CN115163032B - An intelligent drilling rig control system and method for side wall coring of deep drilling - Google Patents

Abstract

The invention discloses a control system and a method for a deep-drilling side-wall coring intelligent drilling machine, which are characterized in that a parameter database of undamaged drilling cores under different rock stratums is pre-established in a storage system, drilling is carried out according to the drilling parameters of the softest rock stratum, an identification system monitors the bending moment applied to a rotary trephine in the continuous drilling process, the bending moment value is compared with the database, the rotating speed and the propelling force which are applicable to the cores corresponding to the bending moment value are adjusted, the parameters of the coring drilling machine are adjusted until the bending moment and the rotating speed are close to the database, the possibility of core damage in the drilling process is reduced, a pressure sensor is adopted to detect the pulling force value of the pulled cores, the drilling is continuously carried out until the cores are taken out under the condition that the pulling force value is stable, the identification system judges that the cores are damaged when the pulling force value suddenly drops or is reduced to zero, the connection between a thin steel rod and the cores is removed, the drilling machine pushes the cores out from the cores, the damaged cores is abandoned, and the problem that the core damage condition cannot be detected in time in the drilling process is solved.

Description

An intelligent drilling rig control system and method for side wall coring of deep drilling

technical field

The invention relates to the technical field of rock and soil mechanics measurement, and more specifically, to a control system and method for an intelligent drilling rig for coring the side wall of a deep borehole.

Background technique

The local wall stress relief method is a new stress relief method. By releasing a sufficient number of cores at the wall of the drilling well and recording the positive strain changes in different directions during the process, the far-field stress can be obtained by back calculation, which is different from the ordinary method. Compared with the hydraulic fracturing method, since one principal stress of the ground stress is not required to be parallel to the drilling axis, and the drilled core is shorter, the possibility of core breakage is reduced.

The existing technology has the following disadvantages: (1) The existing equipment for deep operations using the local wall stress relief method cannot adjust the speed and propulsion according to the actual surrounding rock pressure during drilling; (2) During the lifting process, it is impossible to judge whether the core is broken; (3) The power of the core drilling rig used for the softer surrounding rock is too high, which causes the core stress release rate to be too fast, which leads to core damage, and the relatively fast speed This will cause the softer core to fracture, indicating a failure of the stress relief test at that point.

Contents of the invention

In view of the above defects or improvement needs of the prior art, the present invention provides a deep drilling side wall coring intelligent drilling rig control system and method, the method pre-establishes in the storage system undamaged parameter databases for drilling cores under different types of rock formations , and then drill at the low power drilling speed of the softest rock layer to prevent the core from being damaged. Database comparison, and then retrieve the applicable rotational speed and propulsion force of the core corresponding to the bending moment value, and adjust the parameters of the coring rig until the bending moment, rotational speed and propulsion force are close to the database, effectively reducing the possibility of core damage during drilling , the pressure sensor is used to detect the pulling force value of the core. When the pulling force value is stable, the drilling continues until the core is taken out. When the pulling force value drops sharply or decreases to zero, the total controller in the identification system judges as When the core is damaged, the thin steel rod used to take out the core will be disconnected from the core, and the core will be pushed out from the core drilling machine, so as to abandon the drilling of the damaged core, improve the drilling efficiency, and solve the problem of drilling. The problem that the core damage cannot be detected in time during the process.

In order to achieve the above object, according to one aspect of the present invention, a method for controlling an intelligent drilling rig for coring the side wall of a deep borehole is provided, including:

、

，以及最小值分别为

、

，将参数按不同岩芯种类分别预存建立数据库； S100, simulate drilling different types of rock formations, collect the parameters of the core drilling rig when the core is complete, conduct indoor drilling on samples of known lithology, select the parameters of the core drilling rig when the core is complete to save, and target a certain type of rock Drilling samples with different characteristics, and artificially adjusting the power of the drilling rig, the maximum power and bending moment of the drill bit that can meet the drilling requirements are respectively

,

, and the minimum values are

,

, the parameters are pre-stored according to different core types to establish a database;

