CN113464050B - Gas drilling method and robot system for intelligent mine - Google Patents
Gas drilling method and robot system for intelligent mine Download PDFInfo
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- CN113464050B CN113464050B CN202110704896.1A CN202110704896A CN113464050B CN 113464050 B CN113464050 B CN 113464050B CN 202110704896 A CN202110704896 A CN 202110704896A CN 113464050 B CN113464050 B CN 113464050B
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP 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 DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP 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 DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP 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 DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP 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 DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP 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 DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP 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 DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP 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
Abstract
The invention discloses a gas extraction drilling method for an intelligent mine and a robot system thereof, wherein the system comprises a drilling subsystem (1), a roadway continuous pipe working machine (2) and a roadway positioning subsystem (3); the roadway continuous pipe working machine (2) is respectively connected with the drilling subsystem (1) and the roadway positioning subsystem (3); the drilling subsystem (1) comprises a continuous pipe (4), a drilling crawler (5), a director (6), a hole bottom power drilling tool (7) and a drill bit (8) which are connected in sequence from an orifice to a hole bottom; the roadway continuous pipe working machine (2) comprises a roller (13), a motor (14), a drilling liquid pump (16), a water tank (17) and a cable penetrating 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 geological structure of the coal seam, reduces the number of personnel for drilling construction and lightens the labor intensity of workers.
Description
Technical Field
The invention relates to the field of mine gas drainage processes, in particular to a gas drilling method and a robot system for an intelligent mine.
Background
Because of the existence of gas in the coal mine exploitation process, great harm is brought to the coal mine safety exploitation, such as gas explosion, gas outburst and the like, the life safety of mine workers is seriously endangered, and great economic loss is caused. Therefore, when the existing mine is used for mining, the coal seam to be mined is drilled when a roadway is excavated, so that gas in the coal seam is convenient to overflow, and the occurrence of gas disasters is reduced. However, when gas is discharged from drilling holes in a real coal mine, some enterprises or constructors reduce the workload and save the cost, and often the drilling depth is reduced during drilling, so that the gas discharge amount of the coal seam to be excavated is insufficient, and potential hazard is formed. The gas drainage drilling depth of the coal mine is about 100m, which is the currently designed safe drilling depth, and in practice, most drilling depths are only 50% of the designed drilling depth, so that the safety of subsequent mining work is seriously affected.
In the prior art, the device for measuring the drilling depth mainly has the following defects: measuring the stroke of a piston of the drilling machine in the device to obtain the drilling depth, wherein the stroke of the piston can be set manually and is easy to change, and the drilling depth cannot be truly reflected; in addition, the gas drilling precision and efficiency are generally not high, and the working strength of workers and the price of drilling equipment are high.
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, a short circuit for measurement while drilling, a director, a hole bottom power drill and a drill bit which are connected to a continuous pipe, and the drilling crawler is used for applying propelling force and backing force to a hole bottom drill assembly; the tunnel coiled tubing working machine supplies drilling fluid for drilling, provides pulling force 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 aim of the invention is realized by the following technical scheme:
a gas extraction drilling robot system for intelligent mines comprises a drilling subsystem, a roadway continuous pipe operation machine and a roadway positioning subsystem; the roadway continuous pipe working machine is respectively connected with the drilling subsystem and the roadway positioning subsystem;
the drilling subsystem comprises a coiled tubing, a drilling crawler, a director, a hole bottom power drill and a drill bit which are sequentially connected from an orifice to a hole bottom; a cable is arranged in the continuous pipe, and the continuous pipe passes through an injection head on a roadway and is connected with a roadway continuous pipe working machine;
the tunnel continuous pipe working 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 continuous pipe is wound on the roller, one end of a cable in the continuous pipe is connected with the drilling subsystem, and the other end of the cable passes through a sealing joint of the continuous pipe through which the cable passes and is 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 cable penetrating continuous pipe sealing joint is arranged at the bottom of the roller;
the roadway positioning subsystem comprises a detector, a triaxial fluxgate A and a shallow hole; a plurality of grounding cable arrays are arranged in the shallow holes; the detector, the triaxial fluxgate A and the shallow hole are respectively connected with the roadway continuous pipe working machine through cables.
The drilling subsystem has another structure, and 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 a hole bottom; the measurement while drilling short circuit comprises a triaxial fluxgate B, a triaxial accelerometer and a multiaxial gyroscope; permanent magnet material is arranged near the drill bit.
