A method and device for jet cutting hard rock crushing assisted by ground stress disturbance

Abstract

The present invention discloses a jet cutting hard rock crushing method and device assisted by ground stress disturbance, comprising the following steps: S1, dividing the rock mass of the face into rock burst area and non-rock burst area based on the rock mass stress distribution data and rock mass physical property data of the face; S2, using high-pressure abrasive water jet to cut and decompress the rock burst area to eliminate the rock burst tendency of the face rock mass; S3, re-calculating the rock mass stress distribution data of the face rock mass to determine the high-pressure abrasive water jet cutting parameters; S4, performing high-pressure abrasive water jet cutting along the position where the joints and cracks are developed and parallel to the bedding, assisted by ground stress disturbance to increase the seam groove and weaken the rock mass strength, so as to achieve large-scale rock mass crushing; S5, cutting and breaking the rock along the periphery of the crushed area until the face rock mass is completely peeled off. The method solves the rock burst problem that often occurs when crushing deep hard rocks in the prior art, and at the same time, turns the ground stress effect into "treasure", and combines the self-regulated hydraulic cutting technology to achieve efficient crushing of hard rocks.

Description

Technical Field

[0001] The invention relates to the field of deep hard rock crushing, and in particular to a jet cutting hard rock crushing method and device assisted by ground stress disturbance. Background Art

[0002] Major social problems such as global resource shortages and insufficient ground space urgently require humans to seek resources and space from deep underground. Rock tunnel excavation is the prerequisite for realizing the exploitation and utilization of deep resources. As the depth of excavation continues to increase, the ground stress also continues to increase. Usually, the elastic modulus, hardness and destructive strength of deep and complex strata rocks increase accordingly, and the uniaxial compressive strength often reaches more than 100 MPa. At present, the drilling and blasting method is the dominant method for deep hard rock mine tunnel excavation and mining. Rocks are excavated by drilling, charging and blasting, but the process is complicated, the surrounding rock is greatly disturbed, and the safety is poor, making it difficult to achieve efficient and safe mining. Compared with the drilling and blasting method, the mechanical rock breaking method mainly produces cracks in the rock when the shear / tensile stress is squeezed to reach the ultimate strength of the rock, and then the cracks expand to form rock fragments. It has the advantages of large crushing size and high operating efficiency, and has been widely used in engineering fields such as mining, construction and resource exploration. However, traditional rock excavation methods for deep hard rock (f>10) have problems such as severe tool wear, high construction cost, low efficiency, difficulty in resisting rock bursts, easy to cause harmful gas explosions, and high construction risks.

[0003] CN105888666A discloses a method for high stress induced blasting and ore collapse in a deep stope, including obtaining the stress distribution of the ore rock in the deep stope and its evolution law during the mining process, taking the bottom cutting project as the first step of mining, dividing the blasting mining area, selecting the first mining partition I for mining, completing the mining of the first mining partition I, i.e. the second step of mining, and repeating this process until the entire deep stope is mined. This method uses high ground stress to induce blasting mining. Although it turns ground stress from harm to benefit and improves mining efficiency, the blasting mining method still has problems such as difficulty in precise control and high danger.

[0004] CN113153336A discloses a high-pressure abrasive water jet tunneling method, which first confirms the construction parameters, obtains the slot depth and slot width under different processing parameters through field tests, divides the face grid, and the abrasive water jet ejected from the axial nozzle of the high-pressure abrasive water jet device moves along the cutting line of the face grid to form slots, and transports the peeled rock blocks away from the face. This method uses the small disturbance of hydraulic cutting of abrasive water jets to achieve efficient rock breaking with small disturbance, safe and pollution-free, but this method ignores the extremely important ground stress of hard rock itself, and studies have shown that high ground stress will affect the effect of hydraulic cutting.

[0005] In summary, the existing technology has failed to meet the goal of the majority of workers to develop efficient, green and safe rock crushing. Especially in deep hard rock crushing operations, a green and efficient rock breaking technology is urgently needed. Summary of the invention

[0006] The purpose of the present invention is to provide a jet cutting hard rock crushing method and device assisted by ground stress disturbance, so as to solve the rock burst problem that often occurs when crushing deep hard rock in the prior art, and at the same time turn the ground stress effect into "treasure", combine it with self-regulated hydraulic cutting technology, and realize efficient crushing of hard rock.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0008] A method for jet cutting hard rock crushing assisted by ground stress disturbance comprises the following steps:

