CN116927757A - Multi-parameter measurement while drilling intelligent drill rod and method for underground coal mine anti-impact drilling - Google Patents
Multi-parameter measurement while drilling intelligent drill rod and method for underground coal mine anti-impact drilling Download PDFInfo
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- CN116927757A CN116927757A CN202310897767.8A CN202310897767A CN116927757A CN 116927757 A CN116927757 A CN 116927757A CN 202310897767 A CN202310897767 A CN 202310897767A CN 116927757 A CN116927757 A CN 116927757A
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- 238000005553 drilling Methods 0.000 title claims abstract description 227
- 238000005259 measurement Methods 0.000 title claims abstract description 104
- 238000000034 method Methods 0.000 title claims abstract description 78
- 239000003245 coal Substances 0.000 title claims abstract description 23
- 230000008569 process Effects 0.000 claims abstract description 53
- 238000004891 communication Methods 0.000 claims abstract description 48
- 210000002445 nipple Anatomy 0.000 claims abstract description 48
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 238000012937 correction Methods 0.000 claims abstract description 7
- 230000005251 gamma ray Effects 0.000 claims description 31
- 238000002955 isolation Methods 0.000 claims description 19
- 239000011435 rock Substances 0.000 claims description 11
- 230000001133 acceleration Effects 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 6
- 238000007781 pre-processing Methods 0.000 claims description 6
- 238000005070 sampling Methods 0.000 claims description 5
- 239000000696 magnetic material Substances 0.000 claims description 4
- 230000001681 protective effect Effects 0.000 claims description 4
- LTOKVQLDQRXAHK-UHFFFAOYSA-N [W].[Ni].[Cu] Chemical compound [W].[Ni].[Cu] LTOKVQLDQRXAHK-UHFFFAOYSA-N 0.000 claims description 3
- 229910045601 alloy Inorganic materials 0.000 claims description 3
- 239000000956 alloy Substances 0.000 claims description 3
- 230000005855 radiation Effects 0.000 claims description 3
- 230000008901 benefit Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000012935 Averaging Methods 0.000 description 2
- 239000004020 conductor Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004907 flux Effects 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000009529 body temperature measurement Methods 0.000 description 1
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- 150000001875 compounds Chemical class 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
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- 230000005484 gravity Effects 0.000 description 1
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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
- E21B47/00—Survey of boreholes or wells
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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
- E21B47/10—Locating fluid leaks, intrusions or movements
- E21B47/11—Locating fluid leaks, intrusions or movements using tracers; using radioactivity
- E21B47/111—Locating fluid leaks, intrusions or movements using tracers; using radioactivity using radioactivity
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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
- E21B47/12—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling
- E21B47/13—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling by electromagnetic energy, e.g. radio frequency
Abstract
A multi-parameter measurement while drilling intelligent drill rod and method for underground coal mine anti-impact drilling, drill rod: the in-hole measuring part consists of a temperature measuring unit, a gamma measuring unit, a track measuring unit, a power supply unit, a first wireless communication module and a DSP processor module; the temperature, track and gamma measuring unit is arranged in the measuring nipple; the power supply unit is arranged in the transmitting nipple; the first wireless communication module is arranged in the transmitting nipple; the orifice control part consists of a drilling machine, a rotation speed sensor, a wireless communication module II and an upper computer; the rotating speed sensor is arranged on a driving motor in the drilling machine; the second wireless communication module is connected with the upper computer and is connected with the first wireless communication module through wireless; the method comprises the following steps: the drill is used for pushing the drill rod body to carry out detection drilling operation along a set track route, the rotating speed of the drill is controlled according to temperature information and lithology information, and deviation correction and adjustment operation is carried out according to track information. The drill rod and the method can efficiently finish real-time measurement operation in the drilling process.
Description
Technical Field
The invention belongs to the technical field of mining equipment, and particularly relates to a multi-parameter measurement while drilling intelligent drill rod and a method for underground coal mine anti-impact drilling.
Background
The country is rich in coal, lean in oil and low in gas, and coal is used as a prop of energy sources in China, so that the current situation that the absolute specific gravity is occupied in primary energy consumption in China is difficult to change in a short period. And the coal exploitation in China basically depends on underground exploitation modes, and disaster problems caused by rock burst are increasingly prominent along with the continuous increase of exploitation depth. Therefore, the pressure of the working area with the ground pressure is relieved by drilling when the coal mining operation is carried out, but whether the pressure relief area can be accurately reached is the key whether the operation can be successful or not. Therefore, the track of the drill rod needs to be monitored in real time in the drilling process of the drill rod, and when the drill rod deviates from the preset track, correction operation needs to be carried out on the drill rod in time. Meanwhile, in order to better complete the pressure relief work, the pressure relief work is ensured to be continuously and efficiently carried out, and other parameters in the drilling process, including formation lithology, temperature in the drilling process and the like, are required to be measured. The single measurement mode is adopted to measure the information in the drilling process, so that the efficiency is low, and the information in the drilling process cannot be perceived in real time.
So far, two main technologies are applied to underground coal mine drilling measurement, namely a mode of drilling before measuring and a mode of measuring while drilling. Practice proves that the method of pre-drilling and post-measuring needs to implement drilling operation for a plurality of times, and the efficiency is low. The drilling track can be measured in real time in the drilling process in a measurement-while-drilling mode, and the efficiency is high. At present, the measuring system applied to the coal mine is mainly divided into a wired type and a wireless type, the wired measuring system has higher cost, the damage or looseness of any joint of the cable type drill rod can possibly cause unstable signal transmission, and meanwhile, the processing and maintenance cost of the cable type drill rod is higher, in addition, the strength of the cable type drill rod relative to the common drill rod is weaker, and the risk is higher during compound drilling.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the multi-parameter measurement while drilling intelligent drill rod and the method for the underground anti-impact drilling of the coal mine, which have the advantages of simple structure and low manufacturing cost, can realize real-time measurement operation of various information in the drilling process, can sense the drilling information in real time, have accurate and timely measurement results, and can efficiently and accurately finish the pressure relief operation of a preset pressure relief area; the method has simple steps and convenient implementation process, can efficiently complete real-time measurement operation in the drilling process, can effectively correct and adjust deviation when the drilling track deviates, and can rapidly and accurately complete detection drilling operation.
