three-dimensional filling device 10 are movable, the free space shape and volume of the well hole 2 can be controlled by the controlled excavation and filling of the well hole 2 (especially by utilizing the natural stability of the strip-shaped well hole 2 or the arched well hole 2 to maintain a controllable excavation working space in real time). As the excavation face and the filling face move forward, the controllable excavation working space can move in real time as the excavation and filling proceed, ensuring the stability of the well hole during the overall excavation process.

[0200] This invention, by combining a wellbore mining device 3 with a crushing assembly 301 and a wellbore mining device 3 with a clearing assembly 302, or by combining a wellbore mining device 3 with a crushing assembly 301, a wellbore mining device 3 with a clearing assembly 302, and a three-dimensional filling device 10 through the wellbore, can effectively improve the clearing efficiency of ore particles, and is especially suitable for large-scale, high-efficiency mining operations in deep strata or non-hard strata.

[0201] It should be noted that, in this embodiment, the front part is the end of the well hole and cavern mining device 3 facing away from the wellhead, and the rear or upper part is the end of the well hole and cavern mining device 3 facing the wellhead.

[0202] It should be noted that the equipment involved in this invention needs to be lowered from outside the wellhead into the well. It can be lowered into the well using existing pipe crawlers, wire ropes, or drill pipes.

[0203] It should be noted that the cave 2 in this invention is an artificial cave, tunnel, or similar free space with a controllable shape and volume formed by controlled mining.

[0204] Regarding the above-described embodiments one and two, the characteristics and advantages of the deep formation wellbore tunnel mining system of the present invention are as follows:

[0205] I. The deep strata borehole and tunnel mining system proposed in this invention uses a serpentine crawling section 303 or a serpentine body 306 as the main form of the tunnel mining equipment. This system maximizes load and capacity while maintaining the passability of the borehole 1, supporting the crushing assembly 301 and the clearing assembly 302 to achieve mining operations. This ensures that the borehole and tunnel mining device 3, with a certain length-to-diameter ratio, can achieve significant extension, especially in horizontal or slightly dipped strata, effectively expanding the mining coverage area within the tunnel 2. Simultaneously, this invention utilizes the characteristics of the borehole 1—smaller diameter, higher long-term safety than tunnels, and greater stability throughout the mining cycle—to expand mining from the borehole 1 into the tunnel 2, based on a traffic shaft system. The borehole and tunnel mining device 3, with a certain length-to-diameter ratio, enters and moves within the tunnel 2 to expand the mining area.

[0206] II. In this deep-stratum borehole-tunnel mining system, by continuously backfilling the tunnel 2 during the mining process, the free surface area and free space volume of the tunnel 2 are reduced, thereby improving its stability. This is particularly effective for tunnels formed in deep or non-hard strata, significantly lowering the requirements for support equipment. It can also substantially reduce the spacing between tunnels, or, as mining progresses, the backfill material can act as a buffer for the tunnels, allowing them to move and thus increasing ore recovery. Because of the multiple wells 1, and the fact that both the well hole and the three-dimensional filling device are movable, the free space shape and volume of the well 2 can be controlled by the controlled excavation and filling of the well 2. In particular, the natural stability of the strip-shaped or arched well 2 is used to maintain the controllable shape and volume of the excavation working space in real time. As the excavation face and the filling face move forward, the controllable excavation working space can move in real time with the excavation and filling, ensuring the stability of the well during the overall excavation process.

[0207] Third, this deep strata borehole mining system, through the combination of a borehole mining device 3 with a crushing assembly 301 and a borehole mining device 3 with a clearing assembly 302, or through the combination of a borehole mining device 3 with a crushing assembly 301, a borehole mining device 3 with a clearing assembly 302 and a three-dimensional filling device through the borehole, can effectively improve the clearing efficiency of ore particles, and is especially suitable for large-scale, high-efficiency mining operations in deep strata or non-hard strata.

[0208] IV. This deep-seated wellbore mining system is designed for deep ore layers. Since conventional mining equipment with large diameters and large free spaces, such as vertical shafts, roadways, and inclined tunnels, cannot be used for construction, this invention employs a wellbore mining device 3 with passage through the wellbore 1 and a three-dimensional filling device for deep-seated mining operations. Mining operations can be completed without traversing roadways, tunnels, or vertical shafts. Furthermore, because this invention adopts a roadway-free development and mining method, it uses a staged crushing method. In-situ staged crushing of the ore is carried out inside the mined wellbore 2 until the ore is crushed to a particle size range suitable for mixing into a particle stream (i.e., a particle size range suitable for safe transport through the wellbore 1) before being discharged externally.

[0209] V. This deep strata borehole and tunnel mining system aims to develop mineral resources through borehole 1. Utilizing the three-dimensional movement characteristics of a serpentine structure, it achieves three-dimensional controllable mining from the linear borehole 1 to the surface (i.e., the mining face) and then to the volume (i.e., the space within the tunnel 2). This invention employs a serpentine structure mining device that can achieve a larger area of ​​crushing and better adapt to the special artificial geological environment from borehole 1 to tunnel 2. The serpentine crawling section 303 or serpentine body 306 described in this invention is a device body with a certain degree of flexibility, which can adapt to complex well network structures, fully expand the contact degree of a single well with the strata, and better expand the radiation range of mining, allowing mining operations to move radially towards borehole 1. Tunnel 2 is formed by crushing from inside borehole 1 outwards. During the mining process, the tail of the borehole and tunnel mining device 3 can remain inside borehole 1, facilitating the connection of power lines or umbilical cables. Furthermore, when it is necessary to withdraw well hole 1, since the tail of the well hole mining device 3 is itself inside well hole 1, there is no need to locate the position of well hole 1, and well hole 1 can be easily withdrawn directly.