[0009] S1, based on the stress distribution data and physical property data of the face rock mass, the face rock mass is divided into rock burst area and non-rock burst area;

[0010] S2, using high-pressure abrasive water jet to cut and relieve pressure in the rock burst area to eliminate the rock burst tendency of the face rock mass;

[0011] S3, re-collecting stress distribution data of the rock mass at the tunnel face after the cutting is unloaded, and determining high-pressure abrasive water jet cutting parameters based on the collected stress distribution data;

[0012] S4, high-pressure abrasive water jet cutting is carried out along the locations where joints and cracks are developed and parallel to the bedding, supplemented by ground stress disturbance to increase the seams and weaken the rock mass strength, thus achieving large-scale rock mass crushing;

[0013] S5: Cut and break the rock along the periphery of the broken area until all the rock mass on the face is peeled off.

[0014] Furthermore, the division of the face rock mass in S1 is specifically as follows: the face rock mass is divided into several blocks, the internal energy storage of a single block is calculated according to the stress distribution data of the face rock mass and the physical property data of the rock mass, and the calculated internal energy storage of a single block is compared with a preset value. If the internal energy storage of a single block is ≥ the preset value, the block is determined to be a rock burst zone; if the internal energy storage of a single block is < the preset value, the block is determined to be a non-rock burst zone.

[0015] Furthermore, in S2, high-pressure abrasive water jet is used to perform grid cutting of the rockburst zone, and the grid division size is reasonably set according to the stress distribution.

[0016] Furthermore, the determination of the high-pressure abrasive water jet cutting parameters in S3 is specifically as follows: using a CCD camera and a laser transmitter to obtain the apparent morphological structure of the face and the distribution of joints and cracks inside the rock mass, and feeding back the stress distribution data of the rock mass on the face after the cutting is unloaded, as well as the apparent morphological structure of the face and the distribution data of joints and cracks inside the rock mass to the processing platform, which analyzes and processes the obtained data to determine the high-pressure abrasive water jet cutting parameters of the rock mass on the face, wherein the high-pressure abrasive water jet cutting parameters include jet pressure, target distance, and traverse speed.

[0017] Furthermore, when high-pressure abrasive water jet cutting is performed in S4, the rock burst area is cut first, and then the non-rock burst area is cut.

[0018] Furthermore, the stress distribution data of the rock mass at the tunnel face in S1 were obtained by using the ultrasonic stress nondestructive testing method and the blind hole stress detection method.

[0019] Furthermore, S4 is assisted by ground stress disturbance, specifically: ground stress disturbance in non-rockburst areas assists in crushing the rock mass at the tunnel face. On the basis of cutting the cracks produced by unloading pressure along the cutting, cutting is performed along the direction of the principal stress to gradually release the energy of the rock mass and achieve large-scale crushing of the rock mass.

[0020] A jet cutting hard rock crushing device assisted by ground stress disturbance can realize the hard rock crushing method assisted by ground stress disturbance described in the present invention, including a walking mechanism and an abrasive water jet mechanism fixed on the walking mechanism, an ultrasonic stress non-destructive testing mechanism, a three-dimensional laser scanning mechanism and an operating mechanism, the abrasive water jet mechanism is used to form a high-pressure abrasive water jet, the ultrasonic stress non-destructive testing mechanism and the three-dimensional laser scanning mechanism are connected to the operating mechanism, the ultrasonic stress non-destructive testing mechanism is used to obtain the surface and internal stress distribution characteristics of the rock mass at the tunnel face, and the three-dimensional laser scanning mechanism is used to obtain the three-dimensional morphological characteristics of the rock mass at the tunnel face.

[0021] Furthermore, the abrasive water jet mechanism includes an abrasive tank, a water tank, a pump body, a flexible mechanical arm and a nozzle. The abrasive tank is connected to the water tank, the nozzle is fixed on the movable end of the flexible mechanical arm, the nozzle inlet is connected to the abrasive tank through a pipeline, the water in the water tank is pressurized by the pump body and mixed with the abrasive in the abrasive tank, the abrasive is accelerated by the high-pressure water to form an abrasive fluid, the abrasive fluid enters the mixing chamber of the nozzle through the pipeline for secondary acceleration to form a high-pressure abrasive water jet.