In order to achieve the aim, the invention provides a multi-parameter measurement while drilling intelligent drill rod for underground coal mine anti-impact drilling, which comprises a drill rod body, a drill bit, an in-hole measurement part and an orifice control part, wherein the drill bit is fixedly connected to the front end of the drill rod body;
the drill rod body consists of a measuring nipple, a transmitting nipple and a screw section, wherein the measuring nipple is positioned at the front end of the drill rod body, and the transmitting nipple is positioned between the measuring nipple and the screw section; the rod bodies of the measuring nipple and the transmitting nipple are made of non-magnetic materials;
the in-hole measuring part consists of a temperature measuring unit, a gamma measuring unit, a track measuring unit, a power supply unit, a wireless communication module I and a DSP processor module;
the temperature measuring unit is a temperature sensor and is arranged in the front section of the measuring nipple, and is connected with the DSP processor module and used for collecting temperature signals of the drill bit in real time and sending the temperature signals to the DSP processor module in real time;
the track measurement unit consists of an acceleration sensor and a magnetic bias meter, is arranged in the middle section of the measurement nipple, is connected with the DSP processor module, and is used for collecting pose signals of the drill bit in real time and sending the pose signals to the DSP processor module in real time; the acceleration sensor is used for collecting inclination angle signals of the drill bit in real time, and the magnetometer is used for collecting azimuth angle signals of the drill bit in real time;
The gamma measuring unit is arranged in the rear section of the measuring nipple, is connected with the DSP processor module, and is used for collecting gamma ray signals of geological layers in the drill bit area in real time and sending the gamma ray signals to the DSP processor module in real time; the gamma measuring unit consists of an outer protective cylinder, a ray shielding isolation cover and three gamma sensors; the outer diameter of the outer layer protection cylinder is consistent with the outer diameter of the drill rod body and is coaxially and fixedly connected in the measuring nipple; the outer diameter of the ray shielding isolation cover is matched with the inner diameter of the outer protection cylinder, and the ray shielding isolation cover is coaxially and fixedly connected to the inside of the outer protection cylinder; three hollowed-out windows are uniformly formed in the radial shielding isolation cover along the circumferential direction on the cover body, and the radian of each hollowed-out window is 45 degrees; the three gamma sensors are circumferentially and uniformly fixedly arranged on the inner sides of the ray shielding isolation cover and are respectively positioned in the central areas of the three hollowed-out windows;
the power supply unit is a storage battery group and is arranged in the transmitting nipple, and the power supply unit is connected with the DSP processor module and used for supplying power;
the first wireless communication module is arranged in the transmitting nipple and connected with the DSP processor module and is used for receiving signals sent by the DSP processor module and transmitting the signals to the orifice control part in a wireless mode;
The DSP processor module is arranged in the transmitting nipple and is used for preprocessing the received temperature signals, pose signals and gamma ray signals and sending the processed measurement signals to the first wireless communication module;
the orifice control part consists of a drilling machine, a rotation speed sensor, a wireless communication module II and an upper computer;
the drilling machine is connected with the rear end of the drill rod body, a driving motor in the drilling machine is connected with the upper computer and used for pushing the drill rod to perform detection operation in a drilling hole in a forward rotation process and driving the drill rod to perform drill withdrawal operation in the drilling hole in a reverse rotation process;
the rotating speed sensor is arranged on a driving motor in the drilling machine, and is used for collecting rotating speed signals of the driving motor in the drilling machine in real time and sending the rotating speed signals to the upper computer in real time;
the second wireless communication module is connected with the upper computer and is connected with the first wireless communication module in a wireless mode, and is used for receiving the measurement signal sent by the in-hole measurement part and sending the measurement signal to the upper computer;
the upper computer obtains temperature information of the drill bit according to temperature signals in the measurement signals, obtains drilling track information of the drill bit according to pose signals in the measurement signals, obtains lithology information of a drilling area according to gamma ray signals in the measurement signals, and obtains rotating speed information of the drilling machine according to received rotating speed signals.
Preferably, the upper computer is an explosion-proof computer, and is connected with a display. Through the setting of display, can be convenient for carry out real-time display to the temperature information, the track information that drills, lithology information and the driving motor's of the drill bit that the host computer obtained rotational speed information to the operation personnel of being convenient for in time know the condition of drilling.
Further, in order to ensure an isolation effect to ensure that accurate measurement data can be obtained, the radiation shielding cage is made of tungsten-copper-nickel alloy.
Further, in order to ensure the reliability of the wireless transmission process, the second wireless communication module is connected with an antenna, and the antenna is provided with two electrodes, one electrode is connected with the drilling machine, and the other electrode is grounded. Because the measuring signal of the measuring part in the hole is sent out in the form of wireless electromagnetic wave and is transmitted to the orifice through the stratum and the drill rod as a transmission medium, one electrode of the antenna of the wireless communication module II is grounded, and the other electrode is connected with the drilling machine, the low-frequency signal passing through the drill rod tour guide and penetrating the stratum around the drill rod can be effectively ensured to be rapidly transmitted to the wireless communication module II, and further, the signal can be rapidly and reliably transmitted to the upper computer.
