CN106837295A - Intelligent safe and efficient automatic drilling control system and control method - Google Patents

Abstract

An intelligent, safe and efficient drilling automatic control system and control method include a drilling rig drive parameter detection module, a rotary drilling parameter detection module, a drilling rig control module, a drilling rig pump station, a drilling rig gyrator, and a drilling tool. The system can automatically detect torque T, thrust F ₁ and lifting force F ₂ during drilling, as well as drilling depth L, drill pipe rotation speed ω and drilling speed ν, and automatically transmit these detected key parameters to the drilling rig The control module optimizes the rotary speed and drilling speed of the drill pipe, and transmits the optimization results to the drilling rig pump station to drive the drilling rig gyrator to implement drilling. The invention realizes the real-time detection of the force of the drilling tool in the hole. Based on the change of the force of the drilling tool in the hole, the system can automatically adjust the rotation speed ω and the drilling speed ν of the drilling tool in time, thereby ensuring that the drilling tool is The hole is in the best working condition, which reduces the accidents in the hole such as drill sticking, broken drill, drilling gas burning, etc., which is conducive to the realization of safe and efficient drilling.

Description

Intelligent safe and efficient drilling automatic control system and control method

technical field

The invention belongs to the technical field of drilling engineering, and in particular relates to an intelligent, safe and efficient drilling automatic control system and a control method.

Background technique

Coalbed methane (coal mine gas) is a hydrocarbon gas that exists in coal seams and coal-measure formations. It is a harmful gas that threatens coal mine safety production and increases the greenhouse effect of the atmosphere. It is also a high-quality clean energy. my country's ground well pre-extraction of coal seam gas is limited by geological conditions, investment costs and other factors, and is only applicable to a few mining areas. The underground gas extraction method is the inevitable development of my country's gas prevention and utilization. trend. Drilling construction technology is the key to underground gas drainage. Drilling depth and efficiency determine the scope and progress of gas drainage, and indirectly affect the mining efficiency, safety production and economic benefits of coal seams. At present, more than 50% of the coal mines in my country have soft and high gassy coal seams, and the soft and high gassy coal seams are mainly Class III crushed coal (coal firmness coefficient f=0.25~0.5) and Class IV mylonitic coal (f<0.3) . During the drilling process, due to factors such as ground stress, gas pressure and drill pipe disturbance, the deformation of the hole wall is large, and the hole is easily unstable and collapsed locally. Increment will cause in-hole accidents such as drill stuck, broken drill, carbon monoxide poisoning in the drill hole, and gas burning in the drill hole.

At present, the underground gas drainage drilling in my country's coal mines mainly relies on conventional hydraulic drilling rigs. Conventional hydraulic drilling rigs are mainly operated manually, and it is difficult to predict in advance the dynamic phenomena such as severe shrinkage, hole collapse, and small injection holes in deep coal bodies. Therefore, , It is difficult to deal with problems such as drill sticking and drill breakage caused by sudden dynamic phenomena in the hole. The coal seams in many mining areas in Henan are soft and easy to collapse, such as Pingmei No. 8 Mine, Yimei Xin’an Mine, Coking Coal Guhanshan Mine, etc. In many drilling construction sites, one drilling rig can only perform one drilling operation per day. It is difficult to drill holes to reach the design depth, and the construction efficiency is extremely low, which seriously affects the progress of coal seam gas drainage. Aiming at the existing technical problems, the present invention provides an intelligent, safe and efficient drilling automatic control system and control method, which realizes real-time detection of the force of the drilling tool in the hole. Based on the change of the force of the drilling tool in the hole, the system It can automatically adjust the rotary speed ω and the drilling speed ν of the drilling tool in time, thus ensuring that the drilling tool is in the best working condition in the hole, reducing accidents in the hole such as stuck drill, broken drill, and gas burning in the drill hole. It is beneficial to ensure drilling safety, improve drilling depth and drilling efficiency.

