CN113464050A - Gas drilling method for smart mine and robot system thereof - Google Patents
Gas drilling method for smart mine and robot system thereof Download PDFInfo
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- CN113464050A CN113464050A CN202110704896.1A CN202110704896A CN113464050A CN 113464050 A CN113464050 A CN 113464050A CN 202110704896 A CN202110704896 A CN 202110704896A CN 113464050 A CN113464050 A CN 113464050A
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- 238000005553 drilling Methods 0.000 title claims abstract description 163
- 238000000034 method Methods 0.000 title claims abstract description 33
- 239000012530 fluid Substances 0.000 claims abstract description 15
- 238000000605 extraction Methods 0.000 claims abstract description 12
- 238000007789 sealing Methods 0.000 claims abstract description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 9
- 238000005259 measurement Methods 0.000 claims description 22
- 238000002347 injection Methods 0.000 claims description 20
- 239000007924 injection Substances 0.000 claims description 20
- 230000008859 change Effects 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 10
- 239000000463 material Substances 0.000 claims description 8
- 238000003491 array Methods 0.000 claims description 6
- 238000005452 bending Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 230000036544 posture Effects 0.000 claims description 3
- 239000003245 coal Substances 0.000 abstract description 10
- 238000010276 construction Methods 0.000 abstract description 3
- 238000005065 mining Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 210000002310 elbow joint Anatomy 0.000 description 2
- 239000000696 magnetic material Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/04—Directional drilling
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/22—Handling reeled pipe or rod units, e.g. flexible drilling pipes
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B21/00—Methods or apparatus for flushing boreholes, e.g. by use of exhaust air from motor
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/01—Devices for supporting measuring instruments on drill bits, pipes, rods or wirelines; Protecting measuring instruments in boreholes against heat, shock, pressure or the like
- E21B47/013—Devices specially adapted for supporting measuring instruments on drill bits
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/02—Determining slope or direction
- E21B47/022—Determining slope or direction of the borehole, e.g. using geomagnetism
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/02—Determining slope or direction
- E21B47/022—Determining slope or direction of the borehole, e.g. using geomagnetism
- E21B47/0224—Determining slope or direction of the borehole, e.g. using geomagnetism using seismic or acoustic means
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/02—Determining slope or direction
- E21B47/022—Determining slope or direction of the borehole, e.g. using geomagnetism
- E21B47/0228—Determining slope or direction of the borehole, e.g. using geomagnetism using electromagnetic energy or detectors therefor
- E21B47/0232—Determining slope or direction of the borehole, e.g. using geomagnetism using electromagnetic energy or detectors therefor at least one of the energy sources or one of the detectors being located on or above the ground surface
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Geology (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geophysics (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Acoustics & Sound (AREA)
- Electromagnetism (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a gas extraction drilling method and a robot system thereof for an intelligent mine, wherein the system comprises a drilling subsystem (1), a roadway continuous pipe operating machine (2) and a roadway positioning subsystem (3); the tunnel continuous pipe operation machine (2) is respectively connected with the drilling subsystem (1) and the tunnel positioning subsystem (3); the drilling subsystem (1) comprises a continuous pipe (4), a drilling crawler (5), a direction finder (6), a hole bottom power drilling tool (7) and a drill bit (8) which are sequentially connected from an orifice to the bottom of a hole; the tunnel continuous pipe operation machine (2) comprises a roller (13), a motor (14), a drilling fluid pump (16), a water tank (17) and a cable-through continuous pipe sealing joint (18); the roadway positioning subsystem (3) comprises a detector (19), a triaxial fluxgate A (20) and a shallow hole (21). The invention greatly improves the efficiency of gas drilling and the recognition precision of the coal bed geological structure, reduces the number of drilling construction personnel and lightens the labor intensity of workers.
Description
Technical Field
The invention relates to the field of mine gas pumping and exhausting processes, in particular to a gas drilling method for an intelligent mine and a robot system thereof.