[0022] Beneficial effects of the present invention:

[0023] 1. The present invention uses high-pressure abrasive water jet to cut and relieve pressure in the rock burst zone before crushing, effectively eliminating the rock burst tendency of the face rock mass. In addition, due to the combination of geostress disturbance and high-pressure abrasive water jet cutting, on the one hand, more accurate rock breaking parameters are obtained, and on the other hand, fluid dynamic impact-particle grinding is used to efficiently cut hard rock. The seams generated by high-pressure abrasive water jet cutting induce the energy distribution of the surrounding rock, and the geostress disturbance is used to achieve continuous spalling of the face rock mass, thereby achieving efficient crushing of the rock mass.

[0024] 2. The present invention uses high-pressure abrasive water jet cutting as the basis for cutting rocks. Compared with the traditional water jet rock breaking method, this method has better rock breaking performance; compared with the mechanical rock breaking method, this rock breaking method uses water as a carrier, can achieve flexible control, is easy to achieve adaptive cutting, is suitable for deep hard rock cutting, and greatly improves rock cutting efficiency. In addition, abrasive water jet cutting uses water as a carrier and rock particles as abrasives, and the abrasives can be partially recycled. Compared with traditional rock breaking methods, this technology does not generate dust, and the cost of cutting rocks is lower, which is more environmentally friendly.

[0025] 3. The present invention adopts ultrasonic stress nondestructive testing method and blind hole stress detection method, which can obtain the changes of stress field on the surface and inside of deep hard rock during mining, and realize the fine regional division of stress field of deep hard rock.

[0026] 4. Compared with the traditional mining method, the hard rock crushing method assisted by ground stress disturbance in the present invention has a more precise mining range, improves the mining recovery rate, reduces the ore depletion rate, and reduces the large block rate of ore collapse. While reducing production costs, it greatly improves the rock breaking effect and achieves the purpose of safe and efficient mining in deep mining areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a flow chart of the hard rock crushing method assisted by ground stress disturbance according to the present invention;

[0028] Figure 2 It is a structural schematic diagram of the hard rock crushing device assisted by ground stress disturbance according to the present invention;

[0029] Figure 3 It is a schematic diagram of the ground stress distribution of a unit rock mass of the present invention;

[0030] Figure 4 A schematic diagram of a grid cutting path in a rockburst zone of the present invention;

[0031] Figure 5 It is a schematic diagram of the rock mass division of the tunnel face of the present invention.

[0032] In the figure, 1 is a walking mechanism, 2 is an abrasive water jet mechanism, 21 is an abrasive tank, 22 is a water tank, 23 is a pump body, 24 is a flexible mechanical arm, 25 is a nozzle, 26 is a pipeline, 3 is an ultrasonic stress non-destructive testing mechanism, 31 is an ultrasonic stress non-destructive testing controller, 32 is an ultrasonic transmitting probe, 33 is an ultrasonic receiving probe, 4 is a three-dimensional laser scanning mechanism, 41 is a three-dimensional laser scanning controller, 42 is a CCD camera and a laser transmitter, 5 is an operating mechanism, 51 is a display, 52 is a processing platform, 6 is a face rock mass, 61 is a rock burst area, 62 is a non-rock burst area, 63 is a joint crack, 64 is a ground stress, and 65 is an anchor rod. DETAILED DESCRIPTION

[0033] The following will refer to the accompanying drawings and preferred embodiments to illustrate the implementation of the technical solution of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific implementations, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0034] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0035] Example 1, see Figure 1 , the jet cutting hard rock crushing method assisted by ground stress disturbance shown in the figure comprises the following steps:

[0036] S1, based on the stress distribution data of the rock mass at the tunnel face and the rock mass physical property data, see Figure 5 , the face rock mass 6 is divided into a rockburst zone 61 and a non-rockburst zone 62, and the face rock mass 6 is supported by a plurality of anchor rods 65. The face rock mass stress distribution data is obtained by ultrasonic stress nondestructive testing and blind hole stress detection, which can obtain the changes in the stress field on the surface and inside of the deep hard rock mass during mining, and realize the fine regional division of the stress field of the deep hard rock. The rock mass physical property data of the face rock mass is experimentally measured to obtain the strength, hardness, bedding, joints and crack distribution characteristics of the unit rock mass.

[0037] The division of the tunnel face rock mass 6 is specifically as follows: the tunnel face rock mass 6 is divided into a number of blocks, the internal energy storage of a single block is calculated according to the tunnel face rock mass stress distribution data and the rock mass physical property data, and the calculated internal energy storage of a single block is compared with a preset value. If the internal energy storage of a single block is ≥ the preset value, the block is determined to be a rock burst zone; if the internal energy storage of a single block is < the preset value, the block is determined to be a non-rock burst zone.