The director joint is a controllable elbow joint, and the controllable elbow joint adopts a motor, hydraulic or combined driving mode to adjust the joint bending.
The injection head is arranged at an orifice position on the roadway.
A gas drilling method for intelligent mines comprises the following steps:
starting a gas extraction drilling robot system, and pulling a continuous pipe by an injection head to drive a hole bottom power drilling tool and a drill bit to drill, and advancing and retreating in the gas drilling;
in the drilling work, the bending angle of the controllable elbow joint of the director is controlled by utilizing a hydraulic or electric driving mode, and the hole bottom power drilling tool and the drill bit are matched for better drilling;
synchronously measuring gas drilling track parameters along with the deep drilling work and measuring a short joint while drilling, and measuring and calculating the drilling track and the dynamic and static postures of a drilling subsystem;
the permanent magnetic material in the drilling subsystem is matched with the roadway positioning subsystem to magnetically position the drill bit, so that the measurement accuracy of the gas drilling track is improved;
arranging a detector array in a roadway, wherein the detector can also adopt a three-component detector to measure a tiny 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 bit is connected with a single hole or is drilled by considering the length of the short-circuit distance drill bit and the pointing direction of a drill rod during measurement while drilling in a mode of fusing a tiny vibration time difference positioning model and a perforation track calculation model.
The injection head driving method specifically comprises the following steps: obtaining an optimal value and a change rule of the force applied by the injection head through an algorithm model, a driving force parameter of the drilling crawler and a tension parameter measured by the drilling crawler; the applied force is the pushing force applied by the injection head to the continuous pipe and pushing out of the bottom of the hole and pulling out of the hole.
The magnetic positioning mode for improving the measuring precision of the perforation track is divided into active magnetic positioning and passive magnetic positioning; the passive magnetic positioning method specifically comprises the following steps: the method comprises the steps that a permanent magnet material is directionally arranged near a drill bit of a drilling subsystem to form a directional magnetic field array, and a triaxial fluxgate A in a roadway positioning subsystem receives and measures a strong magnetic signal sent by the directional magnetic field array, wherein the strong magnetic signal changes along with time and the change of the bit azimuth; the active positioning method specifically comprises the following steps: in the drilling and stopping process, a plurality of grounding cable arrays installed in the shallow holes are respectively electrified with alternating current according to a set sequence and combination, and the azimuth change condition of a magnetic field is recorded by utilizing the triaxial 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 stratum structure, achieve the technical level of intelligent perception, autonomous decision and automatic control of the drilling robot in gas drilling, greatly improve the efficiency of gas drilling and the knowledge precision of coal seam geological structure, reduce the number of personnel for drilling construction, lighten the labor intensity of workers, and finally realize the remote monitoring of intelligent mines by communicating with a centralized control center through an industrial Ethernet.
Drawings
FIG. 1 is a block diagram of the present invention;
in the accompanying drawings: 1-drilling subsystem, 2-roadway continuous pipe working machine, 3-roadway positioning subsystem, 4-continuous pipe, 5-drilling crawler, 6-director, 7-hole bottom power drilling tool, 8-drill bit, 9-electric hole bottom motor, 10-directional hole bottom motor, 11-cable, 12-measurement while drilling short circuit, 13-roller, 14-motor, 15-injection head, 16-drilling liquid pump, 17-water tank, 18-cable continuous pipe sealing joint, 19-detector, 20-triaxial fluxgate A, 21-shallow hole, 22-grounding cable and 23-permanent magnet material.
Detailed Description
For a clearer understanding of technical features, objects, and effects of the present invention, a specific embodiment of the present invention will 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 tunnel continuous pipe working machine 2 and a tunnel positioning subsystem 3; the roadway continuous pipe working machine 2 is respectively connected with the drilling subsystem 1 and the roadway positioning subsystem 3;
the drilling subsystem 1 comprises a continuous pipe 4, a drilling crawler 5, a director 6, a hole bottom power drill 7 and a drill bit 8 which are connected in sequence from an orifice to a hole bottom; a cable 11 is arranged in the continuous pipe 4, and the roadway continuous pipe working machine 2 transmits power to the drilling subsystem 1 through the cable 11 and realizes signal bidirectional transmission; the continuous pipe 4 passes through an injection head 15 on the roadway and is connected with the roadway continuous pipe working machine 2;
the tunnel continuous pipe working 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 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 passes through a cable-penetrating continuous pipe sealing joint 18 to be connected with power supply and communication equipment; the drilling fluid pump 16 is connected with the water tank 17 at one end and the continuous pipe 4 at the other end, the drilling fluid pump 16 pumps the drilling fluid in the water tank 17 into the continuous pipe 4, flows into the drilling subsystem 1 and the drill bit 8, and returns to the roadway from the annular space of the hole; the cable-penetrating continuous pipe sealing joint 18 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 roadway continuous pipe working machine 2 through cables. The function of the detector 19 is to measure tiny vibration signals of the contact hole bottom of the drill bit when the drill bit is connected with a single wire, and the detector 19 can also detect the azimuth of the vibration signals by adopting a three-component detector.