Background
In the process of coal mining, due to the existence of gas, great harm is brought to coal mine safety mining, such as gas explosion, gas outburst and the like, the life safety of mine workers is seriously harmed, and great economic loss is caused. Therefore, when the existing mine is mined, the coal seam to be mined is drilled when the roadway is excavated, so that the overflow of gas in the coal seam is facilitated, and the occurrence of gas disasters is reduced. However, when gas is removed in actual coal mine drilling, part of enterprises or constructors save cost for reducing workload, and often reduce the drilling depth in drilling, so that the gas discharge amount of the coal seam to be excavated is insufficient, and potential hazards are formed. Generally, the depth of a coal mine gas drainage drill hole is about 100m, which is the currently designed safe drill hole depth, and in practice, most of the drill holes are only 50% of the designed drill hole depth, so that the safety of subsequent mining work is seriously influenced.
In the prior art, the device for measuring the drilling depth mainly has the following defects: the travel of a piston of a drilling machine in the device is measured to obtain the drilling depth, and the travel of the piston can be manually set and is easy to change, so that the drilling depth cannot be truly reflected; in addition, the gas drilling work precision and efficiency are generally not high, and the work intensity of workers and the cost of drilling equipment are higher.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a gas drilling method and a robot system thereof for an intelligent mine, wherein a drilling subsystem consists of a drilling crawler connected to a continuous pipe, a measurement while drilling short circuit, a direction finder, a hole bottom power drilling tool and a drill bit, and the drilling crawler is used for applying propelling force and backward force to a hole bottom drilling tool combination; the tunnel coiled tubing operation machine supplies drilling fluid for drilling, provides tension and injection force for the coiled tubing, and communicates with the drilling subsystem in real time; the roadway positioning subsystem improves the measurement accuracy of the drilling track through various positioning modes.
The purpose of the invention is realized by the following technical scheme:
a gas extraction drilling robot system for an intelligent mine comprises a drilling subsystem, a continuous pipe operation machine for a roadway and a roadway positioning subsystem; the tunnel continuous pipe operation machine is respectively connected with the drilling subsystem and the tunnel positioning subsystem;
the drilling subsystem comprises a continuous pipe, a drilling crawler, a direction finder, a hole bottom power drilling tool and a drill bit which are sequentially connected from an orifice to the bottom of a hole; the cable is arranged in the continuous pipe, and the continuous pipe penetrates through an injection head on the roadway and is connected with the roadway continuous pipe operating machine;
the tunnel continuous pipe operation machine comprises a roller, a motor, a drilling fluid pump, a water tank and a cable-penetrating continuous pipe sealing joint; the motor is connected with the roller through a cable and drives the roller to rotate; the coiled tubing is wound on the roller, one end of a cable in the coiled tubing is connected with the drilling subsystem, and the other end of the cable penetrates through the sealed joint of the coiled tubing penetrating the cable to be connected with power supply and communication equipment; one end of the drilling fluid pump is connected with the water tank, and the other end of the drilling fluid pump is connected with the continuous pipe; the sealing joint of the cable-passing continuous pipe is arranged at the bottom of the roller;
the roadway positioning subsystem comprises a wave detector, a triaxial fluxgate A and a shallow hole; a plurality of grounding cable arrays are arranged in the shallow holes; the wave detector, the triaxial fluxgate A and the shallow hole are respectively connected with the continuous pipe operation machine of the roadway through cables.
The drilling subsystem has another structure which comprises a continuous pipe, a measurement while drilling short circuit, an electric hole bottom motor, a directional hole bottom motor and a drill bit which are sequentially connected from an orifice to the bottom of a hole; the measurement while drilling short circuit comprises a triaxial fluxgate B, a triaxial accelerometer and a multi-axis gyroscope; and a permanent magnet material is arranged close to the drill bit.
The direction finder joint is a controllable elbow joint, and the controllable elbow joint adopts a motor, hydraulic pressure or combined driving mode to adjust the joint camber.
The injection head is installed at the position of an orifice on a roadway.