Contents of the invention

The purpose of the present invention is to provide an intelligent, safe and efficient drilling automatic control system and control method to solve the problem that the conventional hydraulic drilling rig cannot detect the force of the drilling tool in real time, it is difficult to predict the dynamic phenomenon in the hole, frequent accidents in the hole, and the drilling Low efficiency, shallow drilling depth and frequent drilling accidents.

In order to solve the problems of the technologies described above, the present invention adopts the following technical solutions:

The intelligent, safe and efficient drilling automatic control system includes a drilling rig driving parameter detection module, a rotary drilling parameter detection module, a drilling rig control module, a drilling rig pump station, a drilling rig gyrator, and a drilling tool. The drilling rig driving parameter detection module and the drilling rig pump Station connection, used to detect the torque T, thrust F1 and lifting force F2 in the drilling process _; the rotary drilling parameter detection module is connected with the _rotator of the drilling rig, used to detect the drilling depth L, the rotary speed ω of the drill pipe and the drilling The drilling speed ν; the drilling rig control module optimizes the rotary speed and drilling speed of the drill pipe according to the data results detected by the drilling rig driving parameter detection module and the rotary drilling parameter detection module, and transmits the optimization results to the drilling rig pump station to drive the drilling rig gyrator to implement drilling .

An intelligent, safe and efficient drilling automatic control system, the rig driving parameter detection module includes a torque detection module, a thrust detection module, and a lifting force detection module; the torque detection module automatically detects the oil pressure data of the drilling rig gyrator driven by the drilling rig pump station And transmitted to the drilling rig control module, the drilling rig control module automatically converts the data into torque T; the thrust detection module automatically detects the oil pressure data of the drilling rig pump station to drive the drilling rig forward and transmits it to the drilling rig control module, and the drilling rig control module takes the data Automatically converted into thrust F ₁ ; the lifting force detection module automatically detects the oil pressure data of the drilling rig pumping station to drive the drilling rig to lift the drill pipe outward and transmits it to the drilling rig control module, which automatically converts the data into lifting force F ₂ .

An intelligent, safe and efficient drilling automatic control system, the rotary drilling parameter detection module includes a drilling depth detection module, a rotary speed detection module, and a drilling speed detection module; the drilling depth detection module records the drilling depth through automatic detection The depth L is transmitted to the drilling rig control module; the rotation speed detection module records the rotation speed ω of the drill pipe through automatic detection and transmits it to the drilling rig control module; transmitted to the rig control module.

An intelligent safe and efficient drilling automatic control system, the drilling rig control module is a visual operation platform, with a built-in safe drilling automatic control application program, the operator enters the program operation interface to select objects and set parameters, and set the coal seam in the program Firmness factor f, coal gas pressure P, coal seam burial depth H, borehole design depth L _s , borehole inclination α, borehole diameter D, drill pipe diameter d, drill pipe type, safe drilling automatic control application program automatic Generate the initial reference curve for the drilling construction, including: the relationship curve between drilling torque T ₀ and depth L, the relationship curve between drilling thrust F ₁₀ and depth L, the relationship curve between drilling force F ₂₀ and depth L, and the relationship curve of drill pipe The relationship curve between the rotation speed ω ₀ and the drilling depth L, and the relationship curve between the drilling speed ν ₀ and the drilling depth L.

An intelligent, safe and efficient drilling automatic control system, the drilling rig control module automatically receives the torque T, thrust F ₁ , drilling pull-out force F ₂ , drilling depth L, drill pipe rotation speed ω and drilling Speed ν, the built-in safety drilling automatic control application program automatically generates the working condition curve during the drilling process, including: the relationship curve between drilling torque T ₁ and depth L, the relationship curve between drilling thrust F ₁₁ and depth L, the drilling lift The relationship curve between pulling force F ₂₁ and depth L, the relationship curve between drill pipe rotation speed ω ₁ and drilling depth L, and the relationship curve between drilling speed ν ₁ and drilling depth L.

