963 results about "Directional drilling" patented technology

The invention discloses a multi-source collaborative advanced geological exploration method based on TBM construction, and belongs to the technical field of tunnel engineering geological exploration. A three-dimensional geological model is constructed through multi-scale collaborative operation of directional long exploration drilling, branch short exploration drilling and in-hole transient electromagnetic detection; the directional long exploration adopts a secondary drilling structure and a screw motor directional drilling technology to realize accurate control of a deep stratum, the branch short exploration realizes dynamic and rapid verification through a TBM integrated drilling machine, meanwhile, in-hole transient electromagnetic exploration adopts three-component measurement and an intelligent inversion algorithm to fill the blank of geological information between drill holes, and by means of mutual data correction of the three methods, the detection accuracy is improved. A three-in-one detection system of drilling, geophysical prospecting and intelligent analysis is formed, and then accurate advanced prediction is achieved, so that the problems that a traditional single detection technology is low in precision and insufficient in coverage range are effectively solved, the water inrush risk is remarkably reduced, construction safety is guaranteed, and the method is effectively suitable for deep tunnel TBM safety construction.

The present invention relates to a coal mine intelligent directional drill and its drilling method, belonging to the technical field of coal mine drills. It comprises a moving platform, machine frame, clamper, main manipulator, power head, drill pipe storage system, control system, and hydraulic system. The power head structure is improved by adding an angle adjuster with accurate angle adjustment, locking, and anti-rotation functions. The angle adjuster is positioned on the gearbox side opposite the main motor, connected via a driving shaft. The control system includes a toolface azimuth detection and initialization system that works with the angle adjuster. This solves prior issues such as the absence of specialized toolface azimuth adjustment devices, low precision, low track adjustment efficiency, and challenges in achieving automatic directional drilling in the prior art. The invention enhances precision and efficiency, enabling automated, intelligent directional drilling.

The invention relates to the technical field of directional drilling track control, and discloses a coal mining underground directional drilling track control method and system, and the method comprises the steps: carrying out the fusion track analysis of a drilling machine based on sensor data, drilling parameters and pre-obtained geological hardness parameters, and obtaining a reference track of the drilling machine, a sensor, an azimuth angle sensor and a bit pressure sensor are used for synchronously collecting drill bit attitude data of a drilling machine to generate a real-time track of the drilling machine, then track offset calculation is carried out to obtain inclination angle deviation and azimuth angle deviation, and dynamic gain adjustment analysis is carried out on the drilling machine to obtain adjustment parameters of the drilling machine. And finally, the drill bit posture of the drilling machine is adjusted based on the adjusting parameters. According to the method, the directional control accuracy of the underground drilling track can be improved.

The invention discloses a directional drilling track accurate control technology based on machine learning, and relates to the technical field of drilling engineering. The directional drilling track accurate control technology comprises the following steps that underground parameters of a drilling tool during underground operation are obtained; establishing a dynamic model based on the drilling tool structure and the motion state; based on the dynamic model, introducing a long-short-term memory neural network, and constructing a hybrid prediction model; drilling parameters are input into the hybrid prediction model, and trend information of multiple tracks is output; based on current geological conditions, drilling tool configuration and operation safety constraints, performing simulation evaluation on the trend information of the plurality of candidate tracks, and screening out an optimal track meeting track precision and underground safety requirements from the candidate tracks; based on the optimal track, control strategy input is constructed, and a state space containing a tool face angle, target azimuth deviation and a drilling tool state is set; and through a deep reinforcement learning method, an advanced adjustment instruction for the guiding tool is generated, and drilling operation is executed according to the optimal track and the advanced adjustment instruction.

The embodiment of the invention provides an underground tool face dynamic control method and system based on reinforcement learning, and belongs to the technical field of directional drilling. The method comprises the steps of collecting drilling state data of a target well, performing data preprocessing on the drilling state data, and constructing a corresponding state vector based on the preprocessed drilling state data; calling an action decision model obtained by training based on a DDPG algorithm based on the state vector to obtain an action instruction; wherein the network strategy parameter of the action decision model is obtained by correcting the previous network strategy parameter based on the deviation between the current drilling state data and a pre-constructed reward function; analyzing the action instruction to determine a target physical action; and executing top drive torsional pendulum based on the target physical action, and recycling an execution result until the execution result indicates that the tool face angle meets the expectation. According to the scheme, the stability and the real-time control effect under the working conditions of complex well sections and severe disturbance are improved.

