A kind of intelligent drilling pressure relief device for mining and its use method

Abstract

The present invention relates to an intelligent drilling pressure relief device for mining and a method for using the same, and belongs to the technical field of coal mining equipment. The device includes a body support, a control system, an identification sensing system, and a drilling system, wherein a universal wheel is connected to the front end of the body support through a universal wheel support, driving wheels are respectively arranged on both sides of the rear end of the body support, an identification sensing system is arranged on the body support, a drilling system is arranged at the front end of the body support, a control system is arranged at the rear end of the body support, and the driving wheel is connected to the control system. The present invention is automatically controlled by the control system throughout the process, which effectively reduces the workload of pressure relief, facilitates construction, improves construction speed, and does not affect the construction period.

Description

Technical Field

[0001] The invention relates to an intelligent drilling pressure relief device for mining and a use method thereof, belonging to the technical field of coal mining equipment. Background Art

[0002] As the main energy source in my country, coal occupies an important strategic position in the national economy. In the next few decades, the energy structure dominated by coal will be difficult to change. With the intensification of coal mining, shallow resources are gradually exhausted, and coal development is accelerating to shift to deep and complex geological conditions, resulting in complex and difficult tunnels such as kilometer-deep well high-ground stress tunnels, extremely broken surrounding rock tunnels, tunnels with large sections, tunnels affected by strong mining, and tunnels left along the goaf. In view of the increasingly complex geological conditions and the gradual increase in the instability of ground pressure, how to maintain stable tunnel pressure and prevent impact ground pressure has become a prominent issue.

[0003] Borehole pressure relief is a measure to eliminate or mitigate rock impact by drilling. This method is based on the drilling impact phenomenon generated when drilling with construction cuttings. The deeper the drilling is into the inductive force zone, the higher the frequency and intensity of the drilling impact, and the amount of coal powder increases significantly during drilling impact. Therefore, each borehole will form a certain crushing zone. When these crushing zones are close to each other, the coal seam can be broken and pressure relieved.

[0004] The current drilling pressure relief work mainly relies on manpower or manually operated machines to enter the tunnel to drill holes, which is labor-intensive and has great safety hazards.

[0005] Chinese patent document CN109898994A discloses a coal seam pressure relief method, which uses a drilling rig to drill holes on the coal seam to obtain a pressure relief series channel, expands the end of the pressure relief series channel to obtain a first pressure relief space, expands the hole at a first distance from the center of the first pressure relief space along the axis of the pressure relief series channel to obtain a second pressure relief space, and the invention also discloses a pressure relief device for performing the coal seam pressure relief method. The device uses a manually operated drilling rig for drilling operations, which has high labor intensity and long working time.

[0006] Chinese patent document CN209179794U discloses a fully hydraulic coal mine underground tunnel anchor drilling device, including a device body, a lifting hydraulic telescopic rod is provided at the lower end of the device body, a connecting plate is provided at the lower end of the lifting hydraulic telescopic rod, a fixed threaded hole is provided on one side of the lifting hydraulic telescopic rod on the upper end outer surface of the connecting plate, a load-bearing threaded column is provided on the inner side of the fixed threaded hole, a rotating disk is provided on the upper end of the load-bearing threaded column, an anti-sliding block is provided on one side of the rotating disk, a fixed plate is provided at the lower end of the load-bearing threaded column, and a load-bearing universal wheel is provided on one side of the load-bearing threaded column at the lower end of the connecting plate. The device uses manual operation to adjust the height before drilling, and the intelligence level is low, and it cannot avoid the risks that may be caused by personnel operating underground.

[0007] In view of this, it is very necessary to design an intelligent, automated and efficient drilling pressure relief device, which can effectively reduce the pressure relief workload, facilitate construction, increase construction speed and not affect the construction period. Summary of the invention

[0008] In view of the deficiencies in the prior art, the present invention provides an intelligent drilling pressure relief device for mining, which can effectively reduce the pressure relief workload, while facilitating construction, increasing construction speed, and not affecting the construction period.

[0009] The present invention also improves the use method of the above-mentioned intelligent drilling pressure relief device for mining.