The control method of the intelligent safe and efficient drilling automatic control system adopts the intelligent safe and efficient drilling automatic control system as claimed in claim 1, comprising the following steps:

(1) Enter the visual operation platform of the drilling rig control module, set the initial parameters of the drilling hole to be constructed based on claim 4, and the system automatically generates the initial reference curve for the drilling construction;

(2) Install the drill pipe on the drilling rig, connect the slag discharge power system, start the drilling rig to drill holes, and after the first drill pipe installed on the drilling rig is submerged in the rock formation, lengthen the drill pipe at the end of the drill pipe, and the process cycle conduct;

(3) After starting the drilling rig and starting the drilling, the system automatically generates the working condition curve in the drilling process of the drilling construction based on claim 5, and the working condition curve is displayed dynamically in real time on the visual operation platform interface of the drilling rig control module. The working condition curve of the construction and the initial reference curve are compared and displayed in the same interface and the same coordinate system;

(4) During the construction process, compared with the initial reference curve, at the same drilling depth position, when the operating condition curve torque T, thrust F ₁ and lifting force F ₂ fluctuate by more than 10%, the drilling rig control module will automatically Optimize the drill pipe rotation speed ω and drilling speed ν to ensure safe drilling;

(5) Stop drilling after drilling to the design depth of the drilling hole, and exit the drill pipe;

(6) Adjust the position of the drilling rig and perform drilling operations on another hole;

(7), repeat steps (1), (2), (3), (4), (5), (6).

In the control method of an intelligent, safe and efficient drilling automatic control system, in step (4) the drill rig control module automatically optimizes the drill pipe rotation speed ω and the drilling speed ν in a specific manner as follows:

When drilling, at the same drilling depth position, compared with the initial reference curve, when the operating condition curve torque T and thrust F ₁ fluctuate by 0~10%, the drilling rig control module will automatically keep the drill pipe rotation speed ω constant, The drilling speed ν remains unchanged;

When drilling, at the same drilling depth position, compared with the initial reference curve, when the operating condition curve torque T and thrust F ₁ fluctuate by 10%~20%, the drilling rig control module will automatically keep the drill pipe rotation speed ω constant , the decrease of drilling speed ν is 0~10%;

When drilling, at the same drilling depth position, compared with the initial reference curve, when the operating condition curve torque T and thrust F ₁ fluctuate by 20% to 40%, the drilling rig control module will automatically increase the drill pipe rotation speed ω by 5%~20%, the decrease of drilling speed ν is 5~20%;

When drilling, at the same drilling depth position, compared with the initial reference curve, when the operating condition curve torque T and thrust F ₁ fluctuate by 40%~60%, the drilling rig control module will automatically increase the drill pipe rotation speed ω by 20%~40%, the decrease of drilling speed ν is 15~40%;

When drilling, at the same drilling depth position, compared with the initial reference curve, when the torque T and thrust F ₁ of the working condition curve fluctuate by more than 60%, the drilling rig control module will automatically increase the rotation speed ω of the drill pipe by more than 40% , the decrease in drilling speed ν is greater than 40%;

When drilling back, at the same drilling depth position, compared with the initial reference curve, when the lifting force F ₂ of the working condition curve fluctuates by 0~10%, the drilling rig control module will automatically keep the drill pipe rotation speed ω unchanged;

When drilling back, at the same drilling depth position, compared with the initial reference curve, when the lifting force F ₂ of the working condition curve fluctuates by 10%~20%, the drilling rig control module will automatically increase the rotation speed ω of the drill pipe by 5% ~15%;

When backing out the drill, at the same drilling depth position, compared with the initial reference curve, when the lifting force F ₂ of the working condition curve fluctuates by 20%~40%, the drilling rig control module will automatically increase the rotation speed ω of the drill pipe by 10% ~30%;

When drilling back, at the same drilling depth position, compared with the initial reference curve, when the lifting force F ₂ of the working condition curve fluctuates by 40%~60%, the drilling rig control module will automatically increase the rotation speed ω of the drill pipe by 20% ~40%;

When drilling back, at the same drilling depth position, compared with the initial reference curve, when the lifting force F ₂ of the working condition curve fluctuates by more than 60%, the drilling rig control module will automatically increase the rotation speed ω of the drill pipe by more than 40%.