According to the invention, the measuring nipple and the transmitting nipple are both made of non-magnetic materials, so that the influence of the magnetic conductive materials on the measurement precision of the magnetic flux sensor can be effectively reduced, and the accuracy of the obtained measurement data is effectively ensured. The temperature measuring unit is closer to the drill bit than other measuring units, so that temperature data can be acquired more accurately, and the drill bit can be effectively prevented from being damaged due to overhigh temperature in the operation process. The track measuring unit consists of the acceleration sensor and the magnetic deflection meter, and can collect the inclination angle signal and the azimuth angle signal of the drill bit at the same time, so that the upper computer can conveniently measure and calculate the track of the drill bit by using the uniform angle full distance method, and further, whether the drill bit deviates from a preset track can be accurately judged. The gamma measuring unit is provided with three gamma sensors, meanwhile, three hollowed-out windows are uniformly formed in the circumferential direction on the cover body of the ray shielding isolation cover, the radian of the opening of the first hollowed-out window is 45 degrees, and meanwhile, three gamma sensors are arranged in the hollowed-out windows, so that each gamma sensor can be used for receiving gamma rays from the windowing direction, gamma rays from other directions cannot be received, and gamma data acquisition operation can be synchronously carried out from three different directions by using the three gamma sensors at the same time. The first wireless communication module of the in-hole measuring part is connected with the second wireless communication module of the out-hole control part in a wireless mode, so that the advantage that wireless communication does not need wiring can be fully utilized, a cable through space is not required to be reserved for a cable, the strength of the drill rod body is effectively ensured, and the drilling operation requirement of a complex environment can be better met. The rotating speed sensor is arranged on the driving motor of the drilling machine, so that the rotating speed of the driving motor can be conveniently collected in real time, the upper computer can carry out closed-loop control on the rotation of the driving motor according to the rotating speed signal fed back by the rotating speed sensor in real time, and the accuracy and timeliness in the control process are effectively ensured. The measurement while drilling drill rod disclosed by the invention has the advantages of simple structure and low manufacturing cost, can realize real-time measurement operation of various information in the drilling process, can sense the drilling information in real time, has accurate and timely measurement results, and can efficiently and accurately finish the pressure relief operation of a preset pressure relief area.
The invention also provides a multi-parameter measurement while drilling method for the underground coal mine anti-impact drilling, which adopts the multi-parameter measurement while drilling intelligent drill rod for the underground coal mine anti-impact drilling and comprises the following specific steps:
step one: placing the drilling machine and the drill rod body near the position of the set pressure relief drilling hole opening;
step two: the drill rod body is pushed by the drilling machine to carry out detection drilling operation along a set track route, and in the process, a temperature signal of the drill bit is collected in real time by the temperature measuring unit and is sent to the DSP processor module in real time; the position and posture signals of the drill bit are acquired in real time by utilizing the track measurement unit and are sent to the DSP processor module in real time; the gamma-ray signals of the geological layer of the drill bit area are acquired in real time by utilizing a gamma measurement unit and are sent to the DSP processor module in real time; the DSP processor module is used for preprocessing the received temperature signals, pose signals and gamma ray signals, transmitting the processed measurement signals to the wireless communication module II through the wireless communication module, and transmitting the received measurement signals to the upper computer through the wireless communication module II;
meanwhile, a rotating speed sensor is utilized to collect rotating speed signals of a driving motor in the drilling machine in real time and send the rotating speed signals to an upper computer in real time;
In the process of measuring the number of tracks by using the track measuring unit 8, calculating the track of the drill bit 6 according to the formula (1), the formula (2) and the formula (3) by using the uniform angle full distance method;
wherein x is the horizontal displacement of the (i+1) th measuring point; y is the left-right displacement of the (i+1) th measuring point; z is the up-and-down displacement of the (i+1) th measuring point; ΔL i Length of the ith measuring section; θ i The drilling inclination angle of the ith measuring point is the drilling inclination angle of the ith measuring point; alpha i The azimuth angle of the drilling hole of the ith measuring point; alpha 0 Designing an azimuth for a borehole owner;
in the process of gamma data measurement by using a gamma measurement unit, the cross section of an outer layer protection cylinder is uniformly divided into 8 sectors, wherein the angle of each sector is 45 degrees, three gamma sensors are used for detecting the gamma ray pulse numbers within the range of 45 degrees respectively through three hollowed windows in the rotating process of a drill rod body until one sampling period is finished, the accumulated pulse number of each sector is divided by the time for the gamma sensors to sweep each area, the gamma intensity value of each sector can be obtained, and the values obtained by the 3 gamma sensors are averaged to obtain the gamma intensity value of each sector finally;
step three: the method comprises the steps of obtaining temperature information of a drill bit according to a temperature signal in a measurement signal, obtaining drilling track information of the drill bit according to a pose signal in the measurement signal, obtaining lithology information of a drilling area according to a gamma ray signal in the measurement signal, obtaining rotation speed information of a drilling machine according to a received rotation speed signal, and sending the obtained temperature information of the drill bit, the drilling track information, lithology information of the drilling area of the drill bit and the rotation speed information of the drilling machine to a display through the upper computer for real-time display;
The temperature of the drill bit is compared with a set temperature threshold in real time through the upper computer, and the rotating speed of the driving motor in the drilling machine is controlled to be reduced to a set rotating speed range when the temperature of the drill bit exceeds the set temperature threshold;
the track of the drill bit is compared with a preset track in real time through the upper computer, the driving motor in the drilling machine is controlled to rotate reversely when the track deviates from the preset track, so that the drill rod body performs a drill withdrawal action in the drilling, in the process, the pose signal sent out in real time through the track measuring unit is subjected to closed-loop control to ensure that the drill rod body can withdraw to a normal track state, the driving motor in the drilling machine is controlled to stop when the drill rod body withdraws to the normal track state, then the driving motor in the drilling machine is controlled to rotate forwards again, the drill rod body is pushed again to perform a drill detection operation along the preset track direction, so that the deviation correction adjustment operation on the track of the drill rod body is realized, and the pressure release operation can be completed along the preset track;
judging the components of the coal-rock interface through the upper computer according to lithology information, matching an optimal rotation speed value corresponding to the components of the coal-rock interface in a database according to a judging result, and controlling the rotation speed of a driving motor in the drilling machine to reach the optimal rotation speed value so as to ensure that the drilling process is performed safely and efficiently;
Step four: after the drilling operation is finished, the driving motor in the drilling machine is controlled by the upper computer to rotate reversely, so that the drill rod body performs the drill withdrawal action until the drill bit withdraws from the drilling hole.