[0010] The technical solution of the present invention is as follows:

[0011] A mining intelligent drilling pressure relief device comprises a body support, a control system, an identification sensing system and a drilling system, wherein a universal wheel is arranged at the front end of the body support via a universal wheel support, driving wheels are arranged on both sides of the rear end of the body support, an identification sensing system is arranged on the body support, the identification sensing system senses the environment in the tunnel, a drilling system is arranged at the front end of the body support, a control system is arranged at the rear end of the body support, the driving wheel and the identification sensing system are connected to the control system, and the control system controls the overall operation of the device.

[0012] Preferably, the drilling system includes a drill bit, a drilling motor, a telescopic hydraulic cylinder, a connecting rod, a fixed bracket, a swing bracket, a secondary hydraulic telescopic rod and a tertiary hydraulic telescopic rod, wherein:

[0013] The fixed bracket is fixed to both sides of the front end of the fuselage bracket, and the swing bracket is movably arranged on the upper end of the fixed bracket. The swing bracket is a C-shaped bracket, and the swing bracket is connected to the telescopic hydraulic cylinder. The telescopic hydraulic cylinder is connected to the drilling motor. The drilling motor clamps the drill bit through the drill bit clamp. The telescopic hydraulic cylinder and the drilling motor are placed in a housing.

[0014] A three-stage hydraulic telescopic rod is arranged in the middle position of the two fixed brackets. The three-stage hydraulic telescopic rod is connected to the shell through a connecting rod. The middle part of the shell is movably connected to the bottom end of the fixed bracket through a two-stage hydraulic telescopic rod. The height of the drilling motor is adjusted by telescoping the two-stage hydraulic telescopic rod, and the drilling motor is kept in a horizontal position by telescoping the three-stage hydraulic telescopic rod.

[0015] Further preferably, a movable gear is provided at the bottom end of the fixed bracket, and the secondary hydraulic telescopic rod is connected to the bottom end of the fixed bracket through the movable gear, and the secondary hydraulic telescopic rod is movably connected to the fixed bracket through the movable gear.

[0016] Preferably, the identification sensing system includes a first ranging sensor, a second ranging sensor and a deformation sensor, a sensor bracket is arranged at the front end of the fuselage bracket, the first ranging sensor is arranged on both sides of the sensor bracket, the second ranging sensors are symmetrically arranged at the front end and the rear end of the fuselage bracket, a deformation sensor bracket is arranged on the upper part of the fuselage bracket, a deformation sensor is arranged on the deformation sensor bracket, the deformation sensor is a rectangular parallelepiped, and deformation scanners are arranged on the upper part, left side and right side of the rectangular parallelepiped.

[0017] Further preferably, three grayscale sensors are arranged in the middle of the sensor bracket. When there is a path to be found in the alley, the grayscale sensor can identify the colored route or track, thereby improving the operation speed of the device and thus improving the working efficiency of the entire device. When there is no path to be found in the alley, the grayscale sensor stops working, and the distance between the device and the alley walls on both sides is set by the ranging sensors on both sides, and then the device moves in the alley according to the set distance.

[0018] Preferably, lighting lamps are respectively arranged on the upper part, left side and right side of the deformation sensor to ensure that the deformation scanner can scan the deformation condition of the entire lane.

[0019] Preferably, hydraulic support devices are provided at the four corners of the fuselage bracket. When the device arrives at the designated location, the hydraulic support device lowers the hydraulic rod to support the bottom plate, thereby preventing the fuselage from tilting and maintaining the balance of the device. At the same time, it can also reduce the pressure of the device on the bottom plate, thereby preventing the device from damaging the bottom plate.

[0020] Preferably, the control system includes a controller and a battery. The controller part uses a Panasonic programmable controller AFPXHC60T. The battery is connected to the controller. A shell is provided outside the controller. The controller is connected to a secondary hydraulic telescopic rod, a tertiary hydraulic telescopic rod, a telescopic hydraulic cylinder, a first ranging sensor, a second ranging sensor, a deformation sensor and a hydraulic support device.

