•  
  •  
 

Coal Geology & Exploration

Abstract

Objective For deep mining of coal mines, conventional directional drilling rigs face challenges including high labor intensity, limited control accuracy, a low intelligence level, and failure to meet the demand for efficient gas drainage. Meanwhile, high-power automatic drilling rigs encounter technical bottlenecks in automation, control accuracy, and process intelligence in this context. To address these issues, this study proposed an integrated and systematic solution—the ZDY15000LDK high-power automatic directional drilling rig. Methods Using a compact structural layout, a drill rod handling system was developed, consisting of a drill rod loading/unloading manipulator with four degrees of freedom and an automatic drill rod storage and transport system. Accordingly, the continuous automatic loading/unloading of heavy directional drill rods, along with the reduction in the number of operators per duty shift, were investigated. Using a modularized hydraulic control system and a proportional valve-based closed-loop electronic control strategy, a model for a precise match between drilling conditions and control parameters was established, followed by the analysis of the response speed and dynamic stability of the drilling rig system. A series of intelligent process algorithms based on measurement-while-drilling (MWD) data were developed for automatic toolface angle adjustment, automatic drilling of borehole branches, and closed-loop borehole trajectory control. On this basis, a model for autonomous decision-making and real-time deviation correction in the drilling process was established, and the method for high-precision control of directional drilling under complex operating conditions was explored.Results and Conclusions In the field tests on crushed soft coal seams in the Luotuoshan Coal Mine in Wuhai City, a directional borehole with a depth of up to 621 m was successfully drilled using the ZDY15000LDK high-power automatic directional drilling rig, with an increase of over 50% in construction efficiency, trajectory deviation errors controlled within 1 m, and tool face angle accuracy of ±0.5°. These results verify that the drilling rig delivers the technical advantages of efficient, precise, and minimally manned drilling in complex coal seams. Through structural integration innovation, the collaborative optimization of electro-hydraulic control systems, and the fusion of intelligent process algorithms, the proposed solution effectively addresses the challenges that conventional high-power directional drilling rigs tend to face in deep complex strata, such as a low degree of automation and limited control accuracy. Therefore, the proposed solution provides a key technical pathway for the research and development of equipment for intelligent underground drilling in coal mines.

Keywords

high-power automatic directional drilling rig, automatic drill rod loading/unloading, electro-hydraulic control, intelligent steering, trajectory control

DOI

10.12363/issn.1001-1986.25.10.0778

Reference

[1] 石智军,姚克,姚宁平,等. 我国煤矿井下坑道钻探技术装备40年发展与展望[J]. 煤炭科学技术,2020,48(4):1−34

SHI Zhijun,YAO Ke,YAO Ningping,et al. 40 years of development and prospect on underground coal mine tunnel drilling technology and equipment in China[J]. Coal Science and Technology,2020,48(4):1−34

[2] 王清峰，陈航，杜雷，等. 煤矿智能化钻场关键技术研发进展[J/OL]. 煤炭学报，2025：1–14 [2025-07-23]. https://doi.org/10.13225/j.cnki.jccs.2025.0417.

WANG Qingfeng，CHEN Hang，DU Lei，et al. Research progress of key technology of the intelligent drilling field in coal mine[J/OL]. Journal of China Coal Society，2025：1–14 [2025-07-23]. https://doi.org/10.13225/j.cnki.jccs.2025.0417.

[3] 石智军,李泉新,姚克. 煤矿井下智能化定向钻探发展路径与关键技术分析[J]. 煤炭学报,2020,45(6):2217−2224

SHI Zhijun,LI Quanxin,YAO Ke. Development path and key technology analysis of intelligent directional drilling in underground coal mine[J]. Journal of China Coal Society,2020,45(6):2217−2224

[4] 姚克,田宏亮,姚宁平,等. 煤矿井下钻探装备技术现状及展望[J]. 煤田地质与勘探,2019,47(1):1−5

YAO Ke,TIAN Hongliang,YAO Ningping,et al. Present situation and prospect of drilling equipment technology in coal mine[J]. Coal Geology & Exploration,2019,47(1):1−5

[5] 王海军,曹云,王洪磊. 煤矿智能化关键技术研究与实践[J]. 煤田地质与勘探,2023,51(1):44−54

WANG Haijun,CAO Yun,WANG Honglei. Research and practice on key technologies for intelligentization of coal mine[J]. Coal Geology & Exploration,2023,51(1):44−54

[6] 赵丁选,杨力夫,李锁云,等. 国内外非开挖定向钻机及其智能控制技术[J]. 吉林大学学报(工学版),2005,35(1):44−48

ZHAO Dingxuan,YANG Lifu,LI Suoyun,et al. State–of–the–art of no–dig directional drillers and their intelligent control[J]. Journal of Jilin University (Engineering and Technology Edition),2005,35(1):44−48