A gas drilling method for an intelligent mine comprises the following steps:
starting a gas extraction drilling robot system, driving a hole bottom power drilling tool and a drill bit to drill by an injection head traction continuous pipe, and advancing and retreating in gas drilling;
in the drilling work, the bending angle of the controllable bent joint of the direction finder is controlled in a hydraulic or electric driving mode, and the hole is drilled better by matching with a hole bottom power drilling tool and a drill bit;
along with the deepening of the drilling work, the measurement while drilling short circuit synchronously measures the gas drilling track parameters, and the measurement and calculation are carried out on the drilling track and the dynamic and static postures of the drilling subsystem;
the permanent magnetic material in the drilling subsystem is matched with the roadway positioning subsystem to perform magnetic positioning of the drill bit, so that the measurement accuracy of a gas drilling track is improved;
the method comprises the steps of arranging a detector array in a roadway, wherein the detector can also adopt a three-component detector, measuring a micro vibration signal generated when a drill bit contacts the bottom of a hole in the drilling process, and calculating the three-dimensional coordinate of the bottom of the hole when the drill hole is connected with a single joint or drilled by considering the length of the drill bit and the direction of a drill rod during measurement while drilling in a mode of fusing a micro seismic time difference positioning model and a hole track calculation model.
The injection head driving method specifically comprises the following steps: obtaining the optimal value and the optimal change rule of the force applied by the injection head through the algorithm model, the driving force parameter of the drilling crawler and the tension parameter measured by the drilling crawler; the applied force is the pushing force of the injection head on the continuous pipe for pushing out the hole bottom and the pulling force of the pulling hole.
The magnetic positioning mode for improving the measurement precision of the track of the hole is divided into active magnetic positioning and passive magnetic positioning; the passive magnetic positioning method comprises the following specific steps: the method comprises the following steps that a permanent magnet material is directionally arranged near a drill bit of a drilling subsystem to form a directional magnetic field array, a triaxial fluxgate A in a roadway positioning subsystem receives and measures a strong magnetic signal sent by the directional magnetic field array, and the strong magnetic signal changes along with the change of time and the direction of the drill bit; the active positioning method comprises the following specific steps: in the drilling and stopping process, a plurality of grounding cable arrays installed in shallow holes are respectively introduced with alternating current according to a set sequence and combination, and the azimuth change condition of a magnetic field is recorded by utilizing the three-axis fluxgate B of the drilling subsystem.
The invention has the beneficial effects that:
the invention can autonomously complete the designed drilling track tracking and correcting work, realize the fine description of the stratum structure, achieve the technical levels of intelligent perception, autonomous decision and automatic control of the drilling robot in gas drilling, greatly improve the gas drilling efficiency and the recognition precision of the coal bed geological structure, reduce the number of personnel for drilling construction, reduce the labor intensity of workers, and finally realize the remote monitoring of the intelligent mine by communicating with a centralized control center through the industrial Ethernet.
Drawings
FIG. 1 is a block diagram of the present invention;
in the drawings: 1-a drilling subsystem, 2-a roadway coiled tubing operation machine, 3-a roadway positioning subsystem, 4-coiled tubing, 5-a drilling crawler, 6-a direction finder, 7-a hole bottom power drilling tool, 8-a drill bit, 9-an electric hole bottom motor, 10-a directional hole bottom motor, 11-a cable, 12-a measurement while drilling short circuit, 13-a roller, 14-a motor, 15-an injection head, 16-a drilling liquid pump, 17-a water tank, 18-a cable-passing coiled tubing sealing joint, 19-a wave detector, 20-a three-axis fluxgate A, 21-a shallow hole, 22-a grounding cable and 23-a permanent magnet material.
Detailed Description
In order to more clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings.