Description of drawings

Fig. 1 is a working principle diagram of the intelligent safe and efficient drilling automatic control system of the present invention;

Fig. 2 is a working flow diagram of the drilling rig driving parameter detection module of the present invention;

Fig. 3 is a working flow chart of the rotary drilling parameter detection module of the present invention;

Fig. 4 is a curve diagram of drilling torque T and depth L when the torque T of the present invention fluctuates less than 10%;

Fig. 5 is a graph showing the relationship between the unregulated drilling torque T and the depth L of the present invention;

Fig. 6 is a graph showing the relationship between the automatic regulation of the drilling torque T and the depth L in the present invention.

detailed description

As shown in Figures 1 to 3, the intelligent, safe and efficient drilling automatic control system of the present invention includes a drilling rig driving parameter detection module 1, a rotary drilling parameter detection module 2, a drilling rig control module 3, a drilling rig pumping station 4, and a drilling rig gyrator 5, drilling tool 6, described rig driving parameter detection module 1 is connected with rig pumping station 4, is used for detecting torque T, thrust F ₁ and lifting force F ₂ in the drilling process; rotary drilling parameter detection module 2 and The rotator 5 of the drilling rig is connected to detect the drilling depth L, the rotary speed ω and the drilling speed ν of the drilling rig; the drilling rig control module 3 optimizes the drilling according to the data results detected by the rig driving parameter detection module 2 and the rotary drilling parameter detection module 2. Rod rotation speed and drilling speed, and the optimization results are transmitted to the drilling rig pump station 4 to drive the drilling rig gyrator 5 to implement drilling.

An intelligent, safe and efficient drilling automatic control system, the drilling rig driving parameter detection module 1 includes a torque detection module 11, a thrust detection module 12, and a lifting force detection module 13; the torque detection module 11 drives the drilling rig gyrator 5 to run by automatically detecting the drilling rig pump station 4 The oil pressure data of the drilling rig is transmitted to the drilling rig control module 3, and the drilling rig control module 3 automatically converts the data into torque T; the thrust detection module 12 automatically detects the oil pressure data of the drilling rig pumping station 4 to drive the drilling rig forward and transmits it to the drilling rig control Module 3, the drilling rig control module 3 automatically converts the data into thrust F1 _; the lifting force detection module 13 automatically detects the oil pressure data of the drilling rig pump station 4 to drive the drilling rig to lift the drill pipe outward and transmits it to the drilling rig control module 3, the drilling rig control Module 3 automatically converts this data into a lifting force F ₂ .

An intelligent, safe and efficient drilling automatic control system, the rotary drilling parameter detection module 2 includes a drilling depth detection module 22, a rotary speed detection module 23, and a drilling speed detection module 24; the drilling depth detection module 22 records the drilling depth through automatic detection The drilling depth L is transmitted to the drilling rig control module 3; the rotation speed detection module 23 records the rotation speed ω of the drill pipe through automatic detection and transmits it to the drilling rig control module 3; The drilling speed ν is transmitted to the drilling rig control module 3.

