Rapid tunneling method and tunneling system for coal mine tunnel

Abstract

The invention provides a coal mine tunnel rapid tunneling method and tunneling system, and relates to the technical field of coal mining, and the method comprises the following steps: obtaining geological data on a target tunneling line; dividing the target tunneling line into a plurality of tunneling line segments according to the geological data; determining the optimal cutterhead mode of the cutterhead of the heading machine in each heading line segment based on the time-varying dynamic characteristics of the cutterhead cutting process in combination with geological data; according to the optimal cutter mode, tunneling a first length along the target tunneling line to obtain a first roadway; collecting a first positioning point and a second positioning point on the first roadway; calculating a deviation included angle between a connecting line of the positioning points and a tunneling line segment to which the tunneling machine belongs, and calculating a correction included angle by combining a self-adaptive integral feedback factor under physical constraint under the condition that the deviation included angle is greater than a preset deviation included angle; and adjusting the tunneling direction of the tunneling machine according to the corrected included angle until the target tunneling line is completed. And the tunneling speed is increased, and uncontrollable deviation is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal mining, in particular to a coal mine roadway rapid tunneling method and a tunneling system. BACKGROUND

[0002] The coal mine roadway refers to a passageway dug underground for the purpose of mining coal resources. The main function of the roadway is to provide space for transportation, ventilation, drainage, safe passage of workers, and installation of equipment in coal mines.

[0003] The rapid tunneling of the coal mine roadway is of great significance to improving the efficiency of coal mining and shortening the construction period. Through efficient tunneling technology, the opening of the roadway can be completed in a short time, reducing the construction time of the mine, so as to put into production as soon as possible. In addition, rapid tunneling can also reduce the construction cost of the mine and ensure the profitability of the mine in the competitive market.

[0004] However, the existing coal mine roadway tunneling method usually lacks real-time adaptation to geological conditions, has low tunneling efficiency, is difficult to accurately adjust the cutterhead mode, needs frequent shutdown to adjust the cutterhead mode, and moreover, the complex geological conditions affect the cutterhead vibration mode, which is prone to deviate from the predetermined route, resulting in slow tunneling speed and uncontrollable deviation. SUMMARY

[0005] In view of the above deficiencies of the prior art, the purpose of the embodiments of the present application is to provide a coal mine roadway rapid tunneling method, which can solve the technical problems that the existing coal mine roadway tunneling method usually lacks real-time adaptation to geological conditions, has low tunneling efficiency, is difficult to accurately adjust the cutterhead mode, needs frequent shutdown to adjust the cutterhead mode, and moreover, the complex geological conditions affect the cutterhead vibration mode, which is prone to deviate from the predetermined route, resulting in slow tunneling speed and uncontrollable deviation.

[0006] In a first aspect, the present application provides a coal mine roadway rapid tunneling method, comprising:

[0007] S1: obtaining geological data on a target tunneling route;

[0008] S2: dividing the target tunneling route into a plurality of tunneling line segments according to the geological data, wherein the geological data in each tunneling line segment corresponds to a single geological type;

[0009] S3: determining the optimal cutterhead mode of the tunneling machine cutterhead in each tunneling line segment based on the time-varying dynamics characteristics of the cutterhead cutting process in combination with the geological data;

[0010] S4: tunneling along the target tunneling route to a first length according to the optimal cutter mode, to obtain a first roadway, wherein the first length is less than the length of the tunneling line segment to which the tunneling machine belongs.

[0011] S5: collecting a first positioning point and a second positioning point on the first roadway, wherein a positioning point connecting line between the first positioning point and the second positioning point is parallel to a first roadway center line, and the first positioning point is a starting point of the first roadway;

[0012] S6: calculating an offset angle between the positioning point connecting line and a tunneling line segment to which the tunneling machine belongs, and in a case where the offset angle is greater than a preset offset angle, calculating a corrected angle under physical constraints in combination with an adaptive integral feedback factor;

[0013] S7: adjusting a tunneling direction of the tunneling machine according to the corrected angle;

[0014] S8: repeating steps S1 to S7 until a target tunneling line is completed.

[0015] In a second aspect of the embodiment of the present application, a coal mine roadway rapid tunneling system is provided, comprising a processor and a memory.

[0016] The memory stores programs or instructions executable on the processor, and the programs or instructions are executed by the processor to implement the steps of the coal mine roadway rapid tunneling method according to the first aspect.

[0017] In a third aspect of the embodiment of the present application, a readable storage medium is provided, and the readable storage medium stores programs or instructions, and the programs or instructions are executed by a processor to implement the steps of the coal mine roadway rapid tunneling method according to the first aspect.