[0210] VI. This deep-stratum borehole and tunnel mining system enables tunnelless operation. The mining equipment can not only pass through the small borehole 1, but also carry out mining and backfilling work within the tunnel 2. Therefore, this invention, by setting up a borehole and tunnel mining device with a crushing assembly and a secondary crushing assembly, satisfies the flexible movement of the borehole and tunnel mining device 3 within the tunnel 2. At the same time, in order to take full advantage of the ease of fixing and dragging within the borehole 1, and to achieve both fixing and movement of the borehole and tunnel mining device 3 within the borehole 1, it better utilizes the borehole space layout and increases the reliability of the borehole mining process. Primary crushing is achieved through the crushing assembly 301, followed by secondary or even multiple crushing through the secondary crushing assembly, which can solve the problem of rockfall during the mining process and can break up obstructing rocks in situ, greatly improving the reliability of the system.

[0211] VII. This deep stratum borehole and tunnel mining system can achieve ore granulation within the tunnel 2, thus eliminating the need for roadways or ore chutes as ore transport channels. This allows for better tunnel-free mining. In cases where the surface is covered by water, this invention can isolate the mining system from the water body through a water-proof pipe and a shaft. It can develop mineral resources inside the water-covered strata through the borehole 1, achieving the goal of safely and efficiently developing underground mineral resources while protecting water bodies (such as oceans on the Earth's surface).

[0212] 8. In this deep stratum borehole-tunnel mining system, the function of the tunnel 2 is to provide temporary space for mining. All mined spaces need to be filled using backfilling measures, eliminating the need for long-term support of vertical shafts in existing mining processes. This invention utilizes the small cross-sectional area and volume of the borehole 1, making it easy to preserve for a long time. Mining is based on the borehole 1 and carried out using tunnel 2. The tunnel 2 is filled as it is mined. Even if only the borehole-tunnel mining device 3 of this invention is used to gradually excavate in the form of tunnel 2, and the tunnel 2 collapses after excavation, the safety of the small-section borehole 1 will not be affected. When using the three-dimensional backfilling device 10, controllable backfilling can be achieved, improving the filling rate and roof connection effect of the tunnel 2, avoiding stress concentration and stratum rheology, and preventing impact on adjacent mining areas. In addition, if adhesive or solidifiable filling materials are used for filling, the filling material becomes part of the wall of the cave 2, and the cave 2 moves as mining progresses, which can greatly reduce waste.

[0213] IX. In this deep strata borehole mining system, a method is proposed to use blasting devices, jet devices, arc-induced devices, or fracturing devices to weaken the rock until it is broken down to a size suitable for forming a particle flow before being discharged from the borehole 1, facilitating mining by the borehole mining device 3. Its unique effect lies in utilizing auxiliary wells to release stress, weaken strength, and even pre-fracture the rock mass, avoiding the problem of weak support in the serpentine crawling section 303 or serpentine body 306, thus significantly reducing the mining difficulty of the borehole mining device 3. Especially in horizontal or slightly dipped strata, the borehole mining device 3 based on the serpentine crawling section 303 or serpentine body 306 can effectively expand the mining range within the pit 2 and break the ore in situ to a particle size and block size suitable for composite fluidized transport.

[0214] 10. This invention proposes a borehole / tunnel mining device 3 comprising a clearing assembly or a secondary crushing assembly, capable of in-situ processing of large rocks or accumulated ore particles within the tunnel 2. The borehole / tunnel mining device 3 significantly expands the mining range within the tunnel 2 through three-dimensional spatial movement, extracting the ore. The clearing assembly 302 on the borehole / tunnel mining device 3 can move within the tunnel 2 to areas where ore particles accumulate, using a serpentine crawling section 303 or a serpentine body 306, to suck up and discharge the ore particles or clear them to the return drain, thus achieving a significant expansion of mining operations within horizontal ore layers. This invention allows the entire process, from crushing and stripping the ore from the tunnel wall to crushing it to a point where it can be transported through the return drain, to be completed in-situ within the tunnel 2, achieving the goal of directly mining deep solid mineral deposits in the form of a particle flow.

[0215] Implementation Method 3

[0216] As shown in Figures 1 to 35, the present invention provides a method for deep formation wellbore tunnel mining, wherein the method includes the following steps:

[0217] Step S1: Drill at least two wells 1, and the two wells 1 are connected underground, with at least one well 1 passing through the mineral layer or the boundary of the mineral layer;

[0218] Step S2: Install a circulation pump outside the wellbore 1 with the injection channel and connect the output port of the circulation pump to the wellbore 1 to inject circulating fluid into the wellbore 1; or, insert a gas lift pipeline into the wellbore 1 with the return channel to inject gas into the wellbore 1 and promote the circulation of circulating fluid in the wellbore 1; or, lower a particle flow pump into the wellbore 1 with the return channel to discharge the particle flow in the wellbore 1 out of the well.

[0219] Step S3: Lower the wellbore and tunnel mining device 3, which has a crushing assembly 301, into the well;

[0220] Step S4: Inject circulating fluid into wellbore 1 through a circulating pump; or, inject gas into wellbore 1 through a gas lift pipeline; or, discharge the particulate flow in wellbore 1 out of the well through a particulate flow pump; at the same time, control the movement of wellbore and cavern mining device 3 within cavern 2.

[0221] In step S4 above, the wellbore mining device 3 performs three-dimensional movable fixed-point crushing in the wellbore 2 through the crushing assembly 301 and / or the clearing assembly 302, so as to excavate the wellbore 2 in a controllable form.

[0222] Step S5: Gradually form the pre-defined shape of the cave.

[0223] Step S6: Fill at least a portion of the pit 2 formed by mining using the through-hole flexible filling device, or, after the pit mining device 3 moves to a new mining area during operation, the through-hole three-dimensional filling device crawls to the goaf area generated after mining by the pit mining device 3 and injects fluid filling material into the goaf area to fill it.

[0224] In an optional embodiment of the present invention, step S2 further includes lowering an energy line 5 into the wellbore, fixing the energy line 5 to the inner wall of the wellbore 1, setting the downhole electrical connection end of the energy line 5 inside the wellbore 1, and electrically connecting the wellhead electrical connection end of the energy line 5 to a power source outside the well.