[0038] S2, use high-pressure abrasive water jet to cut and relieve pressure in the rock burst area to eliminate the rock burst tendency of the tunnel face. Figure 4 , high-pressure abrasive water jet is used to perform grid cutting on the rock burst area, unload the internal energy of the rock mass in the rock burst area, and eliminate stress concentration. The grid division size is reasonably set according to the stress distribution. Combined with the function of the flexible robotic arm, according to the stress distribution of the rock mass in the rock burst area, different cutting depths are cut for different block sizes, effectively eliminating the rock burst tendency of the rock mass on the face.

[0039] S3, re-collect the stress distribution data of the face rock mass after the slit is decompressed, and determine the high-pressure abrasive water jet cutting parameters based on the collected stress distribution data. Preferably, the high-pressure abrasive water jet cutting parameters are determined specifically as follows: the apparent morphology and structure of the face and the distribution of joints and cracks inside the rock mass are obtained by using a CCD camera and a laser transmitter, and the stress distribution data of the face rock mass after the slit is decompressed, as well as the apparent morphology and structure of the face and the distribution of joints and cracks inside the rock mass are fed back to the processing platform, and the processing platform analyzes and processes the obtained data to determine the high-pressure abrasive water jet cutting parameters of the face rock mass, and the high-pressure abrasive water jet cutting parameters include jet pressure, target distance, and lateral speed. The high-pressure abrasive water jet cutting parameters are mainly based on the physical properties and stress distribution of the face rock mass itself, combined with the team's previous tests and field data results. For example, the greater the ground stress of the rock mass, the greater the jet rock breaking threshold will generally be. See. Figure 3 , the unit rock mass is subjected to the combined effects of maximum principal stress, minimum principal stress and vertical stress.

[0040] S4, see Figure 5 , high-pressure abrasive water jet cutting is performed along the locations where joints and cracks 63 are developed and parallel to the bedding, and the ground stress 64 disturbance is used to increase the seam grooves and weaken the rock mass strength, thereby achieving large-scale crushing of the rock mass. Ground stress disturbance in the non-rockburst area assists in crushing the face rock mass. On the basis of cutting along the cracks generated by the unloading of the cutting seams, the cutting is selected along the main stress direction to gradually release the rock mass energy and achieve large-scale crushing of the rock mass.

[0041] S5: Cut and break the rock along the periphery of the broken area until all the rock mass on the face is peeled off.

[0042] The present invention uses a high-pressure abrasive water jet to cut and relieve pressure in the rock burst zone before crushing, effectively eliminating the rock burst tendency of the face rock mass. In addition, due to the combination of geostress disturbance and high-pressure abrasive water jet cutting, on the one hand, more accurate rock breaking parameters are obtained, and on the other hand, fluid dynamic impact-particle grinding is used to efficiently cut hard rock. The seams generated by high-pressure abrasive water jet cutting induce the energy distribution of the surrounding rock, and the geostress disturbance is used to achieve continuous spalling of the face rock mass, thereby achieving efficient crushing of the rock mass.

[0043] The present invention uses high-pressure abrasive water jet cutting as the basis for cutting rocks. Compared with the traditional water jet rock breaking method, this method has better rock breaking performance; compared with the mechanical rock breaking method, this rock breaking method uses water as a carrier, can achieve flexible control, is easy to achieve adaptive cutting, is suitable for cutting deep hard rocks, and greatly improves the rock cutting efficiency. In addition, abrasive water jet cutting uses water as a carrier and rock particles as abrasives, and can partially recycle abrasives. Compared with traditional rock breaking methods, this technology does not produce dust, and the cost of cutting rocks is lower, which is more environmentally friendly. When mining, the hard rock crushing method assisted by ground stress disturbance described in the present invention has a more accurate mining range, improves the recovery rate of the mining field, reduces the ore depletion rate, and reduces the rate of large-block collapse of ore. While reducing production costs, it greatly improves the rock breaking effect and achieves the purpose of safe and efficient mining in deep mining fields.