[0018] The technical scheme provided by the embodiment of the present application has at least the following beneficial effects:

[0019] In the embodiment of the present application, by combining real-time geological data and time-varying dynamic characteristics of the cutterhead cutting process, the cutterhead mode can be accurately optimized, the tunneling efficiency can be improved, and the need for frequent shutdown adjustment can be reduced. By carefully analyzing the geological conditions of each tunneling line segment and adjusting the cutterhead working state accordingly, the negative impact of complex geological conditions on the cutterhead vibration mode can be effectively avoided. In addition, by using the positioning point correction deviation and the adaptive feedback mechanism, the accuracy of the tunneling route is ensured, the tunneling speed is further improved, uncontrollable deviations are avoided, and the overall production capacity and safety of coal mining are improved. BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification, illustrate embodiments described herein, and together with the description serve to explain the principles of the present application. It is to be understood that other specific arrangements can be utilized and that the generic or specific arrangement illustrated can be employed without departing from the spirit or scope of the present application.

[0021] Figure 1 is a flowchart of a coal mine roadway rapid excavation method provided by an embodiment of the present application;

[0022] Figure 2 is a structural diagram of a coal mine roadway rapid excavation system provided by an embodiment of the present application. DETAILED DESCRIPTION

[0023] In order for those skilled in the art to better understand the technical solutions in the embodiments of the present application, the technical solutions of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. It should be understood that these descriptions are only exemplary and are not used to limit the scope of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor should fall within the scope of protection of the present application.

[0024] The coal mine roadway rapid excavation method provided by the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings, specific embodiments and application scenarios.

[0025] Reference is made to the accompanying drawings Figure 1 , which shows a flowchart of a coal mine roadway rapid excavation method provided by an embodiment of the present application.

[0026] The coal mine roadway rapid excavation method provided by the embodiments of the present application can include the following steps:

[0027] S1: Obtain geological data on a target excavation route.

[0028] The geological data refers to various information about the underground rock stratum and geological structure of the coal mine excavation area. These data can be obtained by geological exploration technology and used to describe the characteristics, physical properties and geological conditions of the underground rock stratum.

[0029] In a possible implementation, S1 is specifically:

[0030] The geological data is obtained by a geological radar or seismic wave detection.

[0031] It can be understood that the geological data can be efficiently detected by the geological radar or seismic wave detection to obtain the underground rock stratum structure and physical properties. These technologies are prior art, without directly contacting the underground layer, the geological information can be collected in real time, which provides accurate data support for subsequent excavation path planning and cutterhead mode optimization. The geological data can be directly called from the corresponding database.

[0032] S2: divide the target tunneling route into multiple tunneling segments according to the geological data, wherein the geological data in each tunneling segment corresponds to a single geological category.

[0033] It should be noted that the target tunneling route is divided into multiple tunneling segments according to whether the geological characteristics in each segment are consistent based on the acquired geological data. The purpose of this is to adapt to the tunneling requirements under different geological conditions and ensure that the working state of each tunneling segment is optimized. In particular, when encountering non-coal mine areas, different geological categories are detected and classified in advance, so that appropriate tunneling strategies and cutterhead modal adjustments can be taken.

[0034] In one possible implementation, S2 specifically includes:

[0035] S201: obtain the correspondence between roadway geological data and geological categories from a geological database, wherein the geological database includes IGSN (International Geo Sample Number) geological database, GeoSciML geological database, mineral database, and rock database.

[0036] S202: divide the target tunneling route into multiple tunneling segments according to the geological data using the correspondence.

[0037] It should be noted that by obtaining roadway geological data and its corresponding geological categories from multiple geological databases (such as IGSN, GeoSciML, etc.), different geological characteristics are analyzed. Using the correspondence of these data, the target tunneling route is divided into multiple tunneling segments to ensure that the geological conditions in each segment are consistent, thereby optimizing the tunneling strategy, adapting to different geological environments, and improving the efficiency and accuracy of tunneling.

[0038] S3: determine the optimal cutterhead mode of the tunneling machine cutterhead in each tunneling segment based on the time-varying dynamics of the cutterhead cutting process in combination with the geological data.

[0039] Wherein, the time-varying dynamics refers to the dynamic change law between the cutterhead cutting force and time during the coal mine roadway tunneling process. Since the geological conditions are constantly changing (such as rock hardness, structure, friction, etc.), the working state of the cutterhead in different geological environments will also change. These changes will affect the vibration of the cutterhead, the cutting efficiency, and the working load of the tunneling machine. By combining the actual geological data, the time-varying dynamics of the geological conditions on the cutting process of the tunneling machine cutterhead is analyzed, and the optimal cutterhead mode is determined. This can ensure that the cutterhead can tunnel in the best working state under different geological environments, maximize the tunneling efficiency, reduce equipment wear and tear, and reduce energy consumption.