In this embodiment, as shown in fig. 1, a gas extraction drilling robot system for an intelligent mine includes a drilling subsystem 1, a roadway continuous pipe operating machine 2, and a roadway positioning subsystem 3; the tunnel continuous pipe operation machine 2 is respectively connected with the drilling subsystem 1 and the tunnel positioning subsystem 3;
the drilling subsystem 1 comprises a continuous pipe 4, a drilling crawler 5, a direction finder 6, a hole bottom power drill 7 and a drill bit 8 which are sequentially connected from an orifice to the hole bottom; the cable 11 is installed in the continuous pipe 4, and the tunnel continuous pipe operating machine 2 transmits power for the drilling subsystem 1 through the cable 11 and realizes bidirectional signal transmission; the continuous pipe 4 passes through an injection head 15 on the roadway and is connected with the roadway continuous pipe operating machine 2;
the continuous tunnel pipe operation machine 2 comprises a roller 13, a motor 14, a drilling fluid pump 16, a water tank 17 and a cable-through continuous pipe sealing joint 18; the motor 14 is connected with the roller 13 through a cable and drives the roller to rotate; the continuous pipe 4 is wound on the roller 13, one end of a cable 11 in the continuous pipe 4 is connected with the drilling subsystem, and the other end of the cable 11 penetrates through a cable-penetrating continuous pipe sealing joint 18 to be connected with power supply and communication equipment; one end of the drilling fluid pump 16 is connected with the water tank 17, the other end of the drilling fluid pump is connected with the continuous pipe 4, and the drilling fluid in the water tank 17 is pumped into the continuous pipe 4 by the drilling fluid pump 16, flows into the drilling subsystem 1 and the drill bit 8, and returns to the roadway from the annular space of the hole; the sealing joint 18 for the cable-passing continuous pipe is arranged at the bottom of the roller 13;
the roadway positioning subsystem 3 comprises a detector 19, a triaxial fluxgate A20 and a shallow hole 21; a plurality of grounding cable 22 arrays are arranged in the shallow holes 21; the detector 19, the triaxial fluxgate A20 and the shallow hole 21 are respectively connected with the continuous pipe operation machine 2 through cables. The detector 19 is used for measuring a tiny vibration signal of the drill bit contacting the bottom of the hole when the single drill bit is connected, and the detector 19 can also adopt a three-component detector to detect the direction of the vibration signal.
The drilling subsystem 1 has another structure which comprises a continuous pipe 4, a measurement while drilling short circuit 12, an electric hole bottom motor 9, a directional hole bottom motor 10 and a drill bit 8 which are sequentially connected from an orifice to the bottom of a hole; the measurement while drilling short circuit 12 comprises a three-axis fluxgate B, a three-axis accelerometer and a multi-axis gyroscope; a permanent magnet material 23 is mounted adjacent to the drill bit 8. The directional downhole motor 10 is a typical bent housing downhole motor. The electric hole bottom motor 9 judges whether to rotate or be static according to the requirement of the working condition, and when the electric hole bottom motor 9 needs to rotate, the electric hole bottom motor 9 drives the drill bit 8 to rotate by adopting electric power; when the electric hole bottom motor 9 needs to be stationary, the electric hole bottom motor is locked in a mechanical or hydraulic mode, and the rotary motion of the electric hole bottom motor is restrained.
The joint of the direction finder 6 is a controllable bent joint, and the controllable bent joint adjusts the bending degree of the joint in a motor, hydraulic pressure or combined driving mode, so that the change of the bending angle of the drilling subsystem 1 of coal mine gas from 0 degree to a specified angle is realized.
The injection head 15 is installed at the position of an opening on the roadway.
A gas drilling method for an intelligent mine comprises the following steps:
starting a gas extraction drilling robot system, and pulling the continuous pipe 4 by the injection head 15 in a continuous or alternative traction mode to drive the hole bottom power drilling tool 7 and the drill bit 8 to drill holes and advance and retreat in the gas drilling holes; the traction power can be provided by the internal and external pressure difference of the drilling fluid in the continuous pipe 4 and a battery or a cable 11 to drive the drilling crawler 5 to move. It is also possible to use another drilling subsystem 1 configuration, using an electric downhole motor 9 to drive the drill bit 8 for drilling.