S200, connecting the thin steel rod to the end of the rock core to monitor the stress of the rock core;

S300, call the parameters of the softest rock formation in the data register, that is, the minimum rotational speed and thrust in the database, and send the parameters to the core drilling machine to start drilling cores;

S400, monitor the parameters during the drilling process and feed back the coring drill for adjustment. During the drilling process, the bending moment sensor monitors the bending moment of the circumcision rotary drill, compares the bending moment detection value with the database, and reads The rotation speed and thrust corresponding to the bending moment value are adjusted respectively until they are consistent with the database. In order to achieve the best efficiency and reduce energy consumption, in actual drilling, after judging the lithology, carry out Power adjustment to improve efficiency and avoid power waste. The power is adjusted according to the following formula:

为在初始钻取时钻头所受扭矩，

为实际钻取该岩芯时调整后所进行的 功率； in

is the torque on the drill bit during initial drilling,

The power adjusted for the actual drilling of the core;

S500, identify the state of the core, and judge whether to give up mining. During the process of drilling the core, detect the pressure value of the thin steel rod pulling out the core. If the pressure value is stable and normal, it means that the core is not broken, and the core drilling rig continues to drill. Take until the core is completely taken out;

S501, if the identification pressure value drops sharply or decreases to zero, it is determined that the core has serious cracks or fractures, disconnect the thin steel rod from the core, and use the thin steel rod to push the core out of the core drilling rig , give up the mining of the damaged core;

和第二回转压力

，将两者的值输入可编程控制器计算得出钻进比能e，根 据钻进比能e与岩性对照关系确定岩石岩性，最后取芯钻机根据不同岩性的相应钻取参数 进行钻取， Further, the S400 includes a calculation method for determining lithology: during the drilling process, the pressure sensor measures the first rotation pressure

and the second rotary pressure

, input the values of the two into the programmable controller to calculate the drilling specific energy e, and determine the rock lithology according to the relationship between the drilling specific energy e and the lithology, and finally the core drilling rig performs drilling according to the corresponding drilling parameters of different lithologies. drill down,

Further, the methods for calculating the drilling specific energy e and determining rock lithology in the S400 include:

,其中，e为钻进比能，n为转速，单位为r/ min；M为马达输出扭矩

，单位

；F为钻进压力，单位为N；S为钻头面积，单位为 m²；v为钻进速度，单位为

； Drilling specific energy:

, where, e is the drilling specific energy, n is the rotational speed, the unit is r/min; M is the output torque of the motor

,unit

; F is the drilling pressure, the unit is N; S is the drill bit area, the unit is m ² ; v is the drilling speed, the unit is

;

； Motor output torque:

;

,其中

为不同时间下的回转压力值；V为马达排量，单 位为mL/r；

为折减率，默认值为0.95； in

,in

is the rotary pressure value at different times; V is the motor displacement, the unit is mL/r;

is the discount rate, the default value is 0.95;

； Drilling pressure:

;

； Reducer output torque:

;

为效率，取常数0.98；R为链轮半径(mm)，根据计算所得的钻 进比能e，依照以下范围确定岩性， Where j is the pressure reduction ratio;

For efficiency, take a constant of 0.98; R is the sprocket radius (mm), according to the calculated drilling specific energy e, determine the lithology according to the following range,

when

According to another aspect of the present invention, a deep drilling side wall coring intelligent drilling rig control system is provided, including a storage system, an identification system, a feedback and acquisition system, and the storage system is connected to the identification system, the feedback and acquisition system respectively, and stores The system stores the parameters of the core drilling rig with known lithology drilling operations to obtain complete cores. The identification system includes a pressure sensor, a bending moment sensor, a speed sensor and a thin steel rod, and the speed sensor is fixed on the end of the thin steel rod part, the pressure sensor is fixed on the rotational speed sensor, a disk is fixed on one side of the bending moment sensor, and the disk is attached to the rock core, and the two sides of the bending moment sensor are respectively connected to the pressure Sensor and core fixation;