[0040] In a possible implementation, the optimal cutterhead mode includes an optimal cutterhead rotation speed, an optimal cutterhead penetration, and an optimal cutterhead vibration mode.

[0041] wherein the optimal cutterhead mode is a best cutterhead working mode determined according to the geological data and the time-varying dynamic characteristics of the cutterhead cutting process. It comprehensively considers the rotation speed, penetration, and vibration mode of the cutterhead, aiming to ensure the working efficiency of the cutterhead under different geological conditions, reduce energy consumption, and reduce damage to the equipment. The optimal cutterhead rotation speed refers to the rotation speed required by the cutterhead to achieve the best efficiency when cutting rock. The optimal cutterhead penetration refers to the cutting depth of the cutter when cutting rock. The optimal cutterhead vibration mode refers to the frequency and amplitude of the cutterhead vibration during the cutting process.

[0042] In a possible implementation, S3 specifically includes:

[0043] S301: determining a geological feature vector in the tunneling line segment according to the geological data, wherein the elements of the geological feature vector include uniaxial compressive strength, Brazilian split strength, joint density, rock layer inclination, and abrasiveness index.

[0044] Specifically, the elements of the geological feature vector can be directly obtained from the geological data and converted according to the geological conversion rule (introducing the geological strength index GSI as an intermediate variable, and then converting it by the Hoek-Brown criterion).

[0045] S302: establishing a dynamic coupling model between the elements of the geological feature vector and the elements of the cutterhead mode describing the time-varying dynamics of the cutterhead cutting process, wherein the elements of the cutterhead mode include the cutterhead rotation speed, the cutterhead penetration, and the cutterhead vibration mode.

[0046] The dynamic coupling model is specifically:

[0047]

[0048] wherein, represents the equivalent mass matrix of the cutterhead, , and represent the cutterhead vibration displacement vector, the first-order derivative of the cutterhead vibration displacement vector, and the second-order derivative of the cutterhead vibration displacement vector, represents the geological feature vector of the kth tunneling line segment, represents the rock breaking damping matrix related to , represents the tunneling machine stiffness matrix related to the joint density and the rock layer inclination in the geological feature vector, represents the cutterhead rotation speed , the cutterhead penetration and cutting force related to uniaxial compressive strength, Brazilian splitting strength, abrasiveness index in the geological feature vector.

[0049] Specifically, one modeling method of the cutterhead equivalent mass matrix, the rock breaking damping matrix, and the tunneling machine stiffness matrix is as follows:

[0050] wherein and represent the cutterhead radial equivalent mass and the cutterhead tangential equivalent mass respectively, and represent the cutterhead density, the cutterhead radius, and the cutterhead thickness respectively, and represent the cutterhead radial mass coefficient and the cutterhead tangential mass coefficient calibrated by the tunneling machine respectively.

[0051] wherein, represents the reference radial damping measured by the cutterhead structure damping test, and both represent the geological influence coefficient calibrated by the test, and represent the abrasiveness index and the joint density respectively.

[0052] wherein, represents the uniaxial compressive strength, represents the radial stiffness, represents the reference radial stiffness measured by the cutterhead static stiffness test, and represent the reference uniaxial compressive strength and the reference joint density respectively, represents the compressive-tensile stiffness coupling coefficient calibrated by the test, represents the reference Brazilian splitting strength, represents the Brazilian splitting strength, represents the stiffness sensitivity coefficient of the corresponding parameter calibrated by the test, represents the tangential stiffness, represents the reference tangential stiffness measured by the cutterhead static stiffness test, and represent the tangential stiffness sensitivity coefficient of the corresponding parameter calibrated by the test.

[0053] ​​​​​​​​It's important to note that by establishing a dynamic coupling model that accurately models the relationship between geological characteristics and cutterhead modalities, it enables dynamic adjustment of cutterhead vibration, cutting forces, and geological conditions. This approach optimizes cutterhead operation for different geological environments, improving cutting efficiency and stability while reducing equipment wear and energy consumption, ensuring safety and accuracy during tunneling. The application of this dynamic coupling model enables tunneling machines to operate efficiently and accurately in complex geological conditions.

[0054] S303: In combination with the dynamic coupling model, a multi-objective optimization function including the tunneling efficiency term, the crushing specific energy term, and the roadway quality deviation term of the roadheader is constructed.