[0021] Further preferably, a remote control receiver is provided on the fuselage bracket, and the remote control receiver is connected to the controller, and when the remote control receiver receives a return command, the control device returns.

[0022] Preferably, the controller and the battery are respectively provided with radiators, and the radiators use centrifugal fans to cool the controller and the battery to ensure working performance.

[0023] Preferably, baffles are provided on the fuselage brackets behind the universal wheels and the driving wheels to prevent water accumulated in the lane from splashing onto the vehicle body and affecting the working performance.

[0024] Preferably, the controller sets the cruising speed to 1m / s. After each drilling is completed, the device is adjusted to the forward direction, starts moving and reaches the normal cruising speed of 1m / s, and then starts the deformation sensor again after an interval of 1 second to ensure that the distance between the two drill holes is greater than 1 meter, avoiding repeated drilling operations in a short distance and reducing work efficiency.

[0025] A method for using a mining intelligent drilling pressure relief device, the operating steps are as follows:

[0026] (1) Start the control system, the first distance measuring sensor monitors the width of both sides of the lane, and the second distance measuring sensor monitors whether there is an obstacle in front. When there is no obstacle in front and the lane width is greater than the overall width of the device, the device starts to operate;

[0027] (2) The deformation scanner on the deformation sensor monitors the deformation of the upper part and both sides of the tunnel in real time. The upper area, left area, and right area measured according to the shape of the tunnel before deformation are recorded as S0, S1, and S2 respectively and input into the controller. The deformation scanner monitors the upper area, left area, and right area of ​​the tunnel after deformation in real time and records them as S0 respectively. ’ 、S1 ’ 、S2 ’ , when {[(S0+S1+S2)-(S0 ’ +S1 ’ +S2 ’ )] / S0+S1+S2}×100%≥10%, the device stops moving;

[0028] (3)S1 ’ -S1>S2 ’ -S2: the device turns left, S1: ’ -S1≤S2 ’ -S2, the device turns right, the drill is adjusted to the specified height and placed horizontally, and the distance sensor detects the distance between the device and the tunnel wall. If the distance exceeds 1m, the device moves slowly at a speed of 0.1m / s to 1m from the tunnel wall and stops. The hydraulic support device lowers the hydraulic rod, and the drill head is 0.3m away from the tunnel wall.

[0029] (4) The drilling motor starts, the drill bit rotates forward, and the telescopic hydraulic cylinder slowly pushes the drilling motor to extend, providing axial force for drilling. The extended length of the drilling motor is monitored in real time by the monitoring equipment in the tunnel. When the extended length of the drilling motor reaches the set value, the drilling motor stops. After being stationary for 3 seconds, the drill bit reverses, and the telescopic hydraulic cylinder retracts the drilling motor, allowing the drill bit to exit smoothly.

[0030] (5) The drilling motor returns to its original position, the hydraulic support device is retracted, and the device returns to its original position and continues to move forward. When the data monitored by the deformation scanner meets the working conditions, steps (3) and (4) are repeated.

[0031] The beneficial effects of the present invention are:

[0032] 1. The present invention is fully automated through a control system, which effectively reduces the workload of pressure relief, facilitates construction, increases construction speed, and does not affect the construction period.

[0033] 2. The present invention is remotely monitored and operated on the ground without direct human involvement, thus avoiding the danger of causing personal injury during ground impact and improving the safety factor.

[0034] 3. The present invention achieves the purpose of precise drilling and realizes unmanned intelligent drilling pressure relief by adjusting the height and angle of the drilling motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a structural front view of the present invention;

[0036] Figure 2 It is a left side view of the structure of the present invention;

[0037] Figure 3 It is a top view of the structure of the present invention;

[0038] Figure 4 A position distribution diagram of the first distance measuring sensor and the second distance measuring sensor of the present invention;

[0039] Figure 5 It is a front view of the first distance measuring sensor and the second distance measuring sensor of the present invention;

[0040] Figure 6 A top view of the drilling motor connection structure of the present invention;

[0041] Figure 7 It is a rear view of the drilling motor connection structure of the present invention;