The feedback and acquisition system includes a circumcision rotary drill, a circumcision feeder, a thin steel rod transmission device, a hydraulic power unit, a glue spraying probe and a thin steel rod power unit, and one end of the circumcision rotary drill is connected to the Hydraulic power unit transmission connection, the circumcision feeder is fixed at the other end of the circumcision rotary drill, and the hydraulic power unit pushes the circumcision rotary drill and the circumcision feeder to drill, so The thin steel rod transmission device is transmission connected to the thin steel rod power device, and the thin steel rod transmission device transmits the thrust or pulling force of the thin steel rod power device to the thin steel rod, and the thin steel rod The end is fixed with the thin steel rod transmission device, and viscose and dissolving glue are respectively stored in the glue spraying probe.

Further, the storage system includes a programmable controller and a data register, the parameters of the coring drill are stored in the data register, and the programmable controller is connected with the pressure sensor, the bending moment sensor, the Speed sensor signal connected.

Generally speaking, compared with the prior art, the above technical solutions conceived by the present invention can achieve the following beneficial effects:

1. The present invention provides a control method for a deep drilling side wall coring intelligent drilling rig. The storage system pre-establishes a database of undamaged parameters for drilling cores under different types of rock formations, and then proceeds with the low power drilling speed of the softest rock formations. Drilling to prevent damage to the core. In the process of continuous drilling, use the identification system to monitor the bending moment of the circumcision rotary drill, compare the detected bending moment value with the database, and then retrieve the corresponding bending moment value core For the applicable speed and thrust, adjust the parameters of the core drilling rig until the bending moment, speed and thrust are close to the database, which effectively reduces the possibility of core damage during drilling.

2. The present invention provides a control method for an intelligent drilling rig for coring the side wall of a deep borehole. A pressure sensor is used to detect the pulling force value of the core. When the pulling force value is stable, drilling continues until the core is taken out. When the pulling force value occurs When the sudden drop or decrease to zero, the master controller in the identification system judges that the core is damaged. At this time, the thin steel rod used to take out the core is disconnected from the core, and the core is pushed out from the core drilling machine. Drilling that destroys the rock core is abandoned, the drilling efficiency is improved, and the problem that the rock core damage cannot be detected in time during the drilling process is solved.

3. The present invention provides a deep drilling side wall coring intelligent drilling rig control system, including a thin steel rod, a hydraulic power unit, a pressure sensor, a disc, the disc is fixed on the end of the thin steel rod, and the disc is glued to the end of the thin steel rod. Bonded and fixed with the rock core, the disc replaces the thin steel rod to expand the contact area with the rock core, so that the tensile force on the rock core is more uniform. A pressure sensor is directly installed between the disc and the thin steel rod, and the hydraulic power device When the steel rod provides pulling force to take out the core, if a sudden drop in pressure occurs, the thin steel rod is reversely pushed to push the core out of the circumcision rotary drill, giving up drilling to destroy the core.

4. The present invention provides a deep drilling sidewall coring intelligent drilling rig control system, including a glue spray probe, a general controller, a thin steel rod, and a rock core. Dissolving glue and viscose are respectively stored in the glue spray probe, and are used during drilling. When taking the core, the thin steel rod needs to provide tension to the core, and the master controller controls the glue spray probe to spray glue to bond the thin steel rod and the rock core. When the core is damaged and drilling needs to be abandoned, the master controller sprays The dissolving glue dissolves the viscose and releases the connection between the thin steel rod and the rock core.

Description of drawings

Fig. 1 is a control method diagram of a deep drilling side wall coring intelligent drilling rig according to an embodiment of the present invention;

Fig. 2 is a schematic structural view of a deep drilling sidewall coring intelligent drilling rig control system according to an embodiment of the present invention;

Fig. 3 is a partially enlarged view of part A of a deep drilling side wall coring intelligent drilling rig control system according to an embodiment of the present invention;

Fig. 4 is a graph showing the relationship between specific power value and lithology in the present invention.