According to the method, the drill track is calculated by using the angle-averaged full-distance method, so that the track data of the drill can be accurately and efficiently calculated, and further whether the deviation condition of the drilling track occurs can be timely found. In the gamma data measurement process, a gamma measurement unit is divided into 8 sectors, the corresponding angle of each sector is 45 degrees, so that when the drill rod body rotates, three gamma sensors synchronously detect gamma ray pulse numbers from three directions through three hollowed windows, and as the angle of each hollowed window is equal to the angle of each sector, each gamma pulse obtained by each gamma sensor can be considered to come from two adjacent sectors, the gamma pulse numbers can be distributed according to the ratio of the areas of the two sectors corresponding to the angle of each hollowed window at each moment, and when one sampling period is finished, the accumulated pulse number of each sector is divided by the time for the gamma sensor to sweep each area, so that the gamma intensity value of each sector can be obtained, and the gamma intensity value of each sector can be finally obtained by averaging the values obtained by the 3 gamma sensors. In the process of detecting drilling operation, the temperature measuring unit is utilized to collect the temperature signal of the drill bit in real time, the track measuring unit is utilized to collect the pose signal of the drill bit in real time, the gamma measuring unit is utilized to collect the gamma ray signal of the geological layer of the drill bit region in real time, the gamma ray signal is preprocessed by the DSP processor module and then sent to the upper computer in a wireless communication mode, the upper computer can conveniently obtain the temperature information of the drill bit, the drilling track information and the lithology information of a drilling area in real time, the speed sensor is utilized to collect the rotating speed signal of the driving motor of the drilling machine in real time, the upper computer can conveniently obtain the rotating speed information of the drilling machine in real time, and further the closed-loop control of the driving motor is conveniently realized. And the upper computer is used for sending the obtained temperature information of the drill bit, the drilling track information, the lithology information of the drilling area and the rotating speed information of the drilling machine to the display for real-time display, so that an operator can conveniently check the drilling condition in real time through the display. The temperature of the drill bit is compared with the set temperature threshold in real time by the upper computer, and the rotating speed of the driving motor is controlled to be reduced to be within the set rotating speed range when the temperature exceeds the set temperature threshold, so that the condition that the drill bit is damaged due to overhigh temperature can be avoided. The track of the drill bit is compared with the preset track in real time by the upper computer, the driving motor in the drilling machine is controlled to rotate reversely when the track deviates from the preset track, the drill rod body can be returned to a normal track state in a drill returning mode, then the driving motor in the drilling machine is controlled to rotate forwards, the drill rod body can be pushed again to conduct the drilling detection operation along the preset track direction, and therefore deviation correction adjustment operation on the track of the drill rod body can be achieved, and the drill bit can be effectively guaranteed to finish pressure relief operation according to the preset track. The upper computer is utilized to judge the components of the coal-rock interface according to lithology information, and the rotating speed of the driving motor in the drilling machine is adjusted to an optimal rotating speed value according to the judging result, so that the safe and efficient drilling process can be ensured, and the drilling efficiency can be obviously improved. The method has simple steps and convenient implementation process, can efficiently complete real-time measurement operation in the drilling process, can effectively correct and adjust deviation when the drilling track deviates, and can rapidly and accurately complete detection drilling operation.
Drawings
FIG. 1 is a schematic circuit diagram of the present invention;
FIG. 2 is a schematic illustration of the assembly of the drill pipe body with the drill rig of the present invention;
fig. 3 is a schematic diagram of a structure of a gamma measuring unit according to the present invention.
In the figure: 1. the drilling rod body, 2, measure nipple joint, 3, emission nipple joint, 4, screw rod section, 5, rig, 6, drill bit, 7, temperature measurement unit, 8, track measurement unit, 9, gamma measurement unit, 10, power supply unit, 11, wireless communication module one, 12, DSP processor module, 13, outer protective cylinder, 14, ray shielding cage, 15, gamma sensor.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1 to 3, the invention provides a multi-parameter measurement while drilling intelligent drill rod for underground coal mine anti-impact drilling, which comprises a drill rod body 1, a drill bit 6, an in-hole measurement part and an orifice control part, wherein the drill bit 6 is fixedly connected to the front end of the drill rod body 1;
the drill rod body 1 consists of a measuring nipple 2, a transmitting nipple 3 and a screw section 4, wherein the measuring nipple 2 is positioned at the front end of the drill rod body 1, and the transmitting nipple 3 is positioned between the measuring nipple 2 and the screw section 4; the rod bodies of the measuring nipple 2 and the transmitting nipple 3 are made of nonmagnetic materials;
The in-hole measuring part consists of a temperature measuring unit 7, a gamma measuring unit 9, a track measuring unit 8, a power supply unit 10, a wireless communication module I11 and a DSP processor module 12;
the temperature measuring unit 7 is a temperature sensor and is arranged in the front section of the measuring nipple 2, and the temperature measuring unit 7 is connected with the DSP processor module 12 and is used for collecting temperature signals of the drill bit 6 in real time and sending the temperature signals to the DSP processor module 12 in real time;
the track measurement unit 8 consists of an acceleration sensor and a magnetic deflection meter, is arranged in the middle section of the measurement nipple 2, and is connected with the DSP processor module 12, and is used for collecting pose signals of the drill bit 6 in real time and sending the pose signals to the DSP processor module 12 in real time; the acceleration sensor is used for collecting inclination angle signals of the drill bit 6 in real time, and the magnetometer is used for collecting azimuth angle signals of the drill bit 6 in real time;
the gamma measurement unit 9 is arranged in the rear section of the measurement nipple 2, and the gamma measurement unit 9 is connected with the DSP processor module 12 and is used for collecting gamma ray signals of geological layers in the area of the drill bit 6 in real time and sending the gamma ray signals to the DSP processor module 12 in real time; the gamma measuring unit 9 consists of an outer protective cylinder 13, a ray shielding isolation cover 14 and three gamma sensors 15; the outer diameter of the outer protection cylinder 13 is consistent with the outer diameter of the drill rod body 1, and is coaxially and fixedly connected in the measuring nipple 2, so that the gamma sensor 15 in the inner part is protected from being damaged by a hard object; the outer diameter of the ray shielding isolation cover 14 is matched with the inner diameter of the outer protection cylinder 13, and the ray shielding isolation cover is coaxially and fixedly connected inside the outer protection cylinder 13; the ray shielding isolation cover 14 is provided with three hollow windows 16 uniformly along the circumferential direction on the cover body, and the radian of each hollow window 16 is 45 degrees; the three gamma sensors 15 are uniformly and fixedly arranged on the inner side of the ray shielding isolation cover 14 in the circumferential direction and are respectively positioned in the central areas of the three hollowed-out windows 16;