The invention relates to a geotechnical engineering geological investigation system and an investigation method thereof, which are used for solving the problems of drilling redundancy, repeated model correction and long period caused by traditional uniform hole distribution. The system comprises a geophysical exploration module, a rock-soil body structure feature extraction module, a geological abnormal area identification module, a survey detection point dynamic optimization module, a drilling sampling analysis module and a geotechnical engineering stability evaluation module. Earth material exploration is carried out on representative points to obtain a comprehensive geophysical prospecting data set, inversion is carried out according to the comprehensive geophysical prospecting data set to obtain a three-dimensional rock-soil structure, an abnormal area is recognized, accordingly, the drilling layout is dynamically optimized, and stability evaluation is completed at a time after a small amount of directional drilling sampling is carried out. By adopting the system, a high-precision geologic model and a stable evaluation result can be obtained with fewer drilled holes in a preliminary exploration stage, the cost is remarkably reduced, and the period is shortened.

The invention discloses a directional deflecting wire-line coring drilling device and a directional deflecting wire-line coring drilling method, relates to the field of drilling of soil layers or rocks, and solves the problems that an existing drilling device is high in deflecting direction control difficulty and small in deflecting amplitude. According to the technical scheme, the directional deflecting wire-line coring drilling device comprises a deflecting short section, a top short section and a bottom short section, the top short section and the bottom short section are arranged at the upper end and the lower end of the deflecting short section, a drill rod connector is arranged at the upper end of the top short section, and the lower end of the bottom short section is connected with a hollow motor. A cylindrical coring cavity is formed in the top short section, the deflecting short section, the bottom short section, the hollow motor and the drill bit; the top short section and the deflecting short section, every two adjacent deflecting short sections and the deflecting short section and the bottom short section are connected through deflecting connecting structures, two pull rope holes are formed between the top short section and the upper end face and the lower end face of each deflecting short section, pull ropes penetrate through the pull rope holes, and the postures of the deflecting connecting structures can be adjusted through the pull ropes. And linear drilling and directional drilling are realized.

A system and method that may include receiving real-time downhole data from one or more sensors of a drillstring disposed in a borehole in a subsurface geologic region during a directional drilling operation. The system and method also include selecting a drillstring drilling mode from a plurality of drillstring drilling modes. The system and method may additionally include predicting, in real-time, characteristics of a hole bottom of the borehole using the drilling mode model and at least a portion of the real-time downhole data. The system and method may further include controlling the directional drilling operation using one or more of the characteristics.

The invention discloses an earth surface directional drilling high-pressure deep hole grouting construction method based on steel sleeve hole fixing. The earth surface directional drilling high-pressure deep hole grouting construction method comprises the following steps that firstly, a directional drilling machine is used for vertically drilling a grouting hole downwards; secondly, a plurality of steel floral tubes are sequentially put down in the three-opening first branch grouting hole; thirdly, cement-bentonite-based sleeve shell materials are continuously injected into the first section of the steel floral tube to the inner bottom of a first branch grouting hole of the three-opening hole, and an annular space between the first branch grouting hole of the three-opening hole and the steel floral tube string is filled with the cement-bentonite-based sleeve shell materials; fourthly, a packer is lowered to the bottom of the three-opening first branch grouting hole; a packing section is formed in front of the packer; and fifthly, cement grout is injected into the grouting pipe, grouting is conducted on the packing section, the finally-set cement-bentonite-based casing material is split and damaged under the effect of grouting pressure, and the grouting grout is injected into the stratum to be reinforced through the grout channel. According to the method, the hole collapse phenomenon when the grouting hole penetrates through the unfavorable geological section can be prevented, the grouting stopping effect of the packer is guaranteed, and retreating type segmented grouting construction is guaranteed.