In all the drawings, the same reference numerals represent the same technical features, specifically: 1-programmable controller, 2-data register, 3-pressure sensor, 4-bending moment sensor, 5-speed sensor, 6- Circumcision rotary drill, 7-circumcision feeder, 8-thin steel rod transmission device, 9-hydraulic power device, 10-glue spray probe, 11-thin steel rod, 12-thin steel rod power device.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

As shown in Figures 1 to 3, the present invention provides a deep drilling sidewall coring intelligent drilling rig control system, including a storage system, an identification system, a feedback and acquisition system, and the storage system is connected to the identification system, feedback and acquisition system respectively. Connected, wherein, the storage system is a system for storing the data obtained by indoor drilling operations on known lithology before actual mining, including a programmable controller 1 and a data register 2, using the rock formation data obtained by drilling Stored in the data register 2, the drilling simulation is carried out for each type of rock formation. When drilling, the core drilling rig is recorded to ensure the integrity of the core and the fastest drilling speed. Through the data in the data register 2, the drilling parameters are optimized to obtain a high-efficiency and high-integrity mining method.

Further, as shown in Figures 1-3, the identification system is used to identify lithology during the mining process, including a pressure sensor 3, a bending moment sensor 4, a rotational speed sensor 5 and a thin steel rod 11, wherein the rotational speed sensor 5 is fixed on At the end of the thin steel rod 11, the pressure sensor 3 is fixed on the speed sensor 5, and the pressure sensor 3 and the speed sensor 5 are used to detect the pressure and the speed of drilling respectively. Preferably, in order to increase the contact surface between the thin steel rod 11 and the rock core , one side of the bending moment sensor 4 is fixedly provided with a disk, and the size of the disk circle is three times the cross-sectional area of the thin steel rod 11, and the disk is bonded to the rock core. Further, the bending moment sensor 4 side is connected to the The pressure sensor 3 is fixedly connected, and the other side is fixed with the rock core, and is used for detecting the bending moment during drilling. Further, first use the data in the data register 2 to start applying the rotation speed and propulsion force parameters corresponding to the softest lithology, and then increase the values of the rotation speed and thrust force in turn. At this time, the identification system identifies the bending moment of the drilling rig. If At this time, the bending moment is close to a certain lithology in the laboratory test, and it can be judged that the lithology actually mined at this time is the corresponding lithology in data register 2, and then use the speed and thrust matching the lithology to mine.

Further, as shown in Fig. 2 and Fig. 3, the feedback and acquisition system includes a circumcision rotary drill 6, a circumcision feeder 7, a thin steel rod transmission device 8, a hydraulic power unit 9, a glue spraying probe 10 and a fine steel The rod power device 12, wherein the circumcision rotary drill 6 is arranged horizontally, the tail end is hydraulically connected to the hydraulic power device 9, the circumcision feeder 7 is fixed at the end of the circumcision rotary drill 6, and is in direct contact with the rock formation. Driven by the hydraulic power unit 9, the circumcision rotary drill 6 and the circumcision feeder 7 carry out lateral drilling, and further, the thin steel rod transmission device 8 is connected to the thin steel rod power device 12 through transmission, and the transmission device It is used to transmit the thrust or pulling force of the thin steel rod power device 12 to the thin steel rod 11. The tail of the thin steel rod 11 is fixedly connected with the thin steel rod transmission device 8. During the drilling process, the thin steel rod 11 can be The rock core is taken out from the circumcision rotary drill 6, and the tensile value is divided by the rock core cross-sectional area (known) to be 20 percent of the tensile strength of this rock. If the rock core breaks during the drilling process, The thin steel rod 11 is pushed out to discharge the fractured rock core from the circumcision rotary drill 6. Further, viscose and dissolving glue are respectively stored in the glue spray probe 10, and the glue spray outlet of the glue spray probe 10 is close to the fine steel The connecting end of the rod 11 and the rock core is used for spraying viscose to fix the two or to spray dissolving glue to melt the viscose.