An intelligent safe and efficient drilling automatic control system, the drilling rig control module 3 is a visual operation platform with a built-in safe drilling automatic control application program, the operator enters the program operation interface to select objects, set parameters, and set in the program Coal seam solidity factor f, coal gas pressure P, coal seam buried depth H, drilling design depth L _s , drilling inclination α, drilling diameter D, drilling pipe diameter d, drilling pipe type, safe drilling automatic control application program Automatically generate the initial reference curves for the drilling construction, including: the relationship curve between drilling torque T ₀ and depth L, the relationship curve between drilling thrust F ₁₀ and depth L, the relationship curve between drilling force F ₂₀ and depth L, the relationship curve between drilling force Rod rotation speed ω ₀ and drilling depth L relationship curve, drilling speed ν ₀ and drilling depth L relationship curve. As shown in Fig. 4 and Fig. 5, it is the relationship curve between the drilling torque T and the depth L, and the curve _T0 is the initial reference curve generated according to the drilling design parameters.

An intelligent, safe and efficient drilling automatic control system, the drilling rig control module 3 automatically receives the torque T, thrust F ₁ , drilling pull-out force F ₂ , drilling depth L, drill pipe rotation speed ω and drilling The drilling speed ν, the built-in safe drilling automatic control application program automatically generates the working condition curve during the drilling process, including: the relationship curve between drilling torque T ₁ and depth L, the relationship curve between drilling thrust F ₁₁ and depth L, and the drilling back The relationship curve between lifting force F ₂₁ and depth L, the relationship curve between drill pipe rotation speed ω ₁ and drilling depth L, and the relationship curve between drilling speed ν ₁ and drilling depth L. As shown in Fig. 4 and _Fig . 5, it is the relationship curve between the drilling torque T and the depth L, and the curve T1 is the working condition curve during the drilling process.

The control method of the intelligent safe and efficient drilling automatic control system adopts the intelligent safe and efficient drilling automatic control system as claimed in claim 1, comprising the following steps:

(1) Enter the visual operation platform of the drilling rig control module, set the initial parameters of the drilling hole to be constructed based on claim 4, and the system automatically generates the initial reference curve for the drilling construction;

(2) Install the drill pipe on the drilling rig, connect the slag discharge power system, start the drilling rig to drill holes, and after the first drill pipe installed on the drilling rig is submerged in the rock formation, lengthen the drill pipe at the end of the drill pipe, and the process cycle conduct;

(3) After starting the drilling rig and starting the drilling, the system automatically generates the working condition curve in the drilling process of the drilling construction based on claim 5, and the working condition curve is displayed dynamically in real time on the visual operation platform interface of the drilling rig control module. The working condition curve of the construction and the initial reference curve are compared and displayed in the same interface and the same coordinate system;

(4) During the construction process, compared with the initial reference curve, at the same drilling depth position, when the operating condition curve torque T, thrust F ₁ and lifting force F ₂ fluctuate by more than 10%, the drilling rig control module 3 will Automatically optimize the drill pipe rotation speed ω and drilling speed ν to ensure safe drilling;

(5) Stop drilling after drilling to the design depth of the drilling hole, and exit the drill pipe;

(6) Adjust the position of the drilling rig and perform drilling operations on another hole;

(7), repeat steps (1), (2), (3), (4), (5), (6).

In the control method of an intelligent, safe and efficient drilling automatic control system, in step (4) the drilling rig control module 3 automatically optimizes the drill pipe rotation speed ω and the drilling speed ν in a specific manner as follows:

When drilling, at the same drilling depth position, compared with the initial reference curve, when the operating condition curve torque T and thrust F ₁ fluctuate by 0~10%, the drilling rig control module 3 will automatically keep the drill pipe rotation speed ω constant , the penetration speed ν remains unchanged. As shown in Figure 4, curve T ₀ is the initial reference curve generated according to the drilling design parameters, and curve T ₁ is the working condition curve in the drilling process. During the entire drilling process at the design depth L _S , the fluctuation range of the working condition curve torque T has been kept within 10%, indicating that the drilling speed is reasonable, the drilling slag is smooth, and there is no serious borehole blockage during the drilling process question.