[0225] In an optional embodiment of the present invention, in step S3, a wellbore drilling device 3 is lowered into the wellbore 1 through a drill string, coiled tubing or a pipe crawler, and the electrical connection terminal on the wellbore drilling device 3 is electrically connected to the downhole electrical connection terminal of the energy line 5.

[0226] In an optional embodiment of the present invention, as shown in Figures 2-4 and 35-37, step S4 above, the controlled morphological excavation of the cavern, further includes:

[0227] Step S401: Drill shallow holes in the wall of the cavern 2 to be excavated using the drilling assembly;

[0228] Step S402: Insert the insertion-type crushing assembly into the shallow hole in the wall to crush or weaken the rock mass;

[0229] Step S403: Use a secondary crushing assembly to further crush the fallen rocks.

[0230] The specific fracturing or weakening methods of the insert-type fracturing assembly include hydraulic fracturing, arc fracturing, jet fracturing, hydrostatic fracturing, and acid injection. In this embodiment, when the blasting assembly is used for secondary fracturing, the blasting device can be placed at the end of the borehole / tunneling device, which then sends the blasting device into the shallow hole in the wall. Since installing the blasting device does not require bearing the reaction force generated by other mining operations, as a low-cost option, the installation of the blasting device can also be completed by simply using a borehole crawler to push a smaller diameter serpentine body; it is not necessary to use the borehole / tunneling device as defined in this invention to install the blasting assembly.

[0231] In an optional embodiment of the present invention, the controlled morphological excavation of the cave 2 further includes: step S1 further includes,

[0232] Step S101: Drill through the area to be mined using a combination of drilling tools;

[0233] Step S102: Initially, after the drilling tool assembly is assembled, the reamer is run in, or the borehole is enlarged using the reamer on the drilling tool assembly; this is used to provide initial working space for the borehole and tunnel excavation device 3.

[0234] In this embodiment, the initial activity space can be regarded as the initial state of the cave 2.

[0235] In another optional embodiment of the present invention, step S1, the controlled morphological excavation of the cave 2 further includes:

[0236] Step S101: At least one wellbore 1 is drilled through the area to be mined using a drilling tool assembly;

[0237] Step S102: Lower a fracturing tool into the wellbore 1 to fracture the area to be exploited, or inject acid into the area to be exploited to weaken the strength of the area to be exploited.

[0238] In an optional embodiment of the present invention, step S6: at least a portion of the cavern 2 formed by mining is filled by the through-hole flexible filling device, or, after the cavern mining device 3 moves to a new mining area during operation, the through-hole three-dimensional filling device 10 crawls to the goaf area generated after mining by the cavern mining device 3 and injects fluid filling material into the goaf area to fill it.

[0239] The deep formation wellbore tunnel mining method of the present invention has the same features and advantages as the deep formation wellbore tunnel mining system described above, and will not be repeated here.

[0240] It should be noted that in the description of this application, the terms "first," "second," etc., are used only for descriptive purposes and to distinguish similar objects; there is no order between them, nor should they be construed as indicating or implying relative importance. Furthermore, in the description of this application, unless otherwise stated, "multiple" means two or more.

[0241] Additionally, it should be noted that the directional terms such as "front" and "back" mentioned in this invention do not refer to a specific absolute direction as shown in the picture, but rather to the positional relationship between the wellbore mining device 3 and the wellhead. The direction in which the wellbore mining device 3 faces away from the wellhead is considered the front, and the direction in which it faces the wellhead is considered the rear. This will be explained together here.

[0242] The various embodiments described in this specification are presented in a progressive manner. The same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

[0243] The above are merely a few embodiments of the present invention. Although the embodiments disclosed in the present invention are as described above, the content is only for the purpose of facilitating understanding of the present invention and is not intended to limit the present invention. Any equivalent changes and modifications made by those skilled in the art without departing from the concept and principles of the present invention should fall within the scope of protection of the present invention.

Claims

1. A deep-seated wellbore and tunnel mining system, wherein, include: A traffic well system, wherein the traffic well system has at least one well, the well depth is greater than 100m, the diameter of the well is less than 1m, wherein the internal channel formed by the well is connected to the mining pit, and the internal channel formed by the well is configured as a return channel and / or an injection channel, wherein the return channel is used to transport the ore particles mined in the pit to the outside, and the injection channel is used to inject circulating fluid from the outside into the pit; At least one borehole mining device, the borehole mining device having a crushing assembly and / or a clearing assembly, the crushing assembly being used to excavate ore on the rock wall of the borehole in a controlled manner or to crush ore inside the borehole, the clearing assembly being used to clean or transport ore particles inside the borehole to the return discharge channel so that the ore particles are discharged from the borehole by the circulating fluid; A particle flow lifting system is used to lift the ore particles mined by the wellbore and cavern mining device to the outside of the well via the return channel; The wellbore and tunnel mining device has one of the following structures: The wellbore and tunnel mining device has a control actuator and a serpentine crawling section. The length of the serpentine crawling section is greater than 5 times the diameter of the wellbore. The control actuator is used to drive the serpentine crawling section to bend, so as to drive the wellbore and tunnel mining device to perform three-dimensional spatial movement within the tunnel. In the bent state, the serpentine crawling section has at least one support point with the surrounding rock of the tunnel, so as to support the wellbore and tunnel mining device through the surrounding rock of the tunnel. Alternatively, the wellbore tunnel mining device includes a control actuator, a wellbore crawling device, and a serpentine body. The wellbore crawling device is located at the rear of the serpentine body, and the length of the serpentine body is greater than 5 times the diameter of the wellbore. The control actuator is used to drive the wellbore crawling device and the serpentine body to move, so that the wellbore tunnel mining device moves within the tunnel. The wellbore tunnel mining device has at least one support structure for supporting the serpentine body against the inner wall of the tunnel. Alternatively, the wellbore and tunnel mining device has a control actuator, a crawling assembly, and a serpentine body. The crawling assembly is disposed on the side of the serpentine body or connected in series with the serpentine body. The length of the serpentine body is greater than three times the diameter of the wellbore. The control actuator is used to drive the crawling assembly to move the wellbore and tunnel mining device within the wellbore.