The drilling subsystem 1 has another structure, and 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 a hole bottom; the measurement while drilling short circuit 12 comprises a triaxial fluxgate B, a triaxial accelerometer and a multiaxial gyroscope; permanent magnet material 23 is mounted close to the drill bit 8. The directional bore bottom motor 10 is a typical curved housing bore bottom motor. The electric hole bottom motor 9 judges whether to rotate or to be static according to the working condition, and when the electric hole bottom motor 9 rotates, the electric drill bit 8 is driven by electricity to rotate; when the electric hole bottom motor 9 is stationary, the electric hole bottom motor is locked mechanically or hydraulically to restrict the rotary motion of the electric hole bottom motor 9.
The joint of the director 6 is a controllable elbow joint, and the controllable elbow joint adopts a motor, hydraulic or combined driving mode to adjust the joint bending degree, 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 mounted at an orifice location on the roadway.
A gas drilling method for intelligent mines comprises the following steps:
starting a gas extraction drilling robot system, and driving a hole bottom power drilling tool 7 and a drill bit 8 to drill by using a continuous or alternate traction mode to draw a continuous pipe 4 by an injection head 15, and advancing and retreating in the gas drilling; the traction power can be provided by using the internal and external pressure difference of drilling fluid in the continuous pipe 4, a battery or a cable 11 to drive the drilling crawler 5 to move. Another drilling subsystem 1 configuration may be employed to drive the drill bit 8 with an electric downhole motor 9 for drilling operations.
In the drilling work, the bending angle of the controllable bent joint of the director 6 is controlled in a hydraulic driving mode or the hole bottom motor 10 is used for being matched with the hole bottom power drilling tool 7 and the drill bit 8 to drill holes better;
as the drilling work goes deep, the measurement while drilling short circuit 12 synchronously measures the gas drilling track parameters, and the drilling track and the dynamic and static postures of the drilling subsystem 1 are measured and calculated;
the permanent magnet material 23 in the drilling subsystem 1 is matched with the roadway positioning subsystem 3 to magnetically position the drill bit 8, so that the measurement accuracy of the gas drilling track is improved;
arranging a detector 19 array in a roadway, wherein the detector 19 can also adopt a three-component detector, and the three-dimensional coordinates of the hole bottom when the drilling is connected with a single hole or the drilling is calculated by taking the length of the short circuit 12 from the drilling bit and the direction of a drill rod into consideration in a manner of fusing a microseism time difference positioning model and a hole track calculation model in the drilling process, wherein the microseism time difference positioning model is used for measuring tiny vibration signals generated when the drilling bit contacts the hole bottom.
The driving method of the injection head 15 specifically comprises the following steps: obtaining the optimal value and change rule of the applied force of the injection head 15 through an algorithm model, the driving force parameter of the drilling crawler 5 and the tension parameter measured by the drilling crawler 5; the applied forces are the pushing force of the injection head 15 against the bottom of the push-out hole and the pulling force of the pull-out hole applied by the injection head 15 against the coiled tubing 4.
The magnetic positioning mode for improving the measuring precision of the perforation track is divided into active magnetic positioning and passive magnetic positioning; the passive magnetic positioning method specifically comprises the following steps: the permanent magnet material 23 is directionally arranged near the drill bit 8 of the drilling subsystem 1 to form a directional magnetic field array, and the three-axis fluxgate A20 in the roadway positioning subsystem 3 receives and measures strong magnetic signals sent by the directional magnetic field array, wherein the strong magnetic signals change along with time and the change of the bit azimuth; the active positioning method specifically comprises the following steps: in the drilling and stopping process, a plurality of grounding cable 22 arrays installed in the shallow hole 21 are respectively electrified 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.