When drilling, at the same drilling depth position, compared with the initial reference curve, when the working condition curve torque T and thrust F ₁ fluctuate by 10%~20%, the drilling rig control module 3 will automatically keep the drill pipe rotation speed ω constant. The drilling speed ν decreases from 0% to 10%. As shown in Figure 5, when the borehole is drilled to the depth L _D1 , the fluctuation of the drilling torque T reaches 10% and increases rapidly. If the rotation speed ω and the drilling speed ν of the drill pipe are not adjusted at this time, when the drilling depth is At L _D2 , the fluctuation of the drilling torque T increases rapidly to 30% and breaks through 50% in a short period of time. At this time, if the drilling torque T exceeds the rated torque of the drilling rig, the drill will be stuck or even broken. , the drilling will be terminated, and the borehole will fail to reach the design depth; based on the control method of the intelligent safe and efficient drilling automatic control system of the present invention, if the drilling rig is provided with an intelligent safe and efficient drilling automatic control system, as shown in Figure 6, When the borehole is drilled to the depth L _D1 , when the fluctuation of the drilling torque T reaches 10% and has an increasing trend, it indicates that the borehole shrinks seriously or collapses. At this time, the drilling rig control module 3 will automatically maintain the drill rod The rotary speed ω remains unchanged, and the drilling speed ν decreases, thereby reducing the coal-breaking speed of the drill bit, reducing the amount of cuttings, and there is enough time to unblock the blocked area of the drill hole. When the drilling depth is L _D2 , it is found that the drilling torque T The size fluctuation is reduced to less than 10%. At this time, it indicates that the blocked area of the borehole has been dredged, and the borehole construction will continue at the system-optimized drilling speed until the borehole design depth L _S is reached.

When drilling, at the same drilling depth position, compared with the initial reference curve, when the operating condition curve torque T and thrust F ₁ fluctuate by 20%~40%, the drilling rig control module 3 will automatically increase the drill pipe rotation speed ω range is 5%~20%, and the reduction rate of drilling speed ν is 5~20%.

When drilling, at the same drilling depth position, compared with the initial reference curve, when the operating condition curve torque T and thrust F ₁ fluctuate by 40%~60%, the drilling rig control module 3 will automatically increase the drill pipe rotation speed ω range 20%~40%, and the decrease of drilling speed ν is 15~40%.

When drilling, at the same drilling depth position, compared with the initial reference curve, when the torque T and thrust F ₁ of the working condition curve fluctuate by more than 60%, the drilling rig control module 3 will automatically increase the drill pipe rotation speed ω and the amplitude is greater than 40 %, the rate of decrease in drilling speed ν is greater than 40%.

When drilling back, at the same drilling depth position, compared with the initial reference curve, when the lifting force F ₂ of the working condition curve fluctuates by 0~10%, the drilling rig control module 3 will automatically keep the drill pipe rotation speed ω constant.

When drilling back, at the same drilling depth position, compared with the initial reference curve, when the lifting force F ₂ of the working condition curve fluctuates by 10%~20%, the drilling rig control module will automatically increase the rotation speed of the drill pipe by 3 to 5 %~15%.

When drilling back, at the same drilling depth position, compared with the initial reference curve, when the lifting force F ₂ of the working condition curve fluctuates by 20%~40%, the drilling rig control module 3 will automatically increase the rotation speed ω of the drill pipe by 10 %~30%.

When drilling back, at the same drilling depth position, compared with the initial reference curve, when the lifting force F ₂ of the working condition curve fluctuates by 40%~60%, the drilling rig control module 3 will automatically increase the rotation speed ω of the drill pipe by 20 %~40%.

When drilling back, at the same drilling depth position, compared with the initial reference curve, when the lifting force F ₂ of the working condition curve fluctuates by more than 60%, the drilling rig control module 3 will automatically increase the drill pipe rotation speed ω by more than 40%.