[0042] Figure 8 It is a left view of the deformation sensor structure of the present invention;

[0043] Fig. 9 A top view of the deformation sensor structure of the present invention;

[0044] Fig.10 The automatic cruise route map of the present invention;

[0045] Fig.11 The automatic cruise route map of the present invention;

[0046] Fig.12 The automatic cruise route map of the present invention;

[0047] Fig.13 This is a schematic diagram of the automatic cruise left turn of the present invention;

[0048] Fig.14 This is a schematic diagram of the automatic cruise right turn of the present invention;

[0049] Among them: 1. sensor bracket; 2. first distance measuring sensor; 3. second distance measuring sensor; 4. movable gear; 5. secondary hydraulic telescopic rod; 6. grayscale sensor; 7. drill bit; 8. drill bit clamp; 9. drilling motor; 10. telescopic hydraulic cylinder; 11. connecting rod; 12. swing bracket; 13. third hydraulic telescopic rod; 14. lighting lamp; 15. fixed bracket; 16. deformation sensor; 17. deformation sensor bracket; 18. shell; 19. fuselage bracket; 20. controller; 21. radiator; 22. remote control receiver; 23. battery; 24. radiator; 25. hydraulic support device; 26. driving wheel; 27. baffle; 28. universal wheel; 29. ​​universal wheel bracket; 30. deformation scanner. DETAILED DESCRIPTION

[0050] The present invention will be further described below by way of embodiments in conjunction with the accompanying drawings, but is not limited thereto.

[0051] Embodiment 1:

[0052] like Figure 1-9 As shown, this embodiment provides a mining intelligent drilling pressure relief device, including a body support 19, a control system, an identification sensing system and a drilling system, wherein the front end of the body support 19 is connected to a universal wheel 28 through a universal wheel support 29, and driving wheels 26 are respectively arranged on both sides of the rear end of the body support, and an identification sensing system is arranged on the body support, and the identification sensing system senses the environment in the tunnel, and the front end of the body support is provided with a drilling system, and the rear end of the body support is provided with a control system, and the driving wheel and the identification sensing system are connected to the control system, and the control system controls the overall operation of the device. The driving wheel includes an adjustable speed motor, and the adjustable speed motor drives the driving wheel to move, and the adjustable speed motor is connected to the control system and the speed is adjusted by the control system.

[0053] The drilling system includes a drill bit 7, a drilling motor 9, a telescopic hydraulic cylinder 10, a connecting rod 11, a fixed bracket 15, a swing bracket 12, a secondary hydraulic telescopic rod 5 and a tertiary hydraulic telescopic rod 13. The telescopic hydraulic cylinder is a hydraulic cylinder with a multi-stage sleeve-shaped piston rod that can obtain a longer working stroke. The drilling motor adopts an air-cooled motor with a power of 1200W-1800W on the market, wherein,

[0054] The fixed bracket 15 is fixed to both sides of the front end of the fuselage bracket, and the swing bracket 12 is movably arranged on the upper end of the fixed bracket. The swing bracket 12 is a C-shaped bracket. The swing bracket 12 is connected to the telescopic hydraulic cylinder 10. The telescopic hydraulic cylinder 10 is connected to the drilling motor 9. The drilling motor 9 clamps the drill bit 7 through the drill bit clamp 8. The telescopic hydraulic cylinder 10 and the drilling motor 9 are placed in a housing.

[0055] A three-stage hydraulic telescopic rod 13 is arranged in the middle position of the two fixed brackets. The three-stage hydraulic telescopic rod 13 is connected to the shell through a connecting rod 11. The middle part of the shell is movably connected to the bottom end of the fixed bracket 15 through a two-stage hydraulic telescopic rod 5. The height of the drilling motor is adjusted by telescoping the two-stage hydraulic telescopic rod, and the drilling motor is kept in a horizontal position by telescoping the three-stage hydraulic telescopic rod 13.