In the drilling work, the bending angle of a controllable bent joint of the direction finder 6 is controlled in a hydraulic driving mode or the hole is drilled better by matching a hole bottom power drilling tool 7 and a drill bit 8 through a directional hole bottom motor 10;
along with the deepening of the drilling work, the measurement while drilling short circuit 12 synchronously measures the gas drilling track parameters, and measures and calculates the drilling track and the dynamic and static postures of the drilling subsystem 1;
the permanent magnet material 23 in the drilling subsystem 1 is matched with the roadway positioning subsystem 3 to perform magnetic positioning on the drill bit 8, so that the measurement accuracy of a gas drilling track is improved;
the detector 19 array is arranged in the roadway, the detector 19 can also adopt a three-component detector, a micro vibration signal generated when the drill bit contacts the bottom of the hole in the drilling process is measured, the length of the drill bit from the measurement while drilling short circuit 12 and the direction of a drill rod are considered in a mode of fusing a micro seismic time difference positioning model and a hole track calculation model, and the three-dimensional coordinate of the bottom of the hole in the process of drilling single connection or drilling is calculated.
The driving method of the injection head 15 specifically comprises the following steps: obtaining the optimal value and the optimal change rule of the force applied by the injection head 15 through the algorithm model, the driving force parameter of the drilling crawler 5 and the tension parameter measured by the drilling crawler 5; the applied force is the pushing force of the injection head 15 on the continuous pipe 4 to push out the hole bottom and the pulling force of the pulling hole.
The magnetic positioning mode for improving the measurement precision of the track of the hole is divided into active magnetic positioning and passive magnetic positioning; the passive magnetic positioning method comprises the following specific steps: the permanent magnetic material 23 is directionally arranged near a drill bit 8 of the drilling subsystem 1 to form a directional magnetic field array, a three-axis fluxgate A20 in the roadway positioning subsystem 3 receives and measures a strong magnetic signal sent by the directional magnetic field array, and the strong magnetic signal changes along with the change of time and the direction of the drill bit; the active positioning method comprises the following specific steps: during the drilling and stopping process, alternating current is respectively introduced into a plurality of grounding cable 22 arrays installed in the shallow hole 21 according to a set sequence and combination, and the azimuth change condition of the magnetic field is recorded by using the tri-axial fluxgate B of the drilling subsystem 1.
The gas extraction drilling robot system is communicated with a centralized control center on the ground through an underground industrial Ethernet, workers are replaced to complete gas drilling construction, data acquisition, monitoring and analysis, and the functions of intelligent sensing, autonomous decision making and automatic control of the gas extraction drilling robot are achieved.
While there has been shown and described the fundamental principles of the invention and the principal features and advantages thereof, it will be understood by those skilled in the art that the invention is not limited by the embodiments described above, which are given by way of illustration of the principles of the invention, but is susceptible to various changes and modifications without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. A gas extraction drilling robot system for an intelligent mine is characterized by comprising a drilling subsystem (1), a roadway continuous pipe operation machine (2) and a roadway positioning subsystem (3); the tunnel continuous pipe operation machine (2) is respectively connected with the drilling subsystem (1) and the tunnel positioning subsystem (3);
the drilling subsystem (1) comprises a continuous pipe (4), a drilling crawler (5), a direction finder (6), a hole bottom power drilling tool (7) and a drill bit (8) which are sequentially connected from an orifice to the bottom of a hole; a cable (11) is installed in the continuous pipe (4), and the continuous pipe (4) penetrates through an injection head (15) on the roadway and is connected with the roadway continuous pipe operation machine (2);
the roadway continuous pipe operation machine (2) comprises a roller (13), a motor (14), a drilling fluid pump (16), a water tank (17) and a cable-penetrating continuous pipe sealing joint (18); the motor (14) is connected with the roller (13) through a driving device and drives the roller to rotate; the coiled tubing (4) is wound on the roller (13), one end of a cable (11) in the coiled tubing (4) is connected with the drilling subsystem, and the other end of the cable (11) penetrates through a cable-penetrating coiled tubing sealing joint (18) to be connected with power supply and communication equipment; one end of the drilling fluid pump (16) is connected with the water tank (17), and the other end of the drilling fluid pump is connected with the continuous pipe (4); the sealing joint (18) of the cable-passing continuous pipe is arranged on the continuous pipe (4) between the roller (13) and the drilling fluid pump (16), so that the cable is led out of the continuous pipe (4) and does not leak;
the roadway positioning subsystem (3) comprises a detector (19), a triaxial fluxgate A (20) and a shallow hole (21); a plurality of grounding cable (22) arrays are arranged in the shallow holes (21); the detector (19), the triaxial fluxgate A (20) and the shallow hole (21) are respectively connected with the continuous tunnel pipe operation machine (2) through cables.