[0055] The specific formula of the multi-objective optimization function is:

[0056]

[0057]

[0058]

[0059]

[0060] in, represents the tool modal vector of the kth tunneling segment, Represents The actual excavation time of the relevant k-th tunnel section, represents the length of the kth tunneling segment, Indicates the cutter head speed. Indicates the penetration of the cutter head. Indicates the vibration mode of the cutter head, Indicates the cutting area that is the same as the cross section of the tunnel boring machine cutter head. Indicates the advancement speed of the tunnel boring machine. represents pi, 、 and They represent the normalized efficiency weight, normalized energy consumption weight and normalized roadway shape quality weight used to adjust the importance of the corresponding parts, Indicates the current tool mode Crushing specific energy per unit volume of rock during tunneling, represents the small component of the kth tunneling segment, Represents a line segment The curvature of the roadway, represents the expected curvature, Indicates the roadway curvature deviation, Indicates taking the minimum function value .

[0061] The calculation of actual excavation time, crushing specific energy and roadway curvature deviation are all related to the dynamic coupling model. Specifically, the calculation logic of actual excavation time is to convert and Substitute the dynamic coupling model to solve the tool vibration displacement, and then the radial vibration displacement per unit time determines the actual advancement speed. Finally, the actual excavation time is obtained by dividing the length of the corresponding excavation line segment by the radial vibration displacement per unit time. The specific calculation logic of the crushing specific energy is to perform a time-integrated operation on the cutting force on the right side of the dynamic coupling model equation to obtain the total cutting work, and then divide the total cutting work by the excavation volume (L k The crushing specific energy is calculated by multiplying the product of the tool's radial displacement and the tunnel's cross-sectional area. The tunnel quality deviation term is calculated as follows: Since the radial displacement component of the tool vibration in the dynamic coupling model equation corresponds to the actual cutting trajectory of the cutting head (or cutterhead), compared with the theoretical trajectory of the designed tunneling route, the integral sum of the calculated trajectory deviations is the tunnel curvature deviation.

[0062] It's important to note that a multi-objective optimization function was constructed, comprehensively considering factors such as excavation efficiency, crushing energy density, and roadway quality to ensure optimal cutterhead modal performance under varying geological conditions. This optimization function balances the priorities of various tasks and, by adjusting relevant parameters (such as cutterhead speed, penetration, and vibration mode), maximizes excavation efficiency and minimizes energy consumption while ensuring roadway quality, ultimately improving the accuracy and economy of the overall excavation operation.

[0063] S304: Introducing the roadheader operating condition constraints, wherein the roadheader operating condition constraints include cutter head torque constraints, excavation time constraints, and roadway curvature deviation constraints.

[0064] The cutterhead torque constraint specifically requires that the cutterhead torque be less than the maximum cutterhead torque of the roadheader. The excavation duration constraint specifically requires that the actual excavation duration be less than or equal to the expected excavation duration and greater than the baseline excavation duration for the geological type. The roadway curvature deviation constraint specifically requires that the roadway curvature deviation be less than the preset roadway curvature deviation.

[0065] It should be noted that those skilled in the art can set the size of the preset lane offset according to actual needs, and the present invention does not limit this.

[0066] S305: Under the constraints of the roadheader working condition, optimize the cutterhead mode and output the optimal tool mode.

[0067] Specifically, by combining geological data with the time-varying dynamic characteristics of the cutterhead cutting process, a precise dynamic coupling model is established to optimize the cutterhead mode of the roadheader. This method considers factors such as excavation efficiency, specific energy consumption, and roadway quality deviation through a multi-objective optimization function, ensuring that the cutterhead can achieve the best working state under different geological conditions. This not only improves the operation efficiency of the roadheader and reduces energy consumption, but also effectively reduces equipment wear and tear. At the same time, by introducing the working condition constraints of the roadheader (such as cutterhead torque, excavation duration, and roadway curvature deviation), it ensures that the excavation process is within the physical and safety limits, avoiding excessive wear and tear or improper operation, and ensuring the long-term stable operation of the equipment. In summary, this method makes the coal mine roadway excavation process more precise, efficient, and economical, and can adapt to complex and variable geological environments, significantly improving the overall efficiency of the excavation work.

[0068] S4: Excavate a first length along the target excavation line according to the optimal tool mode to obtain a first roadway, wherein the first length is less than the length of the excavation line segment to which the roadheader belongs.

[0069] The length of the excavation line segment to which the roadheader belongs refers to the length of the excavation line segment in which the roadheader is currently located.