The power supply unit 10 is a storage battery pack and is arranged in the transmitting short section 3, and the power supply unit 10 is connected with the DSP processor module 12 and is used for supplying power;
the first wireless communication module 11 is arranged in the transmitting nipple 3, is connected with the DSP processor module 12, and is used for receiving signals sent by the DSP processor module 12 and transmitting the signals to the orifice control part in a wireless mode;
the DSP processor module 12 is arranged in the transmitting nipple 3 and is used for preprocessing the received temperature signals, pose signals and gamma ray signals and sending the processed measurement signals to the first wireless communication module 11;
the orifice control part consists of a drilling machine 5, a rotation speed sensor, a wireless communication module II and an upper computer;
the drilling machine 5 is connected with the rear end of the drill rod body 1, and a driving motor in the drilling machine 5 is connected with an upper computer and is used for pushing the drill rod to perform detection operation in a drilling hole in a forward rotation process and driving the drill rod to perform drill withdrawal operation in a drilling hole in a reverse rotation process;
the rotating speed sensor is arranged on a driving motor in the drilling machine 5, and is used for collecting rotating speed signals of the driving motor in the drilling machine 5 in real time and sending the rotating speed signals to the upper computer in real time;
The second wireless communication module is connected with the upper computer and is connected with the first wireless communication module 11 in a wireless mode, and is used for receiving the measurement signal sent by the in-hole measurement part and sending the measurement signal to the upper computer;
the upper computer obtains temperature information of the drill bit 6 according to temperature signals in the measurement signals, obtains drilling track information of the drill bit according to pose signals in the measurement signals, obtains lithology information of a drilling area according to gamma ray signals in the measurement signals, obtains rotating speed information of a drilling machine according to received rotating speed signals, and meanwhile, is used for controlling the rotating speed of a driving motor in the drilling machine 5 to be reduced when the temperature of the drill bit 6 exceeds a set temperature value so as to ensure that the drill bit 6 cannot be damaged due to overhigh temperature, controlling the driving motor in the drilling machine 5 to rotate reversely when the track deviates from a preset track, and controlling the driving motor in the drilling machine 5 to rotate forward again until the drilling rod body 1 moves back to a normal track state, so as to correct and adjust the track of the drilling rod body 1, judging components of a coal-rock interface according to lithology information, and adjusting the rotating speed of the driving motor in the drilling machine 5 according to judging results, so that the drilling process is ensured to be performed safely and efficiently.
Preferably, the upper computer is an explosion-proof computer, and is connected with a display. Through the setting of display, can be convenient for carry out real-time display to the temperature information, the track information that drills, lithology information and the driving motor's of the drill bit that the host computer obtained rotational speed information to the operation personnel of being convenient for in time know the condition of drilling.
To ensure the isolation effect to ensure that accurate measurement data can be obtained, the radiation shielding cage 14 is made of tungsten-copper-nickel alloy.
To ensure the reliability of the wireless transmission, the second wireless communication module is connected with an antenna having two electrodes, one electrode being connected to the drilling machine 5 and the other electrode being grounded. Because the measuring signal of the measuring part in the hole is sent out in the form of wireless electromagnetic wave and is transmitted to the orifice through the stratum and the drill rod as a transmission medium, one electrode of the antenna of the wireless communication module II is grounded, and the other electrode is connected with the drilling machine, the low-frequency signal passing through the drill rod tour guide and penetrating the stratum around the drill rod can be effectively ensured to be rapidly transmitted to the wireless communication module II, and further, the signal can be rapidly and reliably transmitted to the upper computer.
According to the invention, the measuring nipple and the transmitting nipple are both made of non-magnetic materials, so that the influence of the magnetic conductive materials on the measurement precision of the magnetic flux sensor can be effectively reduced, and the accuracy of the obtained measurement data is effectively ensured. The temperature measuring unit is closer to the drill bit than other measuring units, so that temperature data can be acquired more accurately, and the drill bit can be effectively prevented from being damaged due to overhigh temperature in the operation process. The track measuring unit consists of the acceleration sensor and the magnetic deflection meter, and can collect the inclination angle signal and the azimuth angle signal of the drill bit at the same time, so that the upper computer can conveniently measure and calculate the track of the drill bit by using the uniform angle full distance method, and further, whether the drill bit deviates from a preset track can be accurately judged. The gamma measuring unit is provided with three gamma sensors, meanwhile, three hollowed-out windows are uniformly formed in the circumferential direction on the cover body of the ray shielding isolation cover, the radian of the opening of the first hollowed-out window is 45 degrees, and meanwhile, three gamma sensors are arranged in the hollowed-out windows, so that each gamma sensor can be used for receiving gamma rays from the windowing direction, gamma rays from other directions cannot be received, and gamma data acquisition operation can be synchronously carried out from three different directions by using the three gamma sensors at the same time. The first wireless communication module of the in-hole measuring part is connected with the second wireless communication module of the out-hole control part in a wireless mode, so that the advantage that wireless communication does not need wiring can be fully utilized, a cable through space is not required to be reserved for a cable, the strength of the drill rod body is effectively ensured, and the drilling operation requirement of a complex environment can be better met. The rotating speed sensor is arranged on the driving motor of the drilling machine, so that the rotating speed of the driving motor can be conveniently collected in real time, the upper computer can carry out closed-loop control on the rotation of the driving motor according to the rotating speed signal fed back by the rotating speed sensor in real time, and the accuracy and timeliness in the control process are effectively ensured. The measurement while drilling drill rod disclosed by the invention has the advantages of simple structure and low manufacturing cost, can realize real-time measurement operation of various information in the drilling process, can sense the drilling information in real time, has accurate and timely measurement results, and can efficiently and accurately finish the pressure relief operation of a preset pressure relief area.