The utility model relates to the technical field of tunnel pipe shed construction, in particular to a pipe shed guiding and directional drilling device which comprises a bottom frame, an adjusting frame is arranged above the bottom frame, a main shaft is rotationally installed on the adjusting frame, a steel pipe is arranged on one side of the main shaft, and the steel pipe and the main shaft are connected and matched through a first linkage structure. The main shaft rotates to drive the steel pipe to synchronously rotate and simultaneously drive the steel pipe to horizontally move for directional drilling; a limiting sleeve arranged on the steel pipe in a sleeving mode and used for supporting the steel pipe is arranged on the adjusting frame, the limiting sleeve and the main shaft are connected and matched through a second linkage structure, and the main shaft rotates to drive the limiting sleeve to synchronously and horizontally move along with the steel pipe; the rotating mechanism is further arranged on the bottom frame and used for adjusting the angle of the adjusting frame. According to the steel pipe drilling device, deviation of the drilling angle caused by shaking of a steel pipe during drilling can be prevented; in addition, the drilling angle of the steel pipe can be mastered in time and corrected in a targeted mode, and therefore accurate guiding and positioning of the pipe shed are guaranteed.

The invention relates to the technical field of directional drilling, and discloses a large-diameter horizontal directional drilling device and a compensation control method thereof, and the method comprises the following steps: collecting drilling data; a coupling coefficient is obtained according to the bit pressure, the drill torque and the feeding speed, and whether longitudinal compensation is conducted or not is judged; when it is judged that longitudinal compensation is carried out, drilling data in a preset time period are collected, the drilling data are analyzed based on a sliding window, a drilling feature vector is obtained, the drilling feature vector is input into a multi-head attention model, a predicted bit pressure sequence is obtained, and a preset control quantity is obtained according to the predicted bit pressure sequence; and collecting real-time vibration acceleration, comparing the vibration acceleration with a material tolerance threshold value, and judging whether to carry out early warning or not. According to the method, the drill bit deviation or clamping stagnation phenomenon is restrained, the mechanical damage risk caused by abnormal vibration of equipment is reduced, and the stability and continuity of drilling operation in the complex stratum environment are improved.

The invention relates to the technical field of mine underground equipment, in particular to crawler-type high-gas coal seam drilling equipment based on a double-channel drill rod, which comprises a walking chassis, the double-channel drill rod, a hydraulic slotting system and a negative pressure deslagging device. Crawler-type composite drilling equipment is provided, process integration is carried out through breakthrough of three core technologies, directional drilling (a diamond drill bit and a spiral groove drill rod), hydraulic slotting and negative pressure deslagging are integrated into single equipment, the working procedure switching time is shortened, synchronous slotting and deslagging operation is achieved through a double-channel drill rod, and the working efficiency is improved. The problems of energy consumption and blockage are solved; and meanwhile, gas accidents are prevented.

The invention discloses a boulder dense stratum geological radar detection method based on horizontal directional drilling, which comprises the following steps of: firstly, drilling into a stratum from the earth surface at a smaller incidence angle by adopting the horizontal directional drilling, and drilling along the central axis of a shield tunnel to form a drill hole with the diameter of about 30cm; after drilling is completed, the geological radar is fixed to the rear portion of the drill bit through a rigid connecting device, and the geological radar synchronously advances and rotates along with the drill bit. Four rolling balls are arranged at the bottom of the geological radar to reduce motion resistance and are tightly attached to the inner wall of a drill hole to ensure detection stability. The geological radar is driven by rotation of a drill bit to rotate by 360 degrees for detection, so that stratum information around a drill hole is obtained; then, performing image recognition on drilling slag, and establishing a corresponding relation between a geological radar image and a stratum type so as to optimize interpretation precision of geological radar data; and finally, in combination with geological radar detection data and a drilling deslagging analysis result, generating a boulder distribution profile map, and predicting the boulder distribution condition on the tunneling path of the shield tunneling machine.