[0070] It should be noted that by excavating in small straight lines, real-time monitoring and correction of the direction can be facilitated, cumulative errors can be reduced, and precision and efficiency can be improved.

[0071] S5: Collect a first positioning point and a second positioning point on the first roadway, wherein the line connecting the first positioning point and the second positioning point is parallel to the center line of the first roadway, and the first positioning point is the starting point of the first roadway.

[0072] The starting point of the first roadway is a point on the excavation section of the first roadway.

[0073] It should be noted that collecting the starting point of the first roadway as the first positioning point establishes a clear and critical starting reference for the entire roadway positioning system, providing a reliable starting point for subsequent positioning work. Ensuring that the line connecting the first positioning point and the second positioning point is parallel to the center line of the first roadway allows accurate adherence to the actual orientation of the roadway, establishing a positioning reference that conforms to the actual layout of the roadway. In subsequent roadway operations, whether it is equipment movement, personnel navigation, or various construction operations, accurate positioning and navigation can be achieved based on this precise positioning reference, greatly improving the accuracy and efficiency of the operation.

[0074] S6: Calculate the offset angle between the line connecting the positioning points and the excavation line segment to which the roadheader belongs. If the offset angle is greater than the preset offset angle, calculate the correction angle under physical constraints combined with the adaptive integral feedback factor.

[0075] The offset angle refers to an angle between an actual tunneling track of the current position of the tunneling machine and the target tunneling line. The adaptive integral feedback factor is a control strategy for dynamically adjusting the correction strength of the tunneling machine according to the real-time deviation. The correction effect is gradually enhanced by integrating the offset angle (i.e., cumulative deviation), so as to avoid overcorrection or undercorrection.

[0076] It should be noted that by calculating the offset angle between the connecting line of the positioning point and the actual tunneling line segment of the tunneling machine, and correcting the offset angle when the offset angle exceeds the preset threshold, the adaptive integral feedback factor is used to ensure that the tunneling machine can adjust the tunneling direction in real time under dynamic conditions, avoid deviating from the target route, improve the tunneling accuracy and efficiency, and consider the physical constraints to ensure the safety of the equipment and the stability of the operation.

[0077] It should be noted that the size of the preset offset angle can be set by the person skilled in the art according to actual needs, and the present application does not limit it.

[0078] In one possible implementation, S6 specifically includes:

[0079] S601: Calculate a dynamic constraint factor of the correction amplitude of the roadway boundary in combination with the diameter of the roadway, so as to avoid overcorrection or undercorrection.

[0080] In one possible implementation, S601 specifically includes:

[0081] S6011: Calculate the perpendicular distance between the tunneling machine and the connecting line of the positioning point.

[0082] S6012: Calculate a first ratio between the perpendicular distance and the diameter of the roadway, and a second ratio between the offset angle and the preset offset angle.

[0083] S6013: Take the product of the first ratio and the second ratio as an index of a natural exponential function, so as to perform smooth mapping on the product to obtain an angle dynamic constraint factor.

[0084] The calculation formula of the dynamic constraint factor is specifically:

[0085]

[0086]

[0087]

[0088]

[0089] wherein, the angle dynamic constraint factor is represented by, the natural exponential function is represented by, the offset angle is represented by, represents a preset offset angle, represents a vertical distance, represents a roadway diameter, represents an actual trajectory direction vector of the roadheader corresponding to the positioning point line, represents an ideal direction vector preset by the roadheader, and respectively represent first and second positioning point coordinates, represents a current coordinate of the roadheader.

[0090] It should be noted that the relationship between the offset angle and the roadway diameter is accurately determined by calculating the vertical distance between the roadheader and the positioning point line and the related ratio, so as to dynamically adjust the correction range. The angle dynamic constraint factor is generated by using the natural exponential function smooth mapping, which ensures that the correction process conforms to the physical limit and avoids excessive correction or insufficient correction. This process can adapt to the actual shape of the roadway and the motion trajectory of the roadheader in real time, effectively optimize the heading direction, improve the accuracy and stability of the path correction, and ensure that the roadheader maintains an efficient and safe working state in a complex environment.

[0091] S602: Determine the curvature constraint factor that prevents the corrected path from exceeding the mechanical limit of the roadheader in terms of curvature under the offset angle, with the minimum turning radius of the roadheader as the constraint.

[0092] The calculation formula of the curvature constraint factor is specifically:

[0093]

[0094] wherein, represents the curvature constraint factor, represents the minimum turning radius of the roadheader.