The invention also provides a multi-parameter measurement while drilling method for the underground coal mine anti-impact drilling, which adopts the multi-parameter measurement while drilling intelligent drill rod for the underground coal mine anti-impact drilling and comprises the following specific steps:
step one: placing the drilling machine 5 and the drill rod body 1 near the position of the set pressure relief drilling hole opening;
step two: the drill rod body 1 is pushed by the drilling machine 5 to carry out detection drilling operation along a set track route, and in the process, the temperature signal of the drill bit 6 is acquired in real time by the temperature measuring unit 7 and sent to the DSP processor module 12 in real time; the track measuring unit 8 is utilized to collect the pose signal of the drill bit 6 in real time and send the pose signal to the DSP processor module 12 in real time; the gamma-ray signals of the geological layer in the area of the drill bit 6 are acquired in real time by utilizing the gamma measurement unit 9 and sent to the DSP processor module 12 in real time; the DSP processor module 12 is used for preprocessing the received temperature signals, pose signals and gamma ray signals, transmitting the processed measurement signals to the wireless communication module II through the wireless communication module I11, and transmitting the received measurement signals to the upper computer through the wireless communication module II;
meanwhile, a rotating speed sensor is utilized to collect rotating speed signals of a driving motor in the drilling machine 5 in real time and send the rotating speed signals to an upper computer in real time;
In the process of measuring the number of tracks by using the track measuring unit 8, calculating the track of the drill bit 6 according to the formula (1), the formula (2) and the formula (3) by using the uniform angle full distance method;
wherein x is the horizontal displacement of the (i+1) th measuring point; y is the left-right displacement of the (i+1) th measuring point; z is the up-and-down displacement of the (i+1) th measuring point; ΔL i Length of the ith measuring section; θ i For the drilling inclination angle of the ith measuring point, acquiring an inclination angle signal by an acceleration sensor in the track measuring unit 8, and then acquiring the drilling inclination angle of the ith measuring point by the DSP processor module 12 through the inclination angle signal; alpha i For the drilling azimuth of the ith measuring point, acquiring azimuth signals by a magnetometer in the track measurement unit 8, and then acquiring the drilling azimuth of the ith measuring point by the DSP processor module 12 through the azimuth signals; alpha 0 Designing an azimuth for a borehole owner;
in the process of gamma data measurement by using the gamma measurement unit 9, the cross section of the outer layer protection cylinder 13 is uniformly divided into 8 sectors, wherein the angle of each sector is 45 degrees, in the rotating process of the drill rod body 1, three gamma sensors 15 are used for detecting the gamma ray pulse numbers within the range of 45 degrees respectively through three hollowed windows 16 until one sampling period is finished, the accumulated pulse number of each sector is divided by the time for the gamma sensors 15 to sweep each area, so that the gamma intensity value of each sector can be obtained, and the values obtained by the 3 gamma sensors 15 are averaged to obtain the gamma intensity value of each sector finally;
Step three: the upper computer is utilized to obtain temperature information of the drill bit 6 according to temperature signals in the measurement signals, obtain drilling track information of the drill bit according to pose signals in the measurement signals, obtain lithology information of a drilling area according to gamma ray signals in the measurement signals, obtain rotation speed information of a drilling machine according to received rotation speed signals, and then the upper computer is utilized to send the obtained temperature information of the drill bit 6, the drilling track information of the drill bit 6, the lithology information of the drilling area and the rotation speed information of the drilling machine to the display for real-time display;
the temperature of the drill bit 6 is compared with a set temperature threshold in real time through the upper computer, and the rotating speed of the driving motor in the drilling machine 5 is controlled to be reduced to a set rotating speed range when the temperature of the drill bit 6 exceeds the set temperature threshold;
comparing the track of the drill bit 6 with a preset track in real time through an upper computer, controlling a driving motor in the drilling machine 5 to rotate reversely when the track deviates from the preset track, so that the drill rod body 1 performs a drill withdrawal action in a drill hole, in the process, performing closed-loop control on a pose signal sent out in real time through the track measuring unit 8 to ensure that the drill rod body 1 can be withdrawn to a normal track state, controlling the driving motor in the drilling machine 5 to stop when the drill rod body 1 is withdrawn to the normal track state, then controlling the driving motor in the drilling machine 5 to rotate forwards again, and pushing the drill rod body 1 to perform a detection drilling operation along the preset track direction again so as to realize a deviation correction adjustment operation on the track of the drill rod body 1 and ensure that a pressure release operation can be completed along the preset track;
Judging the components of the coal-rock interface according to lithology information by an upper computer, matching an optimal rotation speed value corresponding to the components of the coal-rock interface in a database according to a judging result, and controlling the rotation speed of a driving motor in a drilling machine 5 to reach the optimal rotation speed value so as to ensure that the drilling process is performed safely and efficiently;
step four: after the drilling operation is completed, the driving motor in the drilling machine 5 is controlled by the upper computer to rotate reversely, so that the drill rod body 1 carries out the drill withdrawal action until the drill bit 6 withdraws from the drill hole.
According to the method, the drill track is calculated by using the angle-averaged full-distance method, so that the track data of the drill can be accurately and efficiently calculated, and further whether the deviation condition of the drilling track occurs can be timely found. In the gamma data measurement process, a gamma measurement unit is divided into 8 sectors, the corresponding angle of each sector is 45 degrees, so that when the drill rod body rotates, three gamma sensors synchronously detect gamma ray pulse numbers from three directions through three hollowed windows, and as the angle of each hollowed window is equal to the angle of each sector, each gamma pulse obtained by each gamma sensor can be considered to come from two adjacent sectors, the gamma pulse numbers can be distributed according to the ratio of the areas of the two sectors corresponding to the angle of each hollowed window at each moment, and when one sampling period is finished, the accumulated pulse number of each sector is divided by the time for the gamma sensor to sweep each area, so that the gamma intensity value of each sector can be obtained, and the gamma intensity value of each sector can be finally obtained by averaging the values obtained by the 3 gamma sensors. In the process of detecting drilling operation, the temperature measuring unit is utilized to collect the temperature signal of the drill bit in real time, the track measuring unit is utilized to collect the pose signal of the drill bit in real time, the gamma measuring unit is utilized to collect the gamma ray signal of the geological layer of the drill bit region in real time, the gamma ray signal is preprocessed by the DSP processor module and then sent to the upper computer in a wireless communication mode, the upper computer can conveniently obtain the temperature information of the drill bit, the drilling track information and the lithology information of a drilling area in real time, the speed sensor is utilized to collect the rotating speed signal of the driving motor of the drilling machine in real time, the upper computer can conveniently obtain the rotating speed information of the drilling machine in real time, and further the closed-loop control of the driving motor is conveniently realized. And the upper computer is used for sending the obtained temperature information of the drill bit, the drilling track information, the lithology information of the drilling area and the rotating speed information of the drilling machine to the display for real-time display, so that an operator can conveniently check the drilling condition in real time through the display. The temperature of the drill bit is compared with the set temperature threshold in real time by the upper computer, and the rotating speed of the driving motor is controlled to be reduced to be within the set rotating speed range when the temperature exceeds the set temperature threshold, so that the condition that the drill bit is damaged due to overhigh temperature can be avoided. The track of the drill bit is compared with the preset track in real time by the upper computer, the driving motor in the drilling machine is controlled to rotate reversely when the track deviates from the preset track, the drill rod body can be returned to a normal track state in a drill returning mode, then the driving motor in the drilling machine is controlled to rotate forwards, the drill rod body can be pushed again to conduct the drilling detection operation along the preset track direction, and therefore deviation correction adjustment operation on the track of the drill rod body can be achieved, and the drill bit can be effectively guaranteed to finish pressure relief operation according to the preset track. The upper computer is utilized to judge the components of the coal-rock interface according to lithology information, and the rotating speed of the driving motor in the drilling machine is adjusted to an optimal rotating speed value according to the judging result, so that the safe and efficient drilling process can be ensured, and the drilling efficiency can be obviously improved. The method has simple steps and convenient implementation process, can efficiently complete real-time measurement operation in the drilling process, can effectively correct and adjust deviation when the drilling track deviates, and can rapidly and accurately complete detection drilling operation.