As shown in Figures 1-3, according to another aspect of the present invention, the present invention provides a method for controlling an intelligent drilling rig for coring the side wall of a deep borehole, which specifically includes:

S100, simulate drilling different types of rock formations, and collect the parameters of the core drilling rig when the core is complete;

、

， 以及最小值分别为

、

，对参数进行优化，按不同岩芯种类分别预存在存储系统的 数据寄存器2中，建立数据库； Specifically, the samples with known lithology are drilled indoors, and the optimal parameters with the fastest drilling speed when the core is complete are selected for storage. Different samples are drilled, and the power of the drilling rig is artificially adjusted. The maximum power required for this drilling and the maximum value of the drill bit bending moment are respectively

,

, and the minimum values are

,

, optimize the parameters, pre-store in the data register 2 of the storage system respectively according to different rock core types, and establish a database;

S200, bonding the thin steel rod to the end of the rock core, and starting the identification system to monitor the stress of the rock core;

Specifically, use glue spraying probe 10 to spray glue, the end disc of thin steel rod 11 is bonded and fixed to the end of rock core, and pressure sensor 3 is opened to monitor the stress change of rock core;

S300, call the parameters of the softest rock layer in the database, and control the core drilling rig to start drilling;

Specifically, the programmable controller 1 calls the parameters of the softest rock formation in the data register 2, that is, the minimum rotational speed and propulsion force in the database, and the programmable controller 1 sends the called parameters to the hydraulic power unit 9 and the circumcision feed The device 7 drives the circumcision rotary drill 6 at the same time to start lateral drilling;

S400, monitor the parameters in the drilling process and feed back the core drilling machine for adjustment;

Specifically, during the drilling process, the bending moment sensor 4 monitors the magnitude of the bending moment on the circumcision rotary drill 6, the pressure sensor 3 monitors the stress change of the rock core, and sends the bending moment detection value to the programmable controller 1, which The controller transmits the bending moment detection value to the data register 2, compares it with the pre-stored data corresponding to the core type in the database, determines the lithology type, and then calls the corresponding speed and propulsion force to feed back to the programming controller 1, and then adjusts the The rotational speed of circumcision feeder 7 and the propelling force of hydraulic power unit 9 are close to the data in the database. In order to achieve the best efficiency and reduce energy consumption, during actual drilling, after judging the lithology, the power is adjusted, so that To improve efficiency and avoid power waste, the power is adjusted according to the following formula:

为在初始钻取时钻头所受扭矩，

为实际钻取该岩芯时调整后的功率； in

is the torque on the drill bit during initial drilling,

is the adjusted power when the core is actually drilled;

S500, identifying the state of the rock core, and judging whether to give up mining;

Specifically, the pressure sensor 3 bears the tension during the process of the thin steel rod 11 pulling out the rock core, and transmits the detected pressure value to the programmable controller 1 in real time. If the pressure display is stable and normal, it means that the rock core is not broken. Programmable The controller 1 controls the continuous drilling until the core is completely taken out. If the pressure drops suddenly or decreases to zero, the programmable controller 1 judges that the core has serious cracks or fractures, resulting in the stress measured by the thin steel rod 11 The value changes or the pulling force applied by the thin steel rod 11 cannot be carried by the rock core, and the glue spraying probe 10 is controlled to spray dissolving glue on the joint of the disc and the rock core on the thin steel rod 11. After the viscose is dissolved, the disc and the rock core The rock core breaks away, that is, the connection between the thin steel rod 11 and the rock core is disconnected, and the thin steel rod power unit 12 drives the thin steel rod 11 to push the rock core away from the circular cutting rotary drill 6, so as to abandon the exploitation of the damaged rock core.

Further, said S400 includes a calculation method for determining lithology and a method for calling parameters:

Specifically, the relationship between the speed of the core drilling rig, the torque of the drill bit, the drilling pressure, the area of the drill bit, and the drilling speed is as follows:

,其中，e为钻进比能，n为转速，单位为r/ min；M为马达输出扭矩

，单位

；F为钻进压力，单位为N；S为钻头面积，单位为 m²；v为钻进速度，单位为

； Drilling specific energy:

, where, e is the drilling specific energy, n is the rotational speed, the unit is r/min; M is the output torque of the motor

,unit

; F is the drilling pressure, the unit is N; S is the drill bit area, the unit is m ² ; v is the drilling speed, the unit is

;

； Motor output torque:

;

,其中

为不同时间下的回转压力值；V为马达排量，单 位为mL/r；

为折减率，默认值为0.95； in

,in

is the rotary pressure value at different times; V is the motor displacement, the unit is mL/r;

is the discount rate, the default value is 0.95;

； Drilling pressure (N):

;

m）：

； Reducer output torque (N

m):

;

为效率，取常数0.98；R为链轮半径(mm)； Where j is the pressure reduction ratio;

For efficiency, take a constant of 0.98; R is the sprocket radius (mm);

According to the calculated drilling specific energy e, the lithology is determined according to the following range:

和第二回转压力

，将两者的值输入可编程控制器1，该控制器 通过比功计算公式得出钻进比能e，并将钻进比能e存储于数据寄存器2内，然后可编程控制 器1根据钻进比能e范围与岩性对照关系确定岩石岩性，最后取芯钻机根据不同岩性的相应 钻取参数进行钻取，即可实现自动调用合适参数钻孔。 When the core drilling rig is storing data, the staff pre-stores the most suitable drilling parameter values corresponding to each lithology in the data register. During actual drilling, the core drilling rig controls the drilling speed through the storage system , the first rotation pressure is measured by the pressure sensor 3

and the second rotary pressure

, input the values of the two into the programmable controller 1, the controller obtains the drilling specific energy e through the specific work calculation formula, and stores the drilling specific energy e in the data register 2, and then the programmable controller 1 according to The rock lithology is determined by the relationship between the range of drilling specific energy e and lithology. Finally, the core drilling rig drills according to the corresponding drilling parameters of different lithologies, and the drilling with appropriate parameters can be automatically called.

It is easy for those skilled in the art to understand that the above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention, etc., All should be included within the protection scope of the present invention.

Claims (8)

1. A control method of an intelligent drilling machine for coring on the side wall of a deep drilling hole is characterized by comprising the following steps:

s100, simulating to drill different rock stratums, collecting parameters of a coring drilling machine when a rock core is complete, performing indoor drilling on a sample with known lithology, selecting the parameters of the coring drilling machine when the rock core is complete to store, drilling different samples of a certain lithology, and manually regulating and controlling the power of the drilling machine to meet the requirement that the maximum values of the power required by the drilling and the bending moment of a drill bit are respectively

、

And the minimum value is respectively

、

Respectively pre-storing the parameters according to different core types to establish a database;

s200, connecting a thin steel rod with the end part of the rock core, and monitoring the stress of the rock core;

s300, calling parameters of the softest rock stratum in the data register, namely the minimum rotating speed and the minimum propelling force in the database, and sending the parameters to a core drilling machine to drill a rock core;

s400, monitoring parameters in the drilling process and feeding back a core drilling machine for adjustment, wherein in the drilling process, a bending moment sensor monitors the bending moment applied to the circular cutting rotary drilling machine, a bending moment detection value is compared with a database, the rotating speed and the propelling force corresponding to the bending moment value are read, the rotating speed and the propelling force of the core drilling machine are respectively adjusted until the rotating speed and the propelling force are consistent with the database, in order to achieve the best efficiency and reduce energy consumption, during actual drilling, after lithology is judged, power adjustment is carried out, therefore, the efficiency is improved, power waste is avoided, and the power is adjusted according to the following formula:

wherein

In order to provide the torque experienced by the drill bit during initial drilling,

adjusted power for actual drilling of the core;

s500, identifying the core state, judging whether to abandon mining, detecting the pressure value of the thin steel rod pulling out the core in the process of drilling the core, if the pressure value is stable and normal, representing that the core is not broken, and continuously drilling by a core drilling machine until the core is completely taken out;

s501, if the pressure value is identified to suddenly drop or reduce to zero, the core is judged to have serious cracks or fractures, the thin steel rod is disconnected with the core, the core is pushed out from the core taking drilling machine by the thin steel rod, and the mining which damages the core is abandoned.