Claims (7)

1. An intelligent, safe and efficient drilling automatic control system, including a drilling rig drive parameter detection module, a rotary drilling parameter detection module, a drilling rig control module, a drilling rig pump station, a drilling rig gyrator, and a drilling tool, characterized in that: the drilling rig drive The parameter detection module is connected with the drilling rig pump station to detect the torque T, the thrust F1 and the lifting force F2 during the drilling process _; the rotary drilling parameter detection module is connected with the _rotator of the drilling rig to detect the drilling depth L, the drilling force Rod rotation speed ω and drilling speed ν; the drilling rig control module optimizes the drilling rod rotation speed and drilling speed according to the data results detected by the drilling rig driving parameter detection module and the rotary drilling parameter detection module, and transmits the optimization results to the drilling rig pump station drive Drilling rig implements drilling. 2. The intelligent safe and efficient drilling automatic control system according to claim 1, characterized in that: said drilling rig driving parameter detection module includes a torque detection module, a thrust detection module, and a lifting force detection module; Detect the oil pressure data of the drilling rig pump station driving the gyrator of the drilling rig and transmit it to the drilling rig control module. The drilling rig control module automatically converts the data into torque T; the thrust detection module automatically detects the oil pressure data of the drilling rig pump station driving the drilling rig forward And transmitted to the drilling rig control module, the drilling rig control module automatically converts the data into thrust F1 _; the lifting force detection module automatically detects the oil pressure data of the drilling rig pump station to drive the drilling rig to lift the drill pipe outward and transmits it to the drilling rig control module, the drilling rig control The module automatically converts this data into the lifting force F ₂ . 3. The intelligent safe and efficient drilling automatic control system according to claim 1, characterized in that: the rotary drilling parameter detection module includes a drilling depth detection module, a rotary speed detection module, and a drilling speed detection module; The drilling depth detection module records the drilling depth L through automatic detection and transmits it to the drilling rig control module; the rotation speed detection module records the rotation speed ω of the drill pipe through automatic detection and transmits it to the drilling rig control module; the drilling speed detection module records the drilling rig through automatic detection The gyrator holds the drilling speed ν of the drilling tool and transmits it to the drilling rig control module. 4. The intelligent safe and efficient drilling automatic control system according to claim 1, characterized in that: the drilling rig control module is a visual operation platform with a built-in safe drilling automatic control application program, and the operator enters the program operation interface Select objects and set parameters. In this program, set coal seam firmness factor f, coal gas pressure P, coal seam buried depth H, borehole design depth L _s , borehole inclination angle α, borehole diameter D, and drill pipe diameter d , drill pipe type, and the safety drilling automatic control application automatically generates the initial reference curve for the drilling construction, including: the relationship curve between the drilling torque T ₀ and the depth L, the relationship curve between the drilling thrust F ₁₀ and the depth L, and the drilling back The relationship curve between lifting force F ₂₀ and depth L, the relationship curve between drill pipe rotation speed ω ₀ and drilling depth L, and the relationship curve between drilling speed ν ₀ and drilling depth L. 5. The intelligent, safe and efficient drilling automatic control system according to claim 1, characterized in that: the drilling rig control module automatically receives the torque T, thrust F ₁ , drilling pull-out force F ₂ , Drilling depth L, drill pipe rotation speed ω and drilling speed ν, the built-in safe drilling automatic control application automatically generates the working condition curve during the drilling process, including: the relationship curve between drilling torque T ₁ and depth L, drilling The relationship curve between thrust force F ₁₁ and depth L, the relationship curve between drilling force F ₂₁ and depth L, the relationship curve between drill pipe rotation speed ω ₁ and drilling depth L, and the relationship curve between drilling speed ν ₁ and drilling depth L. 6. The control method of the intelligent safe and efficient drilling automatic control system adopts the intelligent safe and efficient drilling automatic control system as claimed in claim 1, characterized in that: comprising the following