The invention relates to the technical field of coal mine underground drilling equipment, in particular to a gyrator for a coal mine directional drilling machine and a using method.The gyrator comprises a shell, an input shaft and an output shaft, the shaft extension end of the output shaft is provided with a pressure balance type multiple dynamic sealing system, and the sealing system comprises a main sealing unit, a pressure balance unit and a dustproof sealing unit; the pressure balance unit comprises a sealing cavity, a lubricating grease injection channel and a grease injection nozzle; pressure lubricating grease is injected into the sealing cavity through the grease injection nozzle, so that a dynamic positive pressure barrier higher than the internal medium pressure of the gyrator and the external pressure of the environment is formed in the sealing cavity; through a triple sealing structure formed by combining the spring seal main seal, the pressurization balance cavity and the V-shaped dustproof ring and by combining an active injection and dynamic balance using method, passive blocking of traditional sealing is converted into active defense, the problem of invasion of high-pressure slurry and pulverized coal is effectively solved, and the service life of the sealing device is prolonged. And the working reliability and the service life of the equipment are obviously improved.

A rock housing for horizontal directional drilling machine includes a cylindrical housing body with walls defining a longitudinal cavity. A bearing assembly is provided as a part of the housing and is located above a bit box region of the housing. The bearing assembly is lubricated by drilling mud which flows through the drill string of the drilling machine, which mud flow is normally used for cooling the drill bit and removing cuttings. A portion of the drilling mud is diverted and passes through a gap formed between the bearing races of the bearing assembly, the gap being sized so as to create the necessary back pressure to divert the needed flow of drilling mud to the assembly.

The invention belongs to the technical field of coal mine green mining and disaster prevention and control, and particularly relates to a caving area gangue grouting and filling method for recycling underground coal mine water resources. And zero emission and efficient cyclic utilization of water resources are realized. The coal gangue is used as a main filling aggregate and is directly digested underground, so that the problems of land occupation and environmental pollution caused by ground stockpiling are avoided, and harmless and large-scale treatment of the coal gangue is realized. A water treatment system and a gangue treatment system are combined into a whole, the comprehensive operation cost of a mine in the aspects of water disaster prevention and control, gangue treatment and outsourcing of a water source is remarkably reduced through a cyclic operation mode, and the cost benefit is high. Accurate detection and effect verification of the previous and later ponding areas are carried out through a geophysical prospecting means, and measures such as directional drilling and safety monitoring are combined, so that controllability and safety of the whole operation process are ensured, and the safety and reliability are high.

The invention discloses a small hole heat conduction and gas migration channel construction system and method based on seabed horizontal directional drilling, and relates to the technical field of ocean engineering and energy exploitation. A sea surface operation module is used for controlling all modules of the system to work cooperatively and supplying energy to the system; the seabed drilling guide module is used for realizing layer-entering drilling and channel pre-construction; the signal detection module is used for monitoring the spatial position and attitude parameters of the seabed drilling guide module in a seabed bottom layer in real time; the small hole perforation flow guide module is used for constructing a heat conduction and gas migration channel network after the drill bit enters a target hydrate layer; after the heat conduction and gas migration channel network is formed, the seabed drilling guide module continues to drill out of the seabed bottom layer, and a channel formed by the seabed drilling guide module is used for dragging a pipeline into a reservoir. A reusable mining channel suitable for the deep sea environment is constructed, the gasification efficiency is effectively improved, and stratum disturbance and energy consumption are reduced.

The invention discloses an underground coal mine large-diameter directional drilling system and a hole forming method. The system comprises a directional drill bit, a single-bend screw motor, a non-magnetic drilling tool, a packing cross short section, a double-wall drilling rod and a double-channel water injection and slag discharge device which are connected in sequence, and a mud pulse measurement-while-drilling instrument is arranged in the non-magnetic drilling tool; the packing crossed short section comprises a short section body and a limiting connector which are connected, and the outer wall of the short section body is sleeved with a sliding sleeve. A double-wall drill rod local reverse circulation mode is adopted for deslagging, compared with a conventional direct circulation mode, the circulating water amount needed for deslagging is greatly reduced, the water supply and pollution discharge requirements of a directional drilling site are greatly reduced, the rated discharge capacity and power of a matched slurry pump are greatly reduced, circulating water flows in an annular channel and a center channel of the double-wall drill rod, and the water supply efficiency is greatly improved. The overflow section is not influenced by the hole wall stratum, the reverse circulation flow deslagging efficiency is high, the cleaning effect in the hole is good, and the technical problems that the amount of circulating flushing liquid needed by a conventional large-diameter directional hole drilling system is large, and the hole wall stability maintaining capacity is poor are solved.