2. The control method of the intelligent drilling machine for deep-drilling sidewall coring as claimed in claim 1, wherein the S400 comprises a calculation method for determining lithology: during the drilling process, the pressure sensor measures a first rotary pressure

And a second revolving pressure

Inputting the values of the two into a programmable controller to calculate the drilling specific energy e, and calculating the drilling specific energy e and the rock according to the drilling specific energy eAnd finally, the coring drilling machine drills according to corresponding drilling parameters of different lithologies.

3. The control method of the intelligent drilling machine for deep-drilling sidewall coring as claimed in claim 2, wherein the method for calculating the drilling specific energy e and determining the lithology of the rock in S400 comprises:

drilling specific energy:

wherein e is the drilling specific energy, n is the rotating speed, and the unit is r/min; m is motor output torque

Unit of

(ii) a F is the drilling pressure in N; s is the area of the drill bit and is given in m ² (ii) a v is the rate of penetration in units of

；

Motor output torque:

；

wherein

Wherein

The values are the rotary pressure values at different times; v is motor displacement with the unit of mL/r;

default value is 0.95 for the reduction rate;

drilling pressure:

；

wherein R is the sprocket radius;

the output torque of the speed reducer is as follows:

；

wherein j is a pressurization reduction ratio;

for efficiency, take a constant of 0.98; based on the calculated drilling specific energy e, lithology is determined according to the following ranges,

when in use

。

4. The method as set forth in any one of claims 1 to 3, wherein the parameters in S100 include rotation speed, bending moment and thrust.

5. The deep hole sidewall coring intelligent drilling machine control method according to any one of claims 1-3, wherein the S200 comprises: and spraying the adhesive by using the adhesive spraying probe, adhering and fixing the end part of the thin steel rod and the end part of the rock core, and monitoring the stress change of the rock core by using the pressure sensor.

6. The deep hole sidewall coring intelligent drilling machine control method as set forth in any one of claims 1-3, wherein the S501 comprises: and (3) spraying a dissolving glue to the bonding part of the thin steel rod and the core by using a glue spraying probe, and disconnecting the thin steel rod and the core after dissolving the glue.

7. A deep-drilling sidewall coring intelligent drilling machine control system is characterized by being realized by applying the deep-drilling sidewall coring intelligent drilling machine control method as claimed in any one of claims 1-6, and comprising a storage system, an identification system and a feedback and acquisition system, wherein the storage system is respectively in signal communication with the identification system and the feedback and acquisition system, the storage system is internally stored with coring drilling machine parameters of which the complete rock core is obtained through known lithological drilling operation, the identification system comprises a pressure sensor (3), a bending moment sensor (4), a rotating speed sensor (5) and a thin steel rod (11), the rotating speed sensor (5) is fixed at the end part of the thin steel rod (11), the pressure sensor (3) is fixed on the rotating speed sensor (5), a disc is fixed on one side of the bending moment sensor (4), the disc is attached to the rock core, and two sides of the bending moment sensor (4) are respectively fixed with the pressure sensor (3) and the rock core;

feedback and collection system include that ring-cutting rotary drilling ware (6), ring-cutting give income ware (7), thin steel pole transmission (8), hydraulic power device (9), spout gluey probe (10) and thin steel pole power device (12), ring-cutting rotary drilling ware (6) one end with hydraulic power device (9) transmission is connected, ring-cutting is given income ware (7) and is fixed in ring-cutting rotary drilling ware (6) other end, hydraulic power device (9) promote ring-cutting rotary drilling ware (6) with ring-cutting gives income ware (7) creeps into, thin steel pole transmission (8) transmission connect in on thin steel pole power device (12), thin steel pole transmission (8) will the thrust or the pulling force transmission of thin steel pole power device (12) reach thin steel pole (11), thin steel pole (11) tip with thin steel pole transmission (8) are fixed, the probe is spouted and is saved respectively in gluey (10) and is dissolved.

8. The deep-drilling sidewall coring intelligent drill control system as set forth in claim 7, wherein the storage system comprises a programmable controller (1), a data register (2), the coring drill parameters being stored in the data register (2), the programmable controller (1) being in signal communication with the pressure sensor (3), the bending moment sensor (4), and the rotation speed sensor (5), respectively.

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