2. The deep formation wellbore and tunnel mining system as described in claim 1, wherein, The wellbore and tunnel mining device includes at least a control actuator with two degrees of freedom for controlling the serpentine crawling section or the serpentine body to switch between a first state and a second state. The first state is when the serpentine crawling section or the serpentine body is in a reset state or an unbent state within the tunnel, and the second state is when the serpentine crawling section or the serpentine body is in a bent state within the tunnel.

3. The deep formation wellbore and tunnel mining system as described in claim 1, wherein, The wellbore and cavern mining device has a support arm, and the crawling assembly or the support arm is a controllable deployment structure. The wellbore and cavern mining device includes at least a drive component with two degrees of freedom control, and the drive component is used to control the controllable deployment structure to switch between the deployment state and the reset state. The control actuator is used to control the crawling assembly or the support arm to switch between a first state and a second state. The first state is when the crawling assembly or the support arm is in a reset state or an undeployed state in the cavity, and the second state is when the crawling assembly or the support arm is in an deployed state in the cavity.

4. The deep formation wellbore and tunnel mining system as described in claim 1, wherein, The serpentine trunk or the serpentine crawling section has a through flow channel, which is connected to the return flow channel and / or the injection channel. The through flow channel is used to extract ore particles from the well and transport the formed ore particle flow to the outside of the well. At least part or all of the rear portion of the wellbore mining device is inserted into the wellbore, and the through flow channel communicates with the outside of the well via the return flow channel and / or the injection channel. Alternatively, the rear of the wellbore mining device is connected to a tubing string, which is inserted into the wellbore, and the through flow channel communicates with the outside of the well through the tubing string.

5. The deep formation wellbore and tunnel mining system as described in claim 1, wherein, The traffic well system has at least two channels communicating with the cavern, configured as follows: The two channels are two wells, which are respectively connected to the caverns formed by mining within the strata. The internal channels formed by the two wells are respectively configured as the injection channel and the return channel. Alternatively, at least one tubing string is provided in at least one of the wellbores to form at least two channels in one wellbore, the two channels being the injection channel and the return channel, respectively.

6. The deep formation wellbore and tunnel mining system as described in claim 1, wherein, The wellbore and cavern mining device also includes a control device, which is electrically connected to the control actuator; The control actuator includes one or more of an angle actuator, a telescopic actuator, a rotary actuator, and a traction actuator. The angle actuator is used to drive the serpentine body or serpentine crawling section to bend; the telescopic actuator is used to drive the serpentine body or serpentine crawling section to extend or retract.

7. The deep formation wellbore and tunnel mining system as described in claim 1, wherein, The wellbore and cavern mining device also includes a control circuit and an operation sensor. The control circuit is communicatively connected to the operation sensing module and electrically connected to the control actuator to control the operation of the control actuator. The operation sensing module includes a rotary transformer, encoder, displacement sensor, stress sensor, pressure sensor, flow sensor, current sensor, potential sensor and / or magnetometer.

8. The deep formation wellbore and tunnel mining system as described in claim 1, wherein, The well-hole tunnel mining device also includes a control circuit and a tunnel sensing module for detecting the shape of the tunnel and the location of falling rocks. The well-hole tunnel mining device has an installation window, and the tunnel sensing module is set in the installation window. The well-hole mining device has a circuit storage compartment, in which a signal acquisition circuit is installed. The signal acquisition circuit is connected to the well-hole sensing module via a cable or optical fiber. The signal acquisition circuit is used to acquire the signals detected by the well-hole sensing module. The signal acquisition circuit is also connected to a communication terminal outside the well via a cable, optical fiber, and / or a wireless transceiver to transmit information from inside the well to the outside. The cave perception module is one or more of a visual sensor, radar, sonar, lidar, and tactile sensor.

9. The deep formation wellbore and tunnel mining system as described in claim 1, wherein, The wellbore is equipped with an energy line for supplying power to the wellbore mining device.

10. The deep formation wellbore tunnel mining system as described in claim 1 or 9, wherein, The deep formation wellbore and tunnel mining system also includes an umbilical cable running through the wellbore, one end of which is connected to the wellbore and tunnel mining device, and the other end of which is connected to the energy equipment outside the well. The umbilical cable is an electrical wire, hydraulic line, air line, and / or optical fiber, and the energy equipment includes a power source, hydraulic source, air source, and / or communication terminal.