The invention discloses a ground single-hole multi-branch water jet radial coal breaking and permeability increasing extraction method, which comprises a directional drilling system, a filling system, a water jet coal breaking system, a deslagging system and a gas extraction system, and is characterized in that a vertical drilling hole is constructed on the ground, a centralizer and a whipstock are arranged at a coal seam junction, and a drill bit deflects to enter a coal seam construction horizontal branch drilling hole; three horizontal branch drill holes are constructed in each coal seam, the included angle is 120 degrees, after horizontal branch drill hole construction is completed, water jet coal breaking is carried out once every time a drill rod is withdrawn, coal seam air permeability is improved until all the drill rods are withdrawn, the process is repeated, drilling and water jet coal breaking work is carried out on other horizontal branch drill holes, and drill rods and drilling tools are withdrawn after all the work is completed. And the flange of the ground casing pipe is connected into an extraction system. The gas extraction work of the ground drilling coal seam group is realized; drill retreating and water jet coal breaking are carried out synchronously, and the air permeability of a coal seam is improved; gas extraction work of the coal seam group is achieved through ground drilling, and the gas control level is improved.

The invention belongs to the technical field of strip mine residual coal resource recovery, and particularly relates to a strip mine end slope residual coal underground gasification re-mining process and system.The strip mine end slope residual coal underground gasification re-mining process comprises the following construction steps that S1, a directional drilling system is constructed at a strip mine end slope coal seam outcrop and comprises a gas injection drilling hole, an exhaust drilling hole and a drainage drilling hole, forming a gasifier type I suitable for a thick coal seam or a gasifier type II suitable for a thin-medium thick coal seam; s2, injecting a gasification agent into the gasification furnace to perform coal bed gasification to generate coal gas and capture CO2 in gasified tail gas; s3, pressurizing and liquefying the captured CO2, injecting the liquefied CO2 into a combustion space area, and performing mineralization and storage in combination with alkaline ash; wherein the gas injection drill hole and the exhaust drill hole are arranged at the bottom or the top of a coal seam according to the thickness difference of the coal seam, and part of accumulated water is reserved in the whole drainage drill hole to prevent gas leakage. Therefore, efficient recovery of residual coal and full-process low-carbon emission are realized through differential gasification furnace structural design, dynamic sealing of the drainage drill hole and collaborative filling technology of the combustion space area.

The invention relates to a conveying manipulator for a large-specification directional drill rod and an inclination angle positioning method, and belongs to the technical field of coal mine directional drilling machines. The manipulator comprises an inclination angle adjusting mechanism, a horizontal displacement mechanism, a lifting joint, an overturning joint, a telescopic joint and a gripper joint, the inclination angle adjusting mechanism is of a double-rotation-pair structure, and stable tilting and swinging within a limited inclination angle range are achieved through a rigid swing arm and an inclination angle driving assembly, the tilt angle sensor assembly is composed of a trigger piece and a sensor which are installed on the swing arm and the drilling machine rack respectively. The inclination angle positioning method comprises the steps of driving the swing arm to tilt and monitor a sensor signal, and judging that an inclination angle is consistent with a drill hole axis when the trigger piece enters a sensing area. According to the scheme, vibration is restrained through a double-rotation-pair structure, precise axis alignment is achieved through an external sensor, the space is compressed through four-stage joint integrated design, dynamic response is optimized through a small-stroke dip angle oil cylinder, and the conveying stability, the positioning precision and the equipment adaptability of the large-specification drill rod are remarkably improved.