The gas extraction drilling robot system is communicated with a centralized control center on the ground through an underground industrial Ethernet, replaces workers to complete gas drilling construction and data acquisition, monitoring and analysis, and achieves the functions of intelligent sensing, autonomous decision making and automatic control of the gas drilling robot.
While there has been shown and described what are at present considered to be fundamental and main features of the invention and advantages thereof, it will be understood by those skilled in the art that the present invention is not limited to the foregoing embodiments, but is described in the foregoing description with reference to the accompanying drawings, which illustrate the principles of the invention, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. The gas extraction drilling robot system for the intelligent mine is characterized by comprising a drilling subsystem (1), a roadway continuous pipe operation machine (2) and a roadway positioning subsystem (3); the roadway continuous pipe working machine (2) is respectively connected with the drilling subsystem (1) and the roadway positioning subsystem (3);
the drilling subsystem (1) comprises a continuous pipe (4), a drilling crawler (5), a director (6), a hole bottom power drilling tool (7) and a drill bit (8) which are connected in sequence from an orifice to a hole bottom; a cable (11) is arranged in the continuous pipe (4), and the continuous pipe (4) passes through an injection head (15) on a roadway and is connected with a roadway continuous pipe working machine (2);
the tunnel continuous pipe working machine (2) comprises a roller (13), a motor (14), a drilling liquid 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 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) passes 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), and the other end of the drilling fluid pump is connected with the continuous pipe (4); the cable penetrating continuous pipe sealing joint (18) is arranged on the continuous pipe (4) between the roller (13) and the drilling fluid pump (16), and is used for leading out the cable from the continuous pipe (4) without leakage;
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 roadway continuous pipe working machine (2) through cables;
the drilling subsystem has another structure, and 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 connected in sequence from an orifice to a hole bottom; the measurement while drilling short circuit (12) comprises a triaxial fluxgate B, a triaxial accelerometer and a multiaxial gyroscope; permanent magnet materials (23) are arranged close to the drill bit (8);
the gas extraction drilling robot system is provided with a gas drilling method, and the gas drilling method comprises the following steps of:
the drilling crawler (5) and the injection head (15) of the gas extraction drilling robot system jointly drive the continuous pipe (4) to drive the hole bottom power drilling tool (7) and the drill bit (8) to drill, and advance and retreat in gas drilling;
in the drilling work, the bending angle of the controllable bent joint of the director (6) is controlled by utilizing a hydraulic or electric driving mode, and the hole bottom power drilling tool (7) and the drill bit (8) are matched for better drilling;
with the deep drilling work, synchronously measuring the gas drilling track parameter by using the other structure of the drilling subsystem (1) and the measurement while drilling short circuit (12), and measuring and calculating 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 magnetically position the drill bit (8), so that the measurement accuracy of the gas drilling track is improved;
arranging a detector (19) array in a roadway, wherein the detector (19) adopts a three-component detector to measure a tiny 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 bit is connected with a single hole or drilled by considering the length of a measurement while drilling short circuit (12) from the drill bit and the direction of a drill rod in a mode of fusing a tiny vibration time difference positioning model and a hole track calculation model;
the magnetic positioning mode for improving the measurement precision of the gas drilling track is divided into active magnetic positioning and passive magnetic positioning; the passive magnetic positioning method specifically comprises the following steps: the method comprises the 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, and 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, wherein the strong magnetic signals change along with time and the change of the direction of the drill bit; the active magnetic positioning method specifically comprises the following steps: in the drilling and stopping process, a plurality of grounding cable (22) arrays arranged in the shallow holes (21) are respectively electrified 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).
2. The intelligent mine-oriented gas extraction drilling robot system according to claim 1, wherein the joint of the director (6) is a controllable elbow joint, and the controllable elbow joint adopts a hydraulic or electric driving mode to adjust the joint bending.
3. The gas extraction drilling robot system for intelligent mines according to claim 1, wherein the injection head (15) is installed at an orifice position on a roadway.
4. The gas extraction drilling robot system for intelligent mines according to claim 1, wherein the driving method of the injection head (15) is specifically as follows: obtaining an optimal value and change rule of the applied 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 applied by the injection head (15) to the continuous pipe (4) and pushing force applied by the injection head to push out the hole bottom and pulling force applied by the injection head to pull out the hole.
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