[0056] The identification sensing system includes a first ranging sensor 2, a second ranging sensor 3 and a deformation sensor 16. A sensor bracket 1 is arranged at the front end of a fuselage bracket 19, and the first ranging sensor 2 is arranged on both sides of the sensor bracket 1. The second ranging sensor 3 is symmetrically arranged at the front and rear ends of the fuselage bracket 19. A deformation sensor bracket 17 is arranged on the upper part of the fuselage bracket 19, and a deformation sensor 16 is arranged on the deformation sensor bracket 17. The deformation sensor 16 is a rectangular parallelepiped, and deformation scanners 30 are arranged on the upper part, left side and right side of the rectangular parallelepiped.

[0057] Three grayscale sensors 6 are arranged in the middle of the sensor bracket 1. When there is a path to be found in the lane, the grayscale sensor can identify the colored route or track, thereby improving the running speed of the device and thus improving the working efficiency of the entire device. When there is no path to be found in the lane, the grayscale sensor stops working, and the distance between the device and the lane walls on both sides is set by the distance measuring sensors on both sides, and then the device moves in the lane according to the set distance.

[0058] Hydraulic support devices 25 are set at the four corners of the fuselage bracket 19. When the device arrives at the designated location, the hydraulic support device 25 lowers the hydraulic rod and supports the bottom plate to prevent the fuselage from tilting and keep the device balanced. At the same time, it can also reduce the pressure of the device on the bottom plate, avoiding damage to the bottom plate caused by the device.

[0059] The control system includes a controller 20 and a battery 23. The controller part uses a Panasonic programmable controller AFPXHC60T. The battery is connected to the controller. The control system is equipped with 2-3 sets of battery packs, one set is used and the rest are spare to ensure the battery supply of the entire device. A shell 18 is set outside the controller. The controller is connected to a secondary hydraulic telescopic rod, a tertiary hydraulic telescopic rod, a telescopic hydraulic cylinder, a first distance measuring sensor, a second distance measuring sensor, a deformation sensor and a hydraulic support device.

[0060] The controller sets the cruising speed to 1m / s. After each drilling is completed, the device adjusts to the forward direction, starts moving and reaches the normal cruising speed of 1m / s, and then starts the deformation sensor again after an interval of 1 second to ensure that the distance between the two drill holes is greater than 1 meter, avoiding repeated drilling operations in a short distance and reducing work efficiency.

[0061] A method for using a mining intelligent drilling pressure relief device, the operating steps are as follows:

[0062] (1) Start the control system, the first distance measuring sensor monitors the width of both sides of the lane, and the second distance measuring sensor monitors whether there is an obstacle in front. When there is no obstacle in front and the lane width is greater than the overall width of the device, the device starts to operate;

[0063] (2) The deformation scanner on the deformation sensor monitors the deformation of the upper part and both sides of the tunnel in real time. The upper area, left area, and right area measured according to the shape of the tunnel before deformation are recorded as S0, S1, and S2 respectively and input into the controller. The deformation scanner monitors the upper area, left area, and right area of ​​the tunnel after deformation in real time and records them as S0 respectively. ’ 、S1 ’ 、S2 ’ , when {[(S0+S1+S2)-(S0 ’ +S1 ’ +S2 ’ )] / S0+S1+S2}×100%≥10%, the device stops moving;

[0064] (3)S1 ’ -S1>S2 ’ -S2: the device turns left, S1: ’ -S1≤S2 ’ -S2, the device turns right, the drill is adjusted to the specified height and placed horizontally, and the distance sensor detects the distance between the device and the tunnel wall. If the distance exceeds 1m, the device moves slowly at a speed of 0.1m / s to 1m from the tunnel wall and stops. The hydraulic support device lowers the hydraulic rod, and the drill head is 0.3m away from the tunnel wall.

[0065] (4) The drilling motor starts, the drill bit rotates forward, and the telescopic hydraulic cylinder slowly pushes the drilling motor to extend, providing axial force for drilling. The extended length of the drilling motor is monitored in real time by the monitoring equipment in the tunnel. When the extended length of the drilling motor reaches the set value, the drilling motor stops. After being stationary for 3 seconds, the drill bit reverses, and the telescopic hydraulic cylinder retracts the drilling motor, allowing the drill bit to be smoothly withdrawn.