[0095] It should be noted that by introducing the minimum turning radius of the roadheader as a constraint, it is ensured that the curvature of the corrected path will not exceed the mechanical limit of the roadheader. By calculating the curvature constraint factor, the turning range of the roadheader when adjusting the direction can be effectively controlled, avoiding excessive turning that may cause equipment damage or unstable operation. This not only improves the safety of the equipment, but also ensures the smoothness and efficiency of the heading process.

[0096] S603: Calculate the integral value of the offset angle, i.e., the adaptive integral feedback factor, to adaptively enhance the correction angle.

[0097] The calculation method of the adaptive integral feedback factor is specifically:

[0098]

[0099] wherein, represents an initial gain, represents an integral coefficient, denotes a micro time variable at time t, denotes a gain at time t, that is, an adaptive integral feedback factor.

[0100] It should be noted that the adaptive integral feedback factor is generated by calculating the integral value of the offset angle, so as to enhance the adjustment strength of the correction angle. This method can dynamically adjust the correction strategy according to the historical change of the offset, ensure that the correction process gradually becomes accurate over time, and avoid overcorrection or insufficient correction. Through adaptive feedback, the roadheader can optimize the correction in real time, improve the stability and accuracy of the path correction, and ensure efficient and safe tunneling operation.

[0101] Optionally, the initial gain can be set to 1. The integral coefficient can be adjusted based on actual working conditions, and can be specifically set to 0.05.

[0102] S604: Calculate the correction angle in combination with the angle dynamic constraint factor, the curvature constraint factor, and the adaptive integral feedback factor.

[0103] In one possible implementation, S604 specifically includes:

[0104] S6041: Map the offset angle to a sign function.

[0105] S6042: Calculate the main correction term of the offset angle.

[0106] S6043: Restrict the main correction term in combination with the angle dynamic constraint factor, the curvature constraint factor, the adaptive integral feedback factor, and the sign function of the offset angle, to obtain the correction angle.

[0107] The calculation formula of the correction angle is specifically:

[0108]

[0109] wherein, denotes the sign function value of the offset angle denotes the main correction term, denotes the correction angle.

[0110] It should be noted that the correction angle is accurately calculated by mapping the offset angle to a sign function and in combination with the angle dynamic constraint factor, the curvature constraint factor, and the adaptive integral feedback factor. This process effectively adjusts the correction path of the roadheader, ensures that the correction is neither excessive nor insufficient, and avoids excessive turning of the equipment or loss of control of the path. Through dynamic constraint and adaptive feedback, the correction angle can be optimized in real time, ensuring that the roadheader operates smoothly, safely, and accurately under complex geological conditions, thereby improving the tunneling accuracy and operation efficiency.

[0111] ​Specifically, by introducing dynamic constraint factors and adaptive feedback mechanisms, the correction process is optimized to ensure that the roadheader makes precise adjustments when deviating from the target path. First, by considering the roadway diameter and the minimum turning radius of the roadheader, excessive or insufficient correction is avoided, ensuring that the correction process complies with physical and mechanical constraints and preventing curvature from exceeding mechanical limits. Second, an adaptive integral feedback factor is used to dynamically adjust the correction intensity based on real-time deviations, enhancing the correction effect. This process effectively improves the excavation accuracy, reduces equipment load, and ensures the safety and stability of the operation.

[0112] S7: Adjust the excavation direction of the roadheader according to the correction angle.

[0113] S8: Repeat steps S1 to S7 until the target excavation route is completed.

[0114] In practical applications, through the integration of geological data, cutterhead modal optimization, dynamic coupling models, and real-time correction mechanisms, an efficient, accurate, and safe excavation process is achieved. First, accurate underground rock data is obtained through geological radar or seismic wave detection, and the target excavation route is divided into multiple excavation line segments, with the cutterhead modal optimized for different geological conditions. Second, based on the dynamic coupling model, the cutterhead speed, penetration, and vibration mode of the roadheader are considered to maximize excavation efficiency, reduce energy consumption, and reduce equipment wear. Third, through a multi-objective optimization function, excavation efficiency, specific energy consumption, and roadway quality are considered to further improve operational accuracy and economy. Finally, adaptive integral feedback factors, curvature constraint factors, and dynamic constraint factors are used to correct the deviation angle, ensuring that the roadheader accurately adjusts the path, avoiding excessive correction or insufficient correction, reducing equipment load, and improving stability and operational safety. This method significantly improves the efficiency, accuracy, and safety of the excavation operation, can adapt to complex and variable geological environments, reduces energy consumption and equipment wear, and has strong practical application value.