11. The deep formation wellbore and tunnel mining system as described in claim 6, wherein, The wellbore and cavern mining device has a serpentine crawling section, and the crushing assembly and / or the cleaning assembly are arranged at the front of the serpentine crawling section and / or connected in series in the middle of the serpentine crawling section; The serpentine crawling segment is configured as follows: The serpentine crawling section includes a plurality of controllable deflection joints connected in sequence. Each controllable deflection joint has an angle actuator for driving the controllable deflection joint to deflect. The controllable deflection joint series formed by the plurality of controllable deflection joints is used for crawling and operating within the cavern and / or the wellbore. Alternatively, the serpentine crawling section includes at least one articulated joint array, the articulated joint array including a plurality of articulated joints connected in sequence, adjacent articulated joints being connected in sequence by hinges or joints, the end of the articulated joint array being provided with the traction actuator, the articulated joint array being connected to the traction actuator through a traction force transmission structure, the traction actuator being used to drive the serpentine crawling section to crawl and operate within the cavern and / or the wellbore through the traction force transmission structure, the traction force transmission structure being a rope, belt or chain arranged along the articulated joint array and connected to each articulated joint; Alternatively, the serpentine crawling section includes at least one elastic body and multiple traction members arranged along the length direction of the elastic body. The end of the elastic body is provided with a traction actuator having at least two degrees of freedom control. The elastic body is connected to the traction actuator via a traction transmission structure. The traction actuator is used to drive the elastic body to move within the cavity and / or the wellbore via the traction transmission structure. The elastic body is an elastic rod or elastic tube, and the traction transmission structure is a rope, belt, or chain. Alternatively, the serpentine crawling section includes a soft body structure and multiple sets of crawling assembly structures. The soft body structure is a series of universal joints or a flexible hose, and the multiple sets of crawling assembly structures are arranged along the length of the soft body structure. Alternatively, the serpentine crawling section includes at least one articulated joint and multiple sets of crawling assembly structures. The articulated joint is formed by connecting multiple articulated joints in sequence. Adjacent articulated joints are connected by hinges or joints. The multiple sets of crawling assembly structures are used to drive the serpentine crawling section to move within the cavern and / or the wellbore. Alternatively, the serpentine crawling segment has multiple articulated joints and rotary joints along its axis, with the rotary joints positioned between adjacent articulated joints and their axes aligned with the axis of the serpentine crawling segment. The angle actuator or the traction actuator drives the articulated joints to deflect at an angle, and the rotary actuator drives the rotary joints to rotate. By adjusting the orientation of the articulated joints, the serpentine crawling segment can be controlled with two degrees of freedom, enabling it to perform three-dimensional spatial motion.

12. The deep formation wellbore and tunnel mining system as described in claim 1, wherein, The wellbore tunnel mining device includes a serpentine body and a wellbore crawling device. The wellbore crawling device includes a wellbore fixing mechanism and / or a telescopic mechanism. The wellbore fixing mechanism can be fixedly connected to or abut against the inner wall of the wellbore. The crushing assembly and / or the cleaning assembly are located at the front or side of the serpentine body. The serpentine torso includes an extended arm and a rear torso. The serpentine torso and the surrounding rock of the cavern have at least one support point. The extended arm is located in front of the support point. The torso body is located between the support point and the well crawling device. The serpentine torso has at least two degrees of freedom control actuators to control the movement of the serpentine torso in at least two degrees of freedom. The extended arm includes multiple controllable deflection joints, each of which corresponds to an independent angle actuator. Alternatively, the extended arm is composed of multiple articulated structures connected in series. A traction actuator is located at the rear of the extended arm. The controllable deflection joints are connected to the traction actuator through a traction force transmission structure. The traction force transmission structure is fixedly connected to the outside of the extended arm. The traction actuator controls the extended arm through the traction force transmission mechanism to drive the extended arm to perform three-dimensional spatial movement. Alternatively, the serpentine body comprises at least two controllable deflection joints and at least one telescopic joint, arranged sequentially from back to front as the wellbore crawling device, at least one of the controllable deflection joints, at least one of the telescopic joints, at least one of the controllable deflection joints, and the crushing assembly and / or the cleaning assembly; adjacent controllable deflection joints are rotatably connected by a hinge structure, the hinge structure being connected to the angle actuator, the angle actuator being used to drive the hinge structure to bend, and the serpentine body being connected to the front of the wellbore crawling device; Alternatively, the serpentine body may include multiple controllable deflection joints and rotary joints. The rotary joints may be located between any two of the articulated joints or at the connection between the serpentine body and the wellbore crawling device. The controllable deflection joints may drive the articulated joints to deflect at an angle via the angle actuator or the traction actuator. The rotary joints may control the serpentine body with two degrees of freedom by adjusting the orientation of the articulated joints, thereby enabling it to complete three-dimensional spatial motion.

13. The deep formation wellbore and tunnel mining system as described in claim 1, wherein, The wellbore and tunnel mining device includes a serpentine body and a crawling assembly. The crawling assembly includes a crawling mechanism hinged to the serpentine body. The control actuator is used to drive the crawling mechanism to perform crawling operations. The wellbore and tunnel mining device has at least an extended state and a retracted state. When the wellbore and tunnel mining device is in the retracted state, the length-to-diameter ratio of the wellbore and tunnel mining device is greater than 3, and when the wellbore and tunnel mining device moves along the wellbore, the axial direction of the wellbore and tunnel mining device is consistent with the axial direction of the wellbore. The serpentine body is hinged or rotatably connected to the crawling mechanism. The crawling mechanism and the serpentine body are also connected by a drive component including at least two degrees of freedom control. The drive component is used to control the serpentine body to perform crawling actions or switch between the retracted state and the extended state. The crawling mechanism has multiple contact points with the inner wall of the cavity, wherein at least two contact points are located on both sides of the axial direction of the serpentine body, and the distance between the two contact points is greater than or equal to twice the diameter of the well hole.

14. The deep formation wellbore tunnel mining system as described in claim 13, wherein, The crawling mechanism includes at least two crawling sections, namely a first crawling section and a second crawling section; the first crawling section is rotatably connected to the serpentine body via a rotating shaft, and the first crawling section and the second crawling section are connected via a hinge structure; The control actuator includes at least two angle actuators, and the rotating shaft and the hinge structure are respectively connected to the two angle actuators. The two angle actuators are respectively used to drive the rotating shaft and the hinge structure to rotate.

15. The deep formation wellbore and tunnel mining system as described in claim 1, wherein, The wellbore and cavern mining device also includes a support arm, which is located at the front of the serpentine crawling section or the serpentine body, or at the middle of the serpentine crawling section or the serpentine body. The control actuator is used to drive the support arm to extend to abut against the inner wall of the well, so as to fix the wellhead mining device inside the well.

16. The deep formation wellbore tunnel mining system as described in claim 15, wherein, The wellbore mining device includes at least one support arm, which is connected to the serpentine crawling section or the serpentine body via a hinge structure. The length of the support arm in its extended state is greater than twice the diameter of the wellbore.