The invention discloses a ground directional drilling goaf passing leaking stoppage method which comprises the steps that hole data of a goaf are obtained, and the hole data comprise the hole depth and the crack width; when the width of the crack is larger than 5 mm, a foundation plugging material is adopted for conducting foundation plugging on the hole of the goaf, and the foundation plugging material is an inert material and cement paste; judging whether basic plugging fails or not to obtain a first judgment result; if the first judgment result shows that the basic plugging fails, a flexible plugging material is adopted for conducting medium-term plugging on the holes in the goaf, and the flexible plugging material is a material formed by mixing hemp fiber, sawdust, soybeans and water. According to foundation plugging, a large channel is filled through particle bridging, a primary plugging layer is formed after cement paste is solidified, the flexible material can adapt to trace deformation of surrounding rock through deformation filling, and micro cracks of a foundation layer are plugged. Through graded gradient filling, the leaking stoppage effect can be greatly improved.

The invention discloses an autonomous rock-soil body drilling instrument based on the bionic principle and a drilling method thereof.The autonomous rock-soil body drilling instrument comprises a drill bit, a propelling steering mechanism, an anchoring mechanism, an electric control integrated module and a ground control unit, and the drill bit, the propelling steering mechanism and the electric control integrated module are sequentially connected; anchoring mechanisms are arranged between the drill bit and the propelling steering mechanism and between the propelling steering mechanism and the electric control integrated module; the drill bit is used for cutting a rock-soil body and backwards conveying and discharging the cut rock-soil body to the outside of the drill bit; the propulsion steering mechanism is used for driving the drilling instrument to linearly advance and steer; the anchoring mechanism is used for providing counterforce required by drilling or resetting for the drilling instrument through meshing and separation with surrounding rock and soil bodies; and the electric control integrated module is connected with the ground control unit through an integrated communication cable. The device simulates an anchoring-propelling mechanism of natural organisms, realizes autonomous drilling without an external counter-force device, a slurry protection wall and a probe rod, and has the capabilities of multi-directional drilling, active obstacle avoidance and real-time acquisition of a continuous geological section.

The invention relates to the technical field of coal mines, in particular to an underground high-confined aquifer area treatment method which comprises the following steps: S1, performing underground directional drilling treatment, layering a high-confined aquifer according to the thickness and rich water distribution characteristics of the high-confined aquifer, and constructing a plurality of main directional drill holes in a directional drill site, then a plurality of branch directional drill holes extend from the same layer or different layers of each main directional drill hole to the plane direction of the treatment area from the directional drill site, and a grouting channel is formed; s2, grouting is conducted on the directional drill hole; and S3, underground common drill verification is carried out, and the treatment effect is checked through common drill holes which are arranged in parallel at equal intervals. Compared with a common drilling treatment working face, average construction drilling holes are greatly reduced, casing pipes and cement materials can be saved, the moving frequency and construction time of a drilling machine are reduced, and manpower and material resources are reduced.

The present invention provides a short-radius drilling tool, which includes a steering drilling sub, a drive drill string, and a drive control sub. The steering drilling sub includes a steering sub and a drill bit. The steering sub includes a load-bearing body, on which a deflection guiding mechanism and an electric drive actuator are provided. The drill bit is connected to the load-bearing body, and the deflection guiding mechanism can drive the drill bit to deflect in a preset direction. The drive drill string includes a plurality of load-bearing subs connected in sequence from top to bottom. The lowermost load-bearing sub is connected to the load-bearing body, and adjacent load-bearing subs and between the load-bearing sub and the load-bearing body are all hinged through a weight-on-bit torque deflection transmission mechanism. The drive control sub is provided with an electric drive actuator drive control circuit, and the electric drive actuator drive control circuit is electrically connected to the electric drive actuator through a jumper line. The present invention can achieve a short build-up rate, effectively shorten the length of the steering sub, and thus it is easier to achieve the directional drilling function in a high-curvature wellbore.

The invention relates to the technical field of circuit load state monitoring, and discloses a directional drilling pipeline surface coating damage characteristic analysis method based on data inversion, which comprises the following steps: injecting a dual-frequency composite excitation signal into a pipeline transmission loop; locking a current phase, collecting a magnetic flux gradient vector and performing orthogonal decomposition; according to the method, impedance distortion caused by medium heterogeneity is eliminated through the pilot frequency response difference, the problem of misjudgment caused by the fact that traditional detection depends on medium isomorphism hypothesis is solved, and the detection accuracy is improved. And accurate identification of transmission load leakage impedance abnormity is realized.