[0115] The technical solutions provided by the embodiments of the present application have at least the following beneficial effects:

[0116] In the embodiments of the present application, by combining real-time geological data and the time-varying dynamics of the cutterhead cutting process, the cutterhead modal can be accurately optimized, the excavation efficiency can be improved, and the need for frequent stoppage adjustments can be reduced. By carefully analyzing the geological conditions of each excavation line segment and adjusting the cutterhead working state accordingly, the negative impact of complex geological conditions on the cutterhead vibration mode can be effectively avoided. In addition, the positioning point correction deviation and adaptive feedback mechanism ensure the accuracy of the excavation route, further improve the excavation speed, avoid uncontrollable deviations, and improve the overall production capacity and safety of coal mining.

[0117] Reference is made to the drawings attached to the specification Figure 2Fig. 1 shows a structural schematic diagram of a coal mine roadway rapid tunneling system provided by an embodiment of the present application.

[0118] An embodiment of the present application provides a coal mine roadway rapid tunneling system 20, which comprises a processor 201 and a memory 202.

[0119] The memory 202 stores programs or instructions which can run on the processor 201, and the programs or instructions are executed by the processor 201 to realize the steps of the coal mine roadway rapid tunneling method and achieve the same technical effects. To avoid repetition, the present application will not make further description.

[0120] It should be understood that the processor 201 in the embodiment of the present application can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), ready programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc.

[0121] It is also to be understood that the memory 202 in embodiments of the present application can be volatile or nonvolatile memory, or can include both volatile and nonvolatile memory. Nonvolatile memory can be read-only memory (ROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically EPROM (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), which is used as external cache. By way of example, and not limitation, many forms of random access memory can be used, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double-data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and direct Rambus RAM (DR RAM).

[0122] The above-described embodiments can be implemented in whole or in part by software, hardware (e.g., circuitry), firmware, or any combination of the three. When implemented in software, the above-described embodiments can be implemented in the form of one or more computer programs that are stored in a computer-readable storage medium. The computer-readable storage medium stores one or more computer instructions or computer programs that, when loaded into a computer, cause the computer to perform the processes or functions described in the embodiments of the present application. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable apparatus. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, such as from a website, a computer, a server, or a data center to another website, computer, server, or data center, via a wired (e.g., infrared, wireless, microwave, etc.) manner. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains one or more collections of available media. The available media can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. The semiconductor medium can be a solid-state disk.

[0123] It should be understood that the size of the sequence number of each process described above in various embodiments of the present application does not mean the order of execution, and the execution order of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0124] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be realized in electronic hardware, or a combination of computer software and electronic hardware. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those of ordinary skill in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0125] Those of ordinary skill in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the devices, apparatuses and units described above can refer to the corresponding processes in the foregoing method embodiments, which will not be described here.

[0126] In several embodiments provided by the present application, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other manners. For example, the embodiments of the apparatus described above are merely schematic. For example, the division of the units is only a logical function division. There can be another division manner for the actual implementation. For example, a plurality of units or components can be combined or integrated into another device, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0127] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0128] In addition, each functional unit in the various embodiments of the present application can be integrated into a processing unit, or each unit can exist physically, or two or more units can be integrated into one unit.

[0129] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the part of the technical solutions that make essential contributions to the prior art or the part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0130] The embodiment of the present application provides a readable storage medium, which includes: a program or instruction stored on the readable storage medium, the program or instruction is executed by a processor to realize the steps of the coal mine roadway rapid tunneling method described above, and the same technical effect can be achieved. To avoid repetition, the present application will not be described again.

[0131] It should be pointed out finally that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present application, but not to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application. Any changes or replacements that can be easily thought of by those skilled in the art within the technical scope disclosed by the present application should be covered within the protection scope of the present application.

Claims

1. A method for rapid tunneling in a coal mine, characterized in that: include: S1: Acquire geological data on the target excavation route; S2: dividing the target excavation route into a plurality of excavation line segments according to the geological data, wherein the geological data within each excavation line segment corresponds to a single geological type; S3: Determining the optimal cutterhead mode of the tunnel boring machine cutterhead in each tunneling segment based on the time-varying dynamic characteristics of the cutterhead cutting process in combination with the geological data; S4: excavating a first length along the target excavation route according to the optimal tool mode to obtain a first tunnel, wherein the first length is less than the length of the excavation line segment to which the roadheader belongs; S5: collecting a first positioning point and a second positioning point on the first lane, wherein a line connecting the first positioning point and the second positioning point is parallel to a center line of the first lane, and the first positioning point is a starting point of the first lane; S6: calculating an offset angle between the line connecting the positioning points and the tunneling line segment to which the tunnel boring machine belongs, and when the offset angle is greater than a preset offset angle, calculating a correction angle in combination with an adaptive integral feedback factor under physical constraints; S7: adjusting the tunneling direction of the tunnel boring machine according to the corrected angle; S8: Repeat steps S1 to S7 until the target excavation route is completed.