[7] 方鹏,姚克,王龙鹏,等. ZDY25000LDK智能化定向钻进装备关键技术研究[J]. 煤田地质与勘探,2022,50(1):72−79

FANG Peng,YAO Ke,WANG Longpeng,et al. Research on key technologies of the ZDY25000LDK intelligent directional drilling equipment[J]. Coal Geology & Exploration,2022,50(1):72−79

[8] 赵晓红. 水平定向钻机回转器传动系统轻量化设计与动态特性研究[D]. 太原：太原科技大学，2025.

ZHAO Xiaohong. Lightweight design and dynamic characteristics study of rotary transmission system of horizontal directional drilling rig[D]. Taiyuan：Taiyuan University of Science and Technology，2025.

[9] 李兆奎. 15000型矿用智能化水平定向钻机专家系统开发[D]. 太原：太原理工大学，2022.

LI Zhaokui. Development of expert system for 15000 type mine intelligent horizontal directional drilling rig[D]. Taiyuan：Taiyuan University of Technology，2022.

[10] 王清峰,陈航. 基于路径规划的大容量钻杆自动输送系统研究[J]. 矿业安全与环保,2020,47(1):1−6

WANG Qingfeng,CHEN Hang. Research on automatic conveying system of large–capacity drill pipe based on path planning[J]. Mining Safety & Environmental Protection,2020,47(1):1−6

[11] 陈泽平. 定向钻杆辅助上杆及搬运技术[J]. 煤矿安全,2022,53(11):148−151

CHEN Zeping. Auxiliary adding and transporting technology of directional drill pipes[J]. Safety in Coal Mines,2022,53(11):148−151

[12] 马宏伟,孙思雅,王川伟,等. 多机械臂多钻机协作的煤矿巷道钻锚机器人关键技术[J]. 煤炭学报,2023,48(1):497−509

MA Hongwei,SUN Siya,WANG Chuanwei,et al. Key technology of drilling anchor robot with multi–manipulator and multi–rig cooperation in the coal mine roadway[J]. Journal of China Coal Society,2023,48(1):497−509

[13] 肖玉清,王宇,陈松林. 远控钻机送杆机构自适应定位技术的研究[J]. 矿业安全与环保,2014,41(5):33−36

XIAO Yuqing,WANG Yu,CHEN Songlin. Research on self–adaptive positioning technology for rod–feed mechanism of remote–controlled drilling machine[J]. Mining Safety & Environmental Protection,2014,41(5):33−36

[14] 马宏伟,张烨,王鹏,等. 多机械臂煤矸石智能分拣机器人关键共性技术研究[J]. 煤炭科学技术,2023,51(1):427−436

MA Hongwei,ZHANG Ye,WANG Peng,et al. Research on key generic technology of multi–arm intelligent coal gangue sorting robot[J]. Coal Science and Technology,2023,51(1):427−436

[15] 朱梦博,程建远,刘浪,等. 顺煤层钻孔约束的采煤工作面煤层迭代高精度建模方法研究[J]. 采矿与安全工程学报,2022,39(5):879−890

ZHU Mengbo,CHENG Jianyuan,LIU Lang,et al. Iterative refined model of coal seam in longwall panel with constraints of in–seam boreholes[J]. Journal of Mining & Safety Engineering,2022,39(5):879−890

[16] 辛德忠,唐敏,刘小华. 碎软煤层顺层自动钻机的研制及应用[J]. 矿业安全与环保,2022,49(5):24−28

XIN Dezhong,TANG Min,LIU Xiaohua. Development and application of automatic drilling rig for bedding in broken soft coal seam[J]. Mining Safety & Environmental Protection,2022,49(5):24−28

[17] 田宏亮,张金宝,王力,等. 煤矿井下碎软煤层气动定向钻进技术与装备研究[J]. 煤田地质与勘探,2024,52(6):154−165

TIAN Hongliang,ZHANG Jinbao,WANG Li,et al. Pneumatic directional drilling technology and equipment for broken–soft coal seams in underground coal mines[J]. Coal Geology & Exploration,2024,52(6):154−165

[18] 周杰. 液压机械臂在煤炭工业领域应用进展及关键技术[J]. 煤炭科学技术,2025,53(9):20−40

ZHOU Jie. Advances and critical technologies of hydraulic robotic arms in coal industry applications[J]. Coal Science and Technology,2025,53(9):20−40