The invention relates to the technical field of hydraulic fracturing, in particular to a drilling, sealing and fracturing integrated hydraulic fracturing device for a directional drilling machine. The high-low pressure switching mechanism in the device can achieve the functions of low-pressure passing and high-pressure sealing, and a good guarantee foundation is provided for hydraulic fracturing operation. When the device is used, under the condition of low-pressure water, the piston core cannot completely compress the first spring, at the moment, the high-pressure and low-pressure switching mechanism in the device is in an access state, and the low-pressure water is introduced to the position of a drill bit to assist drilling. When hole sealing and fracturing operation is carried out, high-pressure water is introduced into the hollow drill rod, the piston core is gradually pressed by the high-pressure water, the first channel and the second channel are disconnected from each other, and the high-low pressure switching mechanism is in a closed state; high-pressure water is introduced into the hole sealing and fracturing mechanism and is sprayed out of the fracturing hole in a high-pressure state, so that the hydraulic fracturing effect is achieved; in other words, the device can achieve integrated operation of drilling, sealing and pressing, and the construction efficiency is greatly improved.

The invention discloses a mining separation layer crack filling method based on a ground comb type directional drilling group. The mining separation layer crack filling method comprises the following steps that (1) the position of each key layer is determined; (2) selecting a proper key layer as a grouting layer position; (3) establishing a numerical calculation model by adopting numerical simulation software, and simulating and analyzing the evolution law of the separation layer in the advancing process of the coal face; (4) a drill site is arranged outside the influence range of the mining area, and a main hole for ground comb type directional drilling is constructed; (5) designing a branch hole track of the ground comb type directional drilling by using Landmark software; (6) a ground comb type directional drilling group is arranged; and step (7), performing separation fracture filling on a grouting layer in the overlying strata on the coal mining working face by constructing multiple groups of ground comb type directional drilling holes. By means of the method, ground surface settlement control of mining-filling synchronous operation can be achieved.

The present invention relates to the field of mining exploration equipment, and specifically to a crawler-type fully hydraulic directional drilling rig for coal mines, comprising a crawler vehicle assembly, a drilling rig assembly being provided at the front upper portion of the crawler vehicle assembly, a storage mechanism being provided at the rear upper portion of the crawler vehicle assembly, and a loading mechanism being provided at the middle upper portion of the crawler vehicle assembly for placing drill rods inside the storage mechanism one by one inside the drilling rig assembly. The present invention uses a serpentine material channel inside a silo to store drill rods in batches, so that the drill rods are arranged one by one inside the serpentine material channel under the action of gravity, and the drill rods can be rolled out of the silo one by one through an opening and closing assembly, thereby realizing the unloading of the drill rods one by one, and without the need to provide an extra material grabbing structure on the upper portion of the silo, thereby reducing the overall height of the present invention, making it suitable for use in narrow mine spaces and increasing its applicability.

The invention discloses a guiding system and method for penetrating through a special site through horizontal directional drilling, and relates to the technical field of horizontal directional drilling. Comprising a control system, a sensor arranged at the end of a drill rod or a drill bit and used for collecting position signals of the end of the drill rod or the drill bit, a guiding instrument used for receiving signals of the sensor and a carrying device used for carrying the guiding instrument, and the guiding instrument is used for transmitting the received signals of the sensor to the control system. And data analysis and processing are carried out through the control system. By arranging the carrying device, the guiding instrument synchronously moves along with the drill rod, the problems that the guiding instrument cannot be held by a person to reach a special site in a long distance or the guiding positioning is unstable and the precision is reduced when the guiding instrument is carried by a ship are solved, the personnel safety is ensured, and the position of a drill bit is corrected in real time through the control system; the drill bit is kept at the preset position all the time, and it is guaranteed that an actual guide hole is consistent with a penetrating design curve track.