2. The method for rapid tunneling of a coal mine according to claim 1, characterized in that: The S1 is specifically: The geological data is obtained through geological radar or seismic wave detection.

3. The method for rapid tunneling of a coal mine according to claim 1, characterized in that: The S2 specifically includes: S201: Acquire a correspondence between the tunnel geological data and the geological type from a geological database, wherein the geological database includes an IGSN (International Geo Sample Number) geological database, a GeoSciML geological database, a mineral database, and a rock database; S202: Divide the target excavation route into a plurality of excavation line segments according to the geological data and using the corresponding relationship.

4. The method for rapid tunneling of a coal mine according to claim 1, characterized in that: The optimal cutterhead mode includes an optimal cutterhead rotation speed, an optimal cutterhead penetration, and an optimal cutterhead vibration mode.

5. The method for rapid tunneling of a coal mine according to claim 4, characterized in that: The S3 specifically includes: S301: Determine a geological characteristic vector within the tunneling segment based on the geological data, wherein the elements of the geological characteristic vector include uniaxial compressive strength, Brazilian splitting strength, joint density, rock layer inclination, and abrasiveness index; S302: establishing a dynamic coupling model between geological characteristic vector elements describing the time-varying dynamic characteristics of the cutterhead cutting process and cutterhead modal elements, wherein the cutterhead modal elements include cutterhead rotation speed, cutterhead penetration, and cutterhead vibration mode; S303: In combination with the dynamic coupling model, a multi-objective optimization function including a tunneling efficiency term, a crushing specific energy term, and a roadway quality deviation term of the roadheader is constructed; S304: Introducing a roadheader operating condition constraint, wherein the roadheader operating condition constraint includes a cutterhead torque constraint, a driving time constraint, and a tunnel curvature deviation constraint. The cutterhead torque constraint specifically stipulates that the cutterhead torque is less than the maximum cutterhead torque of the roadheader; the driving time constraint specifically stipulates that the actual driving time is less than or equal to the expected driving time and that the actual driving time is greater than the benchmark driving time under the geological type; and the tunnel curvature deviation constraint specifically stipulates that the tunnel curvature deviation is less than a preset tunnel curvature deviation. S305: Under the working condition constraints of the tunnel boring machine, optimize the cutterhead mode and output the optimal tool mode.

6. The method for rapid tunneling of a coal mine according to claim 1, characterized in that: The S6 specifically includes: S601: Calculate the dynamic constraint factor of the lane boundary on the correction amplitude in combination with the lane diameter to avoid overcorrection or undercorrection; S602: Taking the minimum turning radius of the roadheader as a constraint, determining a curvature constraint factor that prevents the curvature of the corrected path from exceeding the mechanical limit of the roadheader at the offset angle; S603: Calculating the integral value of the offset angle, i.e., the adaptive integral feedback factor, to adaptively enhance the correction angle; S604: Calculate the corrected angle by combining the angle dynamic constraint factor, the curvature constraint factor, and the adaptive integral feedback factor.

7. The method for rapid tunneling of a coal mine according to claim 6, characterized in that: The S601 specifically includes: S6011: Calculate the vertical distance between the roadheader and the line connecting the positioning points; S6012: Calculating a first ratio between the vertical distance and the roadway diameter and a second ratio between the offset angle and a preset offset angle; S6013: Using the negative value of the product of the first ratio and the second ratio as the exponent of a natural exponential function to perform smooth mapping on the negative value of the product, thereby obtaining the angle dynamic constraint factor.

8. The method for rapid tunneling of a coal mine according to claim 1, characterized in that: The S604 specifically includes: S6041: Mapping the offset angle into a direction sign function; S6042: Calculate the main correction term of the offset angle; S6043: Constraining the main correction term by combining the angle dynamic constraint factor, the curvature constraint factor, the adaptive integral feedback factor, and the direction sign function to obtain the correction angle.

9. A coal mine tunnel rapid excavation system, characterized in that: include: processor and memory; The memory stores programs or instructions that can be run on the processor, and when the programs or instructions are executed by the processor, the steps of the method for rapid coal mine tunnel excavation according to any one of claims 1 to 8 are implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the method for rapid coal mine tunnel excavation as described in any one of claims 1 to 8 are implemented.

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