17. The deep formation wellbore and tunnel mining system as described in claim 15, wherein, The support arm is a support arm capable of rotating with two degrees of freedom; Alternatively, the support arm may include at least a first support arm and a second support arm in two segments, wherein the first support arm is hinged to the serpentine crawling segment or the serpentine torso; the second support arm is telescopically connected to the first support arm, and the telescopic length between the second support arm and the first support arm is controlled by a telescopic actuator; or the second support arm is hinged to the first support arm, and the included angle between the second support arm and the first support arm is controlled by an angle control actuator.

18. The deep formation wellbore and tunnel mining system as described in claim 15, wherein, The wellbore mining device includes at least two support arms, which are distributed circumferentially along the serpentine crawling section or the serpentine body to provide support in different directions.

19. The deep formation wellbore and tunnel mining system as described in claim 11, wherein, The serpentine crawling section includes multiple controllable deflection joints or articulated joints. The deflection limit angle of the controllable deflection joint or the articulated joint is greater than 5°. The control actuator drives the controllable deflection joint or the articulated joint to deflect, supporting the wellbore and cavern mining device to operate stably in the cavern.

20. The deep formation wellbore tunnel mining system as described in claim 12 or 13, wherein, The serpentine body includes multiple controllable deflection joints, the deflection limit angle of which is greater than 5°. The control actuator drives the controllable deflection joints to deflect, supporting the wellbore and cavern mining device to operate stably within the cavern.

21. The deep formation wellbore tunnel mining system as described in claim 13, wherein, The maximum extension angle between the crawling mechanism and the serpentine body is greater than 20°, so that the extension range of the crawling mechanism can support the stable operation of the wellbore mining device within the wellbore.

22. The deep formation wellbore and tunnel mining system as described in claim 1, wherein, At least one of the wellbore and cavern mining devices includes the crushing assembly, which is disposed at the front and / or side of the wellbore and cavern mining device. The crushing assembly is used to crush rocks on the cavern wall or crush rocks that have fallen into the cavern. The crushing assembly is one or more combinations of a primary crushing assembly, a secondary crushing assembly, a drilling assembly, and an insertion crushing assembly.

23. The deep formation wellbore and tunnel mining system as described in claim 1, wherein, The crushing assembly is a jet crushing assembly, a cutting crushing assembly, a jaw crusher assembly, or an impact crushing assembly; When the crushing assembly is the jet crushing assembly, a through flow channel is provided inside the wellbore cavern mining device. The through flow channel is connected to a high-pressure pump outside the well through a tubing string. The high-pressure pump is used to pump high-pressure fluid to the jet crushing assembly. Alternatively, when the crushing assembly is the cutting and crushing assembly, the cutting and crushing assembly has a rotating shaft arranged along the axis of the wellhead mining device, and the rotating shaft of the cutting and crushing assembly is connected to the rotating shaft of the motor, and the motor is connected to a power source outside the well via a power line; Alternatively, when the crushing assembly is the jaw crusher assembly, the jaw crusher assembly includes a jaw crusher connecting body and a jaw crusher, the jaw crusher is hinged to the jaw crusher connecting body, the jaw crusher connecting body and the jaw crusher are respectively connected to a drive mechanism, the drive mechanism is used to drive the jaw crusher to move along an axial direction away from or near the front end of the return channel, and the drive mechanism is connected to a power source outside the well through a power line; Alternatively, when the crushing assembly is the impact crushing assembly, the impact crushing assembly includes an impact head and an impact device body. The impact head is slidably connected to the impact device body and is driven by a power assembly. The impact head reciprocates in the front-to-back direction under the drive of the power assembly, and the power assembly is connected to a power source outside the well via a power line.

24. The deep formation wellbore tunnel mining system as described in claim 22, wherein, The secondary crushing assembly includes a housing and a crushing section, the crushing section being disposed within the housing. The housing has an inlet end and an outlet end, the inlet end communicating with the cavity and the outlet end communicating with the return discharge channel. When the breaking part is a jaw or a rod, the jaw or rod is hinged to the housing through a driving mechanism. The jaw or rod moves open and close along an axis away from or close to the housing under the drive of the driving mechanism. The driving mechanism is connected to a power source outside the well through a power line. Alternatively, when the crushing part is a roller, the roller is rotatably connected to the housing, the roller is drive-connected to the drive mechanism, and the drive mechanism is connected to a power source outside the well via a power line; Alternatively, when the crushing part is a cone, the cone is rotatably or oscillatingly connected to the housing, the maximum diameter of the cone is smaller than the diameter of the well hole, the cone is connected to the drive mechanism, and the drive mechanism is connected to an external power source through a power line; Alternatively, when the crushing part is a stone crushing rotor, the stone crushing rotor is rotatably connected to the housing, the diameter of the stone crushing rotor is smaller than the diameter of the well hole, the stone crushing rotor is connected to the drive mechanism, and the drive mechanism is connected to a power source outside the well through a power line.

25. The deep formation wellbore and tunnel mining system as described in claim 22, wherein, The well-hole mining device has an internal through-flow channel that is connected to the return flow channel. The front or side of the well-hole mining device is provided with an intake port that is connected to the through-flow channel. The secondary crushing assembly is located at the intake port and is used to further crush the ore particles entering the through-flow channel.

26. The deep formation wellbore and tunnel mining system as described in claim 22, wherein, A drilling assembly is provided at the front of the well-hole mining device, which is used to provide shallow holes in the wall for the insertion crushing assembly or blasting device. The drilling assembly is located at the front of the wellhead and cavern mining device, and includes a drill bit and a power unit, wherein the power unit is used to drive the drill bit to rotate and drill.

27. The deep formation wellbore and tunnel mining system as described in claim 22, wherein, At least one of the wellbore mining devices includes the drilling assembly for drilling shallow holes in the wall of the wellbore; And, at least one of the wellbore drilling devices includes the insertion crushing assembly, which is used to insert into the shallow hole to crush or weaken the rock.