Claims (5)
1. The multi-parameter measurement while drilling intelligent drill rod for underground coal mine anti-impact drilling comprises a drill rod body (1) and a drill bit (6), wherein the drill bit (6) is fixedly connected to the front end of the drill rod body (1), and the intelligent drill rod is characterized by further comprising an in-hole measurement part and an orifice control part;
the drill rod body (1) consists of a measuring nipple (2), a transmitting nipple (3) and a screw section (4), wherein the measuring nipple (2) is positioned at the front end of the drill rod body (1), and the transmitting nipple (3) is positioned between the measuring nipple (2) and the screw section (4); the rod bodies of the measuring nipple (2) and the transmitting nipple (3) are made of non-magnetic materials;
the in-hole measuring part consists of a temperature measuring unit (7), a gamma measuring unit (9), a track measuring unit (8), a power supply unit (10), a wireless communication module I (11) and a DSP processor module (12);
the temperature measuring unit (7) is a temperature sensor and is arranged in the front section of the measuring nipple (2), and the temperature measuring unit (7) is connected with the DSP processor module (12) and is used for collecting temperature signals of the drill bit (6) in real time and sending the temperature signals to the DSP processor module (12) in real time;
the track measurement unit (8) consists of an acceleration sensor and a magnetometer, is arranged in the middle section of the measurement nipple (2), and is connected with the DSP processor module (12) and used for collecting pose signals of the drill bit (6) in real time and sending the pose signals to the DSP processor module (12) in real time; the acceleration sensor is used for collecting inclination angle signals of the drill bit (6) in real time, and the magnetometer is used for collecting azimuth angle signals of the drill bit (6) in real time;
The gamma measurement unit (9) is arranged in the rear section of the measurement nipple (2), and the gamma measurement unit (9) is connected with the DSP processor module (12) and is used for collecting gamma ray signals of geological layers in the area of the drill bit (6) in real time and sending the gamma ray signals to the DSP processor module (12) in real time; the gamma measurement unit (9) consists of an outer protective cylinder (13), a ray shielding isolation cover (14) and three gamma sensors (15); the outer diameter of the outer layer protection cylinder (13) is consistent with the outer diameter of the drill rod body (1) and is coaxially and fixedly connected in the measuring nipple (2); the outer diameter of the ray shielding isolation cover (14) is matched with the inner diameter of the outer protection cylinder (13), and the ray shielding isolation cover is coaxially and fixedly connected to the inside of the outer protection cylinder (13); three hollowed-out windows (16) are uniformly formed in the radial shielding isolation cover (14) along the circumferential direction on the cover body, and the opening radian of each hollowed-out window (16) is 45 degrees; the three gamma sensors (15) are circumferentially and uniformly fixedly arranged on the inner sides of the ray shielding isolation cover (14) and are respectively positioned in the central areas of the three hollowed-out windows (16);
the power supply unit (10) is a storage battery group and is arranged in the transmitting short section (3), and the power supply unit (10) is connected with the DSP processor module (12) and is used for supplying power;
The first wireless communication module (11) is arranged in the transmitting pup joint (3), is connected with the DSP processor module (12) and is used for receiving signals sent by the DSP processor module (12) and transmitting the signals to the orifice control part in a wireless mode;
the DSP processor module (12) is arranged in the transmitting nipple (3) and is used for preprocessing the received temperature signals, pose signals and gamma ray signals and sending the processed measurement signals to the first wireless communication module (11);
the orifice control part consists of a drilling machine (5), a rotating speed sensor, a wireless communication module II and an upper computer;
the drilling machine (5) is connected with the rear end of the drill rod body (1), and a driving motor in the drilling machine (5) is connected with the upper computer and is used for pushing the drill rod to perform detection operation in a drilling hole in the forward rotation process and driving the drill rod to perform drill withdrawal operation in the drilling hole in the reverse rotation process;
the rotating speed sensor is arranged on a driving motor in the drilling machine (5) and is used for collecting rotating speed signals of the driving motor in the drilling machine (5) in real time and sending the rotating speed signals to the upper computer in real time;
the second wireless communication module is connected with the upper computer and is connected with the first wireless communication module (11) in a wireless mode, and is used for receiving the measurement signal sent by the in-hole measurement part and sending the measurement signal to the upper computer;
The upper computer obtains temperature information of the drill bit (6) according to a temperature signal in the measurement signal, obtains drilling track information of the drill bit (6) according to a pose signal in the measurement signal, obtains lithology information of a drilling area according to a gamma ray signal in the measurement signal, obtains rotating speed information of the drilling machine (5) according to the received rotating speed signal, and meanwhile, is used for controlling the rotating speed of a driving motor in the drilling machine (5) to be reduced when the temperature of the drill bit (6) exceeds a set temperature value so as to ensure that the drill bit (6) cannot be damaged due to overhigh temperature, is used for controlling the driving motor in the drilling machine (5) to rotate reversely when the track deviates from a preset track, and then controlling the driving motor in the drilling machine (5) to rotate forward again until the drill rod body (1) is retreated to a normal track state, so as to correct and adjust the track of the drill rod body (1) and judge components of a coal-rock interface according to the lithology information, and adjusting the rotating speed of the driving motor in the drilling machine (5) according to judging results so as to ensure that the drilling process is performed safely and efficiently.