2. The gas extraction and drilling robot system for the smart mine according to claim 1, wherein the drilling subsystem has another structure which comprises a continuous pipe (4), a measurement while drilling short circuit (12), an electric hole bottom motor (9), a directional hole bottom motor (10) and a drill bit (8) which are sequentially connected from an orifice to the bottom of a hole; the measurement while drilling short circuit (12) comprises a triaxial fluxgate B, a triaxial accelerometer and a multi-axis gyroscope; and a permanent magnet material (23) is arranged close to the drill bit (8).
3. The gas extraction and drilling robot system for the smart mine according to claim 1, wherein the joint of the orientator (6) is a controllable bent joint, and the controllable bent joint is hydraulically or electrically driven to adjust the bending degree of the joint.
4. The gas extraction drilling robot system for smart mines according to claim 1, wherein the injection head (15) is installed at an orifice position on a roadway.
5. The gas drilling method for smart mines according to any one of claims 1 to 4, comprising the following steps:
a drilling crawler (5) and an injection head (15) of the gas extraction drilling robot system jointly drive a continuous pipe (4) to drive a hole bottom power drilling tool (7) and a drill bit (8) to drill, and advance and retreat in gas drilling;
in the drilling work, the bending angle of a controllable bent joint of the direction finder (6) is controlled in a hydraulic or electric driving mode, and the hole is drilled better by matching with a hole bottom power drilling tool (7) and a drill bit (8);
along with the deepening of the drilling work, the measurement while drilling short circuit (12) synchronously measures the gas drilling track parameters, and measures and calculates the drilling track and the dynamic and static postures of the drilling subsystem (1);
the permanent magnet material (23) in the drilling subsystem (1) is matched with the roadway positioning subsystem (3) to perform magnetic positioning on the drill bit (8), so that the measurement accuracy of a gas drilling track is improved;
the method is characterized in that a detector (19) array is arranged in a roadway, the detector (19) can also adopt a three-component detector, a micro vibration signal generated when a drill bit contacts the bottom of a hole in the drilling process is measured, the length of a measurement while drilling short circuit (12) from the drill bit and the direction of a drill rod are considered in a mode of fusing a micro-seismic time difference positioning model and a hole track calculation model, and the three-dimensional coordinate of the bottom of the hole in the process of drilling single connection or drilling is calculated.
6. The gas drilling method for smart mines according to claim 5, wherein the injection head (15) is driven by: obtaining an optimal value and a change rule of the application force of the injection head (15) through an algorithm model, a driving force parameter of the drilling crawler (5) and a tension parameter measured by the drilling crawler (5); the applied force is the pushing force of the injection head (15) on the continuous pipe (4) to push out the hole bottom and the pulling force of the pulling hole.
7. The gas drilling method for intelligent mines as recited in claim 5, wherein the magnetic positioning method for improving the measurement accuracy of the hole trajectory is divided into two types, namely active magnetic positioning and passive magnetic positioning; the passive magnetic positioning method comprises the following specific steps: the method comprises the following steps that a permanent magnet material (23) is directionally arranged near a drill bit (8) of a drilling subsystem (1) to form a directional magnetic field array, a three-axis fluxgate A (20) in a roadway positioning subsystem (3) receives and measures strong magnetic signals sent by the directional magnetic field array, and the strong magnetic signals change along with the change of time and the direction of the drill bit; the active positioning method comprises the following specific steps: in the drilling and stopping process, a plurality of grounding cable (22) arrays installed in shallow holes (21) are respectively introduced with alternating current according to a set sequence and combination, and the azimuth change condition of a magnetic field is recorded by using the triaxial fluxgate B of the drilling subsystem (1).
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