28. The deep formation wellbore and tunnel mining system as described in claim 1, wherein, The well-hole mining device is equipped with a through-flow channel to discharge ore particles from the well through the through-flow channel; Alternatively, the wellhead and cavern mining device may be equipped with a hydraulic cleaning assembly, a mechanical cleaning assembly, a chain cleaning assembly, a spiral cleaning assembly, or a loading assembly to transport the ore particles in the cavern and the wellhead to the return discharge channel; Alternatively, the wellbore mining device may include a secondary crushing assembly, which is used to perform secondary crushing on large rocks so that the crushed ore particles can be conveyed in a fluidized state.

29. The deep formation wellbore tunnel mining system as described in claim 1 or 28, wherein, The wellbore mining device has a serpentine crawling section, which drives the wellbore mining device to move within the wellbore to the location where ore particles accumulate, in order to clean up the accumulated ore particles; or, the wellbore mining device has a wellbore crawling device and a serpentine body, the wellbore crawling device driving the wellbore mining device to move within the wellbore along the axis of the wellbore, and the serpentine body being able to move in three-dimensional space within the wellbore; or, the wellbore mining device includes a wellbore crawling device, which drives the wellbore mining device to move within the wellbore to the location where ore particles accumulate, in order to clean up the accumulated ore particles.

30. The deep formation wellbore tunnel mining system as described in claim 28, wherein, The hydraulic cleaning assembly is located at the front of the wellbore and / or connected in series in the middle of the wellbore mining device; The hydraulic cleaning assembly includes a nozzle that sprays fluid to push the ore particles to the inlet of the return channel.

31. The deep formation wellbore tunnel mining system as described in claim 28, wherein, The mechanical cleaning assembly is located at the front of the wellbore and / or connected in series in the middle of the wellbore mining device; The mechanical cleaning assembly includes a rake, a shovel, or a mechanical claw, which is used to push ore particles to the entrance of the return channel.

32. The deep formation wellbore and tunnel mining system as described in claim 28, wherein, The chain-type cleaning assembly is located at the front of the wellbore and / or connected in series in the middle of the wellbore mining device; The chain-type cleaning assembly includes a conveyor belt, a drive wheel, and a power motor. The conveyor belt is sleeved on the outside of the drive wheel, and the output shaft of the power motor is connected to the drive wheel to drive the conveyor belt to move. The conveyor belt is used to transfer ore particles to the entrance of the return channel.

33. The deep formation wellbore and tunnel mining system as described in claim 28, wherein, The spiral cleaning assembly is located at the front of the wellbore and / or connected in series in the middle of the wellbore mining device; The spiral cleaning assembly also includes a power motor, which is fixedly installed at the front of the well hole mining device and / or connected in series in the middle of the well hole mining device. The power output end of the power motor drives the spiral structure of the spiral cleaning assembly to rotate, so as to transfer the ore particles to the entrance of the return channel.

34. The deep formation wellbore tunnel mining system as described in claim 28, wherein, The loading assembly includes a skip or a flexible bag to load ore particles and transfer them to the entrance of the return channel.

35. The deep formation wellbore tunnel mining system as described in claim 28, wherein, The well-hole cave mining device has an internal through-flow channel that is connected to the return flow channel. The front or side of the well-hole cave mining device is provided with an intake port that is connected to the through-flow channel, and an ore particle screen is provided at the intake port. The ore particle screen is a screen, a mesh screen, or a grid screen.

36. The deep formation wellbore and tunnel mining system as described in claim 1, wherein, The well-hole mining device has a crushing assembly and a cleaning assembly. The well-hole mining device is provided with a through flow channel, which is used to discharge ore particles from the well.

37. The deep formation wellbore tunnel mining system as described in claim 36, wherein, The cleaning assembly includes a suction pipe and a suction pipe control actuator. The suction pipe has a suction port at its end. The suction pipe control actuator is connected to the suction pipe and is used to adjust the orientation of the suction port.

38. The deep formation wellbore and tunnel mining system as described in claim 1, wherein, The wellbore is filled with a substance with a density of 0.3 g / cm³. 3 -3g / cm 3 The working fluid in the wellbore is used to support the wellbore and the well cavity, or the working fluid is used to mix with ore particles and form a particle flow to be discharged outside the well.

39. The deep formation wellbore and tunnel mining system as described in claim 1, wherein, The traffic well system includes at least two wells, and a plurality of caves are respectively connected to two wells. One of the wells is used to lower the well cave mining device with the crushing assembly, and at the same time serves as the injection channel. The well cave mining device enters the cave through the well to carry out crushing operations. The other wellbore serves as the return flow channel.

40. The deep formation wellbore and tunnel mining system as described in claim 1, wherein, The traffic well system includes at least two wells, and multiple wells are respectively connected to two wells. One well serves as the injection channel, and the other well serves as the return channel. The well and well mining device enters the well from the well to perform cleaning or secondary crushing operations. The rear of the well and well mining device is inserted into the well, and the front of the well and well mining device includes a cleaning assembly or a secondary crushing assembly.

41. The deep formation wellbore tunnel mining system as described in claim 28 or 40, wherein, At least two of the aforementioned wellbore mining devices shall cooperate in mining operations within the wellbore; At least one of the wellbore cavern mining devices includes at least one cleaning assembly and / or a through-flow channel; a wellbore crawling device and / or drill pipe are provided behind the wellbore cavern mining device, and a torque torsion isolation assembly is also included, which connects the wellbore cavern mining device and the drill pipe.

42. The deep formation wellbore and tunnel mining system as described in claim 1, wherein, The particle flow lifting system is one of a mechanical lifting system, a fluid lifting system, or an air-lift hydraulic lifting system.

43. The deep formation wellbore and tunnel mining system as described in claim 1, wherein, The deep formation wellbore and tunnel mining system also includes a flexible filling device through the wellbore. This device is used to controllably fill the post-mining space to reduce the free space volume of the tunnel. The wellbore flexible filling device is a flexible bladder. By injecting filling material into the flexible bladder, the flexible bladder is driven to expand and fill the free space within the wellbore.