[0066] (5) The drilling motor returns to its original position, the hydraulic support device is retracted, and the device returns to its original position and continues to move forward. When the data monitored by the deformation scanner meets the working conditions, steps (3) and (4) are repeated.

[0067] When the device is moving, it will keep moving along the lane. If an intersection is detected, the distance sensor detects that the distance between the left and right sides is getting larger, and the device will turn left by default. Fig.13 As shown, when the device reaches the end of the lane or the second distance measuring sensor 3 detects an obstacle ahead, the device turns right, as shown in FIG. Fig.14 As shown, continue to move forward and go somewhere else. The automatic cruise route of the device is as follows Figure 10-12 shown.

[0068] Embodiment 2:

[0069] A mining intelligent drilling pressure relief device, the structure of which is as shown in Example 1, except that a movable gear 4 is provided at the bottom of a fixed bracket 15, a secondary hydraulic telescopic rod 5 is connected to the bottom of the fixed bracket 15 through the movable gear 4, and the secondary hydraulic telescopic rod 5 is movably connected to the fixed bracket 15 through the movable gear 4. The forward and backward swing of the secondary hydraulic telescopic rod is adjusted by the movable gear, and the movable gear is controlled by a hydraulic motor, which is driven by a hydraulic pump driven by a motor, and the motor is connected to a control system.

[0070] Embodiment 3:

[0071] An intelligent drilling pressure relief device for mining has a structure as shown in Example 1, except that lighting lamps 14 are respectively arranged on the upper part, left side and right side of the deformation sensor 16 to ensure that the deformation scanner 30 can scan the deformation condition of the entire tunnel.

[0072] Embodiment 4:

[0073] A smart drilling pressure relief device for mining has a structure as shown in Example 1, except that a remote control receiver 22 is provided on the body bracket 19, and the remote control receiver 22 is connected to the controller 20. When the remote control receiver 22 receives a return command, the control device returns.

[0074] Embodiment 5:

[0075] A mining intelligent drilling pressure relief device, the structure of which is as shown in Example 1, except that a radiator 21 is provided on the controller 20, and a radiator 24 is provided on the battery. The radiator uses a centrifugal fan to cool the controller and the battery to ensure working performance. Baffles 27 are provided on the fuselage brackets behind the universal wheel and the driving wheel to prevent water in the lane from splashing onto the vehicle body and affecting working performance.