steps: (1) Enter the visual operation platform of the drilling rig control module, set the initial parameters of the drilling hole to be constructed based on claim 4, and the system automatically generates the initial reference curve for the drilling construction; (2) Install the drill pipe on the drilling rig, connect the slag discharge power system, start the drilling rig to drill holes, and after the first drill pipe installed on the drilling rig is submerged in the rock formation, lengthen the drill pipe at the end of the drill pipe, and the process cycle conduct; (3) After starting the drilling rig and starting the drilling, the system automatically generates the working condition curve in the drilling process of the drilling construction based on claim 5, and the working condition curve is displayed dynamically in real time on the visual operation platform interface of the drilling rig control module. The working condition curve of the construction and the initial reference curve are compared and displayed in the same interface and the same coordinate system; (4) During the construction process, compared with the initial reference curve, at the same drilling depth position, when the operating condition curve torque T, thrust F ₁ and lifting force F ₂ fluctuate by more than 10%, the drilling rig control module will automatically Optimize the drill pipe rotation speed ω and drilling speed ν to ensure safe drilling; (5) Stop drilling after drilling to the design depth of the drilling hole, and exit the drill pipe; (6) Adjust the position of the drilling rig and perform drilling operations on another hole; (7), repeat steps (1), (2), (3), (4), (5), (6). 7. The control method of an intelligent, safe and efficient drilling automatic control system according to claim 6, characterized in that: step (4) the drilling rig control module automatically optimizes the rotary speed ω and the drilling speed ν of the drill pipe in the following specific ways: When drilling, at the same drilling depth position, compared with the initial reference curve, when the operating condition curve torque T and thrust F ₁ fluctuate by 0~10%, the drilling rig control module will automatically keep the drill pipe rotation speed ω constant, The drilling speed ν remains unchanged; When drilling, at the same drilling depth position, compared with the initial reference curve, when the operating condition curve torque T and thrust F ₁ fluctuate by 10%~20%, the drilling rig control module will automatically keep the drill pipe rotation speed ω constant , the decrease of drilling speed ν is 0~10%; When drilling, at the same drilling depth position, compared with the initial reference curve, when the operating condition curve torque T and thrust F ₁ fluctuate by 20% to 40%, the drilling rig control module will automatically increase the drill pipe rotation speed ω by 5%~20%, the decrease of drilling speed ν is 5~20%; When drilling, at the same drilling depth position, compared with the initial reference curve, when the operating condition curve torque T and thrust F ₁ fluctuate by 40%~60%, the drilling rig control module will automatically increase the drill pipe rotation speed ω by 20%~40%, the decrease of drilling speed ν is 15~40%; When drilling, at the same drilling depth position, compared with the initial reference curve, when the torque T and thrust F ₁ of the working condition curve fluctuate by more than 60%, the drilling rig control module will automatically increase the rotation speed ω of the drill pipe by more than 40% , the decrease in drilling speed ν is greater than 40%; When drilling back, at the same drilling depth position, compared with the initial reference curve, when the lifting force F ₂ of the working condition curve fluctuates by 0~10%, the drilling rig control module will automatically keep the drill pipe rotation speed ω unchanged; When drilling back, at the same drilling depth position, compared with the initial reference curve, when the lifting force F ₂ of the working condition curve fluctuates by 10%~20%, the drilling rig control module will automatically increase the rotation speed ω of the drill pipe by 5% ~15%; When backing out the drill, at the same drilling depth position, compared with the initial reference curve, when the lifting force F ₂ of the working condition curve fluctuates by 20%~40%, the drilling rig control module will automatically increase the rotation speed ω of the drill pipe by 10% ~30%; When drilling back, at the same drilling depth position, compared with the initial reference curve, when the lifting force F ₂ of the working condition curve fluctuates by 40%~60%, the drilling rig control module will automatically increase the rotation speed ω of the drill pipe by 20% ~40%; When drilling back, at the same drilling depth position, compared with the initial reference curve, when the lifting force F ₂ of the working condition curve fluctuates by more than 60%, the drilling rig control module will automatically increase the rotation speed ω of the drill pipe by more than 40%.