44. A deep-seated wellbore and tunnel mining system, wherein, include: A traffic shaft system having at least two wells with a diameter of less than 1m, wherein the internal channels formed by the wells are connected to the mining pits, and the internal channels formed by the wells are configured as a return channel and an injection channel. The return channel is used to transport the ore particles mined in the pits to the outside of the shaft, and the injection channel is used to inject circulating fluid into the traffic shaft system from the outside of the shaft or to transport fluidized filling material into the pit from the outside of the shaft. At least one borehole mining device, the borehole mining device having a crushing assembly and / or a clearing assembly, the crushing assembly being used to excavate ore from the rock wall of the borehole in a controlled manner, and the clearing assembly being used to clean or transport ore particles in the borehole to the return channel so as to discharge the ore particles from the borehole through the circulating fluid; A three-dimensional filling device for wellbore; the three-dimensional filling device for wellbore has a control actuator, the control actuator is used to drive the three-dimensional filling device for wellbore to move within the cavity, the three-dimensional filling device for wellbore to three-dimensional to fill the cavity with the fluid filling material through the injection channel in a controllable form, so as to reduce the free space volume of the cavity.

45. The deep formation wellbore tunnel mining system as described in claim 44, wherein, The control actuator includes one or more of the following: angle actuator, telescopic actuator, rotary actuator, and traction actuator; The three-dimensional filling device for the wellbore is a serpentine filling device that can move within the cavern and the wellbore and output the fluid filling material. Each serpentine filling device includes a serpentine crawling section, a driving section, and a control module for controlling the serpentine crawling section and the driving section. The serpentine crawling section includes multiple controllable deflection joints connected in sequence. An angle actuator is connected between the controllable deflection joints. The angle actuator is used to drive the controllable deflection joints to deflect. The controllable deflection joint series formed by the multiple controllable deflection joints is used for crawling and operating in the cavern and / or the wellbore. Alternatively, the serpentine crawling section comprises a series of flexible sections consisting of multiple controllable deflection joints connected in sequence. Adjacent controllable deflection joints are connected in sequence by hinge or rotational connection. The series of flexible sections is connected to the traction actuator through a traction force transmission structure. The traction actuator is used to drive the serpentine crawling section to crawl and operate within the cavern and / or the wellbore through the traction force transmission structure. The traction force transmission structure is a rope, belt, or chain. The length of the serpentine filling device is at least three times the diameter of the wellbore.

46. ​​A method for deep formation wellbore tunnel mining, wherein, Includes the following steps: Step S1: Drill at least two wells, and the two wells are connected underground, wherein at least one of the wells passes through the mineral layer or through the boundary of the mineral layer; Step S2: Install a circulation pump outside the wellbore with the injection channel and connect the output port of the circulation pump to the wellbore to inject circulating fluid into the wellbore; or, insert a gas lift pipeline into the wellbore with the return channel to inject gas into the wellbore and promote the circulation of the circulating fluid in the wellbore; or, install a particulate flow pump into the wellbore with the return channel to discharge the particulate flow in the wellbore out of the well. Step S3: Lower the wellbore and tunnel mining device with the crushing assembly into the well; Step S4: Inject circulating fluid into the wellbore through the circulating pump; or, inject gas into the wellbore through the gas lift pipeline; Alternatively, the particle flow inside the wellbore can be discharged outside the well using the particle flow pump; simultaneously, the movement of the wellbore and cavern mining device within the cavern can be controlled. In step S4, the wellbore mining device performs three-dimensional movable fixed-point crushing within the wellbore using a crushing assembly and / or a clearing assembly, so as to excavate the wellbore in a controllable manner. Step S5: Gradually form the cavity of the preset shape.

47. The deep formation wellbore tunnel mining method as described in claim 46, wherein, Step S2 further includes lowering an energy line into the wellbore, fixing the energy line to the inner wall of the wellbore, setting the downhole electrical connection end of the energy line inside the wellbore, and connecting the wellhead electrical connection end of the energy line to a power source outside the well.

48. The deep formation wellbore tunnel mining method as described in claim 47, wherein, In step S3, the wellbore extraction device is lowered into the wellbore through a drill string, coiled tubing, or a pipe crawler, and the electrical connection terminal on the wellbore extraction device is electrically connected to the downhole electrical connection terminal of the energy line.

49. The deep formation wellbore tunnel mining method as described in claim 46, wherein, In step S4, the controlled-morphological excavation of the cavern also includes: Step S401: Drill shallow holes in the wall of the cavern to be excavated using the drilling assembly; Step S402: Insert the insertion-type crushing assembly into the shallow hole in the wall to crush or weaken the rock mass; Step S403: Use a secondary crushing assembly to further crush the fallen rocks.

50. The deep formation wellbore tunnel mining method as described in claim 46, wherein, In step S1, the controlled-morphological excavation of the cavern further includes: Step S101: At least one wellbore is drilled through the mining area using a drilling tool assembly; Step S102: Initially, after the drilling tool assembly is assembled, the reamer is run in, or the borehole is enlarged using the reamer on the drilling tool assembly; this is used to provide initial working space for the wellbore and cavern mining equipment.

51. The deep formation wellbore tunnel mining method as described in claim 46, wherein, In step S1, the controlled-morphological excavation of the cavern further includes: Step S101: At least one wellbore is drilled through the mining area using a drilling tool assembly; Step S102: Lower fracturing tools into the wellbore to fracture the area to be exploited, or inject acid into the area to be exploited; this is used to weaken the strength of the area to be exploited.

52. The deep formation wellbore tunnel mining method as described in claim 46, wherein, The deep formation wellbore tunnel mining method also includes: Step S6: Fill at least a portion of the cavity formed by mining using a flexible filling device through the wellbore; or, after the wellbore mining device moves to a new mining area during operation, the three-dimensional filling device through the wellbore crawls to the goaf area generated after mining by the wellbore mining device and injects fluid filling material into the goaf area to fill it.

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