Claims

1. A method for using an intelligent drilling pressure relief device for mining, characterized in that: The device includes a fuselage support, a control system, an identification sensing system and a drilling system, wherein a universal wheel is connected to the front end of the fuselage support through a universal wheel support, driving wheels are respectively arranged on both sides of the rear end of the fuselage support, an identification sensing system is arranged on the fuselage support, the identification sensing system senses the environment in the lane, a drilling system is arranged at the front end of the fuselage support, a control system is arranged at the rear end of the fuselage support, the driving wheel and the identification sensing system are connected to the control system, and the control system controls the overall operation of the device; The drilling system includes a drill bit, a drilling motor, a telescopic hydraulic cylinder, a connecting rod, a fixed bracket, a swing bracket, a secondary hydraulic telescopic rod and a tertiary hydraulic telescopic rod, among which: The fixed bracket is fixed to both sides of the front end of the fuselage bracket, and the swing bracket is movably arranged on the upper end of the fixed bracket. The swing bracket is a C-shaped bracket, and the swing bracket is connected to the telescopic hydraulic cylinder. The telescopic hydraulic cylinder is connected to the drilling motor. The drilling motor clamps the drill bit through the drill bit clamp. The telescopic hydraulic cylinder and the drilling motor are placed in a housing. A three-stage hydraulic telescopic rod is arranged in the middle of the two fixed brackets, the three-stage hydraulic telescopic rod is connected to the shell through a connecting rod, and the middle of the shell is movably connected to the bottom end of the fixed bracket through a two-stage hydraulic telescopic rod; A movable gear is arranged at the bottom of the fixed bracket, and the secondary hydraulic telescopic rod is connected to the bottom of the fixed bracket through the movable gear. The height of the drilling motor is adjusted by telescoping the secondary hydraulic telescopic rod, and the drilling motor is kept in a horizontal position by telescoping the tertiary hydraulic telescopic rod; The identification sensing system includes a first distance measuring sensor, a second distance measuring sensor and a deformation sensor. A sensor bracket is arranged at the front end of the fuselage bracket, and the first distance measuring sensor is arranged on both sides of the sensor bracket respectively. The second distance measuring sensors are symmetrically arranged at the front end and the rear end of the fuselage bracket respectively. A deformation sensor bracket is arranged at the upper part of the fuselage bracket, and a deformation sensor is arranged on the deformation sensor bracket. The deformation sensor is a rectangular parallelepiped, and deformation scanners are arranged at the upper part, left side and right side of the rectangular parallelepiped respectively. Three grayscale sensors are arranged in the middle of the sensor bracket, and lighting lamps are arranged on the upper part, left side and right side of the deformation sensor respectively; Hydraulic support devices are provided at the four corners of the fuselage support; The method for using the above-mentioned intelligent drilling pressure relief device for mining is as follows: (1) Start the control system. The first distance measuring sensor monitors the width of both sides of the lane. The second distance measuring sensor monitors whether there are obstacles in front. When there are no obstacles in front and the lane width is greater than the overall width of the device, the device starts to operate; (2) The deformation scanner on the deformation sensor monitors the deformation of the upper part and both sides of the tunnel in real time. The upper area, left area, and right area measured according to the shape of the tunnel before deformation are recorded as S0, S1, and S2 respectively and input into the controller. The upper area, left area, and right area of ​​the tunnel after deformation monitored by the deformation scanner are recorded as S0 respectively. ’ 、S1 ’ 、S2 ’ , when {[(S0+S1+S2) -(S0 ’ +S1 ’ +S2 ’ )] / S0+S1+S2}×100%≥10%, the device stops moving; (3) S1 ’ - S1>S2 ’ - At S2, the device turns left, S1 ’ - S1≤S2 ’ - At S2, the device turns right, the drill is adjusted to the specified height and placed horizontally, and the distance sensor detects the distance between the device and the tunnel wall. If the distance exceeds 1m, the device moves slowly at a speed of 0.1m / s to 1m from the tunnel wall and stops. The hydraulic support device lowers the hydraulic rod, and the drill head is 0.3m away from the tunnel wall. (4) The drilling motor starts, the drill bit rotates forward, and the telescopic hydraulic cylinder slowly pushes the drilling motor to extend, providing axial force for drilling. The extended length of the drilling motor is monitored in real time by the monitoring equipment in the tunnel. When the extended length of the drilling motor reaches the set value, the drilling motor stops. After being stationary for 3 seconds, the drill bit reverses, and the telescopic hydraulic cylinder retracts the drilling motor, allowing the drill bit to exit smoothly. (5) The drilling motor returns to its original position, the hydraulic support device is retracted, and the device returns to its original position and continues to move forward. When the data monitored by the deformation scanner meets the working conditions, steps (3) and (4) are repeated.

2. The method for using the intelligent drilling pressure relief device for mining according to claim 1, characterized in that: The control system includes a controller and a battery. The controller part uses a Panasonic programmable controller AFPXHC60T. The battery is connected to the controller. A shell is provided outside the controller. The controller is connected to a secondary hydraulic telescopic rod, a tertiary hydraulic telescopic rod, a telescopic hydraulic cylinder, a first distance measuring sensor, a second distance measuring sensor, a deformation sensor and a hydraulic support device. A remote control receiver is arranged on the fuselage bracket, and the remote control receiver is connected to the controller.

3. The method for using the intelligent drilling pressure relief device for mining according to claim 2, characterized in that: The controller and the battery are provided with radiators respectively.

4. The method for using the intelligent drilling pressure relief device for mining according to claim 1, characterized in that: Baffles are arranged on the fuselage brackets behind the universal wheels and the driving wheels.

5. The method for using the intelligent drilling pressure relief device for mining according to claim 1, characterized in that: The controller sets the cruising speed to 1m / s.

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