[19] 吴思源,李守定,陈冬,等. 大闭环伺服控制随钻智能导向钻井方法[J]. 地球物理学报,2021,64(11):4215−4226

WU Siyuan,LI Shouding,CHEN Dong,et al. An intelligent–while–drilling steering method of global closed–loop servo control[J]. Chinese Journal of Geophysics,2021,64(11):4215−4226

[20] 王天龙,马斌,董洪波. 煤矿用自动化钻机远程监测系统研制[J]. 煤田地质与勘探,2022,50(1):80−85

WANG Tianlong,MA Bin,DONG Hongbo. Development of a remote monitoring system for coal mine automatic drilling rigs[J]. Coal Geology & Exploration,2022,50(1):80−85

[21] 张军,王霄菲,王小龙. 基于钻孔轨迹精确测量的瓦斯抽采钻孔群空白带控制技术[J]. 煤矿安全,2022,53(1):100−104

ZHANG Jun,WANG Xiaofei,WANG Xiaolong. Control technology of blank zone in gas drainage boreholes group based on accurate measurement of borehole trajectory[J]. Safety in Coal Mines,2022,53(1):100−104

[22] 闫保永,孟祥辉. ø200 mm定向钻孔一次成孔技术与装备的研究[J]. 矿业安全与环保,2022,49(5):49−52

YAN Baoyong,MENG Xianghui. Research on the technology and equipment of one–step holing with ø200 mm directional drilling[J]. Mining Safety & Environmental Protection,2022,49(5):49−52

[23] 姚克,李泉新,方俊,等. 煤矿井下旋转地质导向钻进技术装备研究[J]. 煤炭科学技术,2022,50(12):36−42

YAO Ke,LI Quanxin,FANG Jun,et al. Research on rotary geosteering drilling technology and equipment in underground coal mine[J]. Coal Science and Technology,2022,50(12):36−42

[24] 匡立春,刘合,任义丽,等. 人工智能在石油勘探开发领域的应用现状与发展趋势[J]. 石油勘探与开发,2021,48(1):1−11

KUANG Lichun,LIU He,REN Yili,et al. Application and development trend of artificial intelligence in petroleum exploration and development[J]. Petroleum Exploration and Development,2021,48(1):1−11

[25] 陈龙,杨冬冬,李泉新,等. 煤矿井下钻孔测量技术研究现状及发展趋势[J]. 煤田地质与勘探,2025,53(11):222−237

CHEN Long,YANG Dongdong,LI Quanxin,et al. Current status and future trend of research on underground borehole measurement technology for coal mines[J]. Coal Geology & Exploration,2025,53(11):222−237

[26] 李根生,宋先知,祝兆鹏,等. 智能钻完井技术研究进展与前景展望[J]. 石油钻探技术,2023,51(4):35−47

LI Gensheng,SONG Xianzhi,ZHU Zhaopeng,et al. Research progress and the prospect of intelligent drilling and completion technologies[J]. Petroleum Drilling Techniques,2023,51(4):35−47

[27] 张泷,张禾,梁海波,等. 一种最小机械比能计算参数优化的方法[J]. 信息通信,2015(4):72−74

ZHANG Long,ZHANG He,LIANG Haibo,et al. A new method to calculate optimal parameters of the minimum mechanical specific energy[J]. Information & Communications,2015(4):72−74

[28] 张幼振,张宁,邵俊杰,等. 基于钻进参数聚类的含煤地层岩性模糊识别[J]. 煤炭学报,2019,44(8):2328−2335

ZHANG Youzhen,ZHANG Ning,SHAO Junjie,et al. Fuzzy identification of coal–bearing strata lithology based on drilling parameter clustering[J]. Journal of China Coal Society,2019,44(8):2328−2335

[29] 沙林秀,王凯. 基于PSO的钻机快速自适应PID控制[J]. 控制工程,2021,28(3):519−523

SHA Linxiu,WANG Kai. A fast self–adaptive PID control method for drilling rig based on PSO[J]. Control Engineering of China,2021,28(3):519−523

[30] 程卓尔,李泉新,方俊,等. 华阳二矿碎软低渗煤层大功率氮气定向钻进试验研究[J]. 煤炭工程,2025,57(7):60−66

CHENG Zhuoer,LI Quanxin,FANG Jun,et al. High–power nitrogen directional drilling ina broken soft coal seam with low permeability in Huayang No. 2 Mine[J]. Coal Engineering,2025,57(7):60−66

Download Chinese Version

Share

COinS
 
 

To view the content in your browser, please download Adobe Reader or, alternately,
you may Download the file to your hard drive.

NOTE: The latest versions of Adobe Reader do not support viewing PDF files within Firefox on Mac OS and if you are using a modern (Intel) Mac, there is no official plugin for viewing PDF files within the browser window.