2. The intelligent multi-parameter measurement-while-drilling drill rod for underground coal mine anti-impact drilling according to claim 1, wherein the upper computer is an explosion-proof computer and is connected with a display.
3. A multiparameter measurement-while-drilling intelligent drill rod for use in a coal mine underground impact-resistant borehole as claimed in claim 1 or 2, wherein the radiation shielding cage (14) is made of tungsten-copper-nickel alloy.
4. A multi-parameter measurement while drilling intelligent drill rod for a coal mine underground impact-resistant borehole as claimed in claim 3, wherein the wireless communication module II is connected with an antenna, the antenna is provided with two electrodes, one electrode is connected with a drilling machine (5), and the other electrode is grounded.
5. A multi-parameter measurement while drilling method for underground coal mine anti-impact drilling, which adopts the multi-parameter measurement while drilling intelligent drill rod for underground coal mine anti-impact drilling according to any one of claims 1 to 4, and is characterized by comprising the following specific steps:
step one: placing the drilling machine (5) and the drill rod body (1) near the position of the set pressure relief drilling hole opening;
step two: the drill rod body (1) is pushed by the drilling machine (5) to carry out detection drilling operation along a set track route, and in the process, a temperature signal of the drill bit (6) is collected in real time by the temperature measuring unit (7) and is sent to the DSP processor module (12) in real time; the track measuring unit (8) is used for collecting pose signals of the drill bit (6) in real time and sending the pose signals to the DSP processor module (12) in real time; the gamma measurement unit (9) is used for collecting gamma ray signals of geological layers in the area of the drill bit (6) in real time and sending the gamma ray signals to the DSP processor module (12) in real time; the DSP processor module (12) is used for preprocessing the received temperature signals, pose signals and gamma ray signals, transmitting the processed measurement signals to the wireless communication module II through the wireless communication module I (11), and transmitting the received measurement signals to the upper computer through the wireless communication module II;
Meanwhile, a rotating speed sensor is utilized to collect rotating speed signals of a driving motor in the drilling machine (5) in real time and send the rotating speed signals to an upper computer in real time;
in the process of measuring the number of tracks by using the track measuring unit (8), calculating the track of the drill bit (6) according to the formula (1), the formula (2) and the formula (3) by using a uniform angle full distance method;
wherein x is the horizontal displacement of the (i+1) th measuring point; y is the left-right displacement of the (i+1) th measuring point; z is the up-and-down displacement of the (i+1) th measuring point; ΔL i Length of the ith measuring section; θ i The drilling inclination angle of the ith measuring point is the drilling inclination angle of the ith measuring point; alpha i The azimuth angle of the drilling hole of the ith measuring point; alpha 0 Designing an azimuth for a borehole owner;
in the process of gamma data measurement by utilizing a gamma measurement unit (9), the cross section of an outer layer protection cylinder (13) is uniformly divided into 8 sectors, wherein the angle of each sector is 45 degrees, in the rotating process of a drill rod body (1), three gamma sensors (15) are utilized to detect the gamma ray pulse numbers within the range of 45 degrees respectively through three hollowed windows (16) until one sampling period is finished, the accumulated pulse number of each sector is divided by the time for the gamma sensors (15) to sweep each area, so that the gamma intensity value of each sector can be obtained, and the values obtained by the 3 gamma sensors (15) are averaged to obtain the gamma intensity value of each sector finally;
Step three: the method comprises the steps of obtaining temperature information of a drill bit (6) according to a temperature signal in a measurement signal, obtaining drilling track information of the drill bit (6) according to a pose signal in the measurement signal, obtaining lithology information of a drilling area according to a gamma ray signal in the measurement signal, obtaining rotation speed information of a drilling machine (5) according to a received rotation speed signal, and sending the obtained temperature information of the drill bit (6), the drilling track information of the drill bit (6), the lithology information of the drilling area and the rotation speed information of the drilling machine (5) to a display through the upper computer for real-time display;
the temperature of the drill bit (6) and a set temperature threshold value are compared in real time through the upper computer, the rotating speed of the driving motor in the drilling machine (5) is controlled to be reduced to a set rotating speed range when the temperature of the drill bit (6) exceeds the set temperature threshold value, and in the process, a rotating speed signal fed back in real time through the rotating speed sensor is subjected to closed-loop control so as to ensure that the rotating speed of the driving motor in the drilling machine (5) is reduced to be within the set rotating speed range;
the track of the drill bit (6) is compared with a preset track in real time through the upper computer, a driving motor in the drilling machine (5) is controlled to rotate reversely when the track deviates from the preset track, so that the drill rod body (1) performs a drill withdrawal action in a drill hole, in the process, a pose signal sent out in real time through the track measuring unit (8) is subjected to closed-loop control to ensure that the drill rod body (1) can be withdrawn to a normal track state, the driving motor in the drilling machine (5) is controlled to stop when the drill rod body (1) is withdrawn to the normal track state, then the driving motor in the drilling machine (5) is controlled to rotate forwards again, the drill rod body (1) is pushed to perform a detection drilling operation along the preset track direction, so that the deviation correction adjustment operation on the track of the drill rod body (1) is realized, and the pressure release operation can be completed along the preset track;
Judging the components of the coal-rock interface through the upper computer according to lithology information, matching an optimal rotation speed value corresponding to the components of the coal-rock interface in a database according to a judging result, and controlling the rotation speed of a driving motor in a drilling machine (5) to reach the optimal rotation speed value so as to ensure that the drilling process is performed safely and efficiently;
step four: after the drilling operation is finished, the driving motor in the drilling machine (5) is controlled by the upper computer to rotate reversely, so that the drill rod body (1) performs the drill withdrawal action until the drill bit (6) withdraws from the drilling hole.
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| CN117514128B (en) * | 2024-01-08 | 2024-03-19 | 山西郎腾信息科技有限公司 | Underground coal mine horizontal directional intelligent drilling control method |
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