[0044] Example 2, see Figure 2 , a jet cutting hard rock crushing device assisted by ground stress disturbance is shown, which can realize the jet cutting hard rock crushing method assisted by ground stress disturbance described in the first embodiment of the present invention, including a walking mechanism 1 and an abrasive water jet mechanism 2 fixed on the walking mechanism 1, an ultrasonic stress non-destructive testing mechanism 3, a three-dimensional laser scanning mechanism 4 and an operating mechanism 5, wherein the abrasive water jet mechanism 2 is used to form a high-pressure abrasive water jet, the ultrasonic stress non-destructive testing mechanism 3 and the three-dimensional laser scanning mechanism 4 are connected to the operating mechanism 5, the ultrasonic stress non-destructive testing mechanism 3 is used to obtain the surface and internal stress distribution characteristics of the face rock mass 6, and the three-dimensional laser scanning mechanism 4 is used to obtain the three-dimensional morphological characteristics of the face rock mass 6. The operating mechanism 5 includes a display 51 for displaying information and a processing platform 52 for performing operation processing.

[0045] The abrasive water jet mechanism 2 includes an abrasive tank 21, a water tank 22, a pump body 23, a flexible mechanical arm 24 and a nozzle 25. The outlet of the abrasive water tank 22 is connected to the upper end and the lower end of the abrasive tank 21, so that the pressurized high-pressure water is pre-mixed with the abrasive, ensuring that the abrasive inside the abrasive tank is evenly mixed. The nozzle 25 is fixed on the movable end of the flexible mechanical arm 24, and the inlet of the nozzle 25 is connected to the abrasive tank 21 through a pipeline 26. The water in the water tank 22 is pressurized by the pump body 23 and mixed with the abrasive in the abrasive tank 21. The abrasive is accelerated by the high-pressure water to form an abrasive fluid. The abrasive fluid enters the mixing chamber of the nozzle 25 through the pipeline 26 for secondary acceleration to form a high-pressure abrasive water jet. By adjusting relevant parameters, effective cutting of the face rock mass is achieved.

[0046] The ultrasonic stress non-destructive testing mechanism 3 includes an ultrasonic stress non-destructive testing controller 31 connected to the processing platform 52 of the operating mechanism 5 and an ultrasonic transmitting probe 32 and an ultrasonic receiving probe 33 connected to the ultrasonic stress non-destructive testing controller 31. The ultrasonic transmitting probe 32 and the ultrasonic receiving probe 33 are fixed on the movable end of the flexible mechanical arm 24 and arranged close to the nozzle 25.

[0047] The three-dimensional laser scanning mechanism 4 includes a three-dimensional laser scanning controller 41 connected to the processing platform 52 of the operating mechanism 5 and a CCD camera and laser emitter 42 connected to the three-dimensional laser scanning controller 41. Similarly, the CCD camera and laser emitter 42 are fixed on the movable end of the flexible robotic arm 24 and arranged close to the nozzle 25.

[0048] The above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent substitution or change made by a person skilled in the art based on the present invention is within the protection scope of the present invention.

Claims

1. A method for jet cutting hard rock crushing assisted by ground stress disturbance, characterized in that: The steps include: S1, based on the stress distribution data and physical property data of the face rock mass, the face rock mass is divided into rock burst area and non-rock burst area; S2, using high-pressure abrasive water jet to cut and relieve pressure in the rock burst area to eliminate the rock burst tendency of the face rock mass; S3, re-collecting stress distribution data of the rock mass at the tunnel face after the cutting is unloaded, and determining high-pressure abrasive water jet cutting parameters based on the collected stress distribution data; S4, high-pressure abrasive water jet cutting is carried out along the locations where joints and cracks are developed and parallel to the bedding, supplemented by ground stress disturbance to increase the seams and weaken the rock mass strength, thus achieving large-scale rock mass crushing; S5: Cut and break the rock along the periphery of the broken area until all the rock mass on the face is peeled off.

2. The method for jet cutting hard rock crushing assisted by ground stress disturbance according to claim 1 is characterized in that: The specific division of the face rock mass in S1 is as follows: the face rock mass is divided into several blocks, the internal energy storage of a single block is calculated according to the stress distribution data of the face rock mass and the rock mass physical property data, and the calculated internal energy storage of a single block is compared with a preset value. If the internal energy storage of a single block is ≥ the preset value, the block is determined to be a rock burst zone; if the internal energy storage of a single block is < the preset value, the block is determined to be a non-rock burst zone.

3. The method for jet cutting hard rock crushing assisted by ground stress disturbance according to claim 1 or 2, characterized in that: In S2, high-pressure abrasive water jet is used to grid the rockburst zone, and the grid size is reasonably set according to the stress distribution.

4. The method for jet cutting hard rock crushing assisted by ground stress disturbance according to claim 1 or 2, characterized in that: The determination of the high-pressure abrasive water jet cutting parameters in S3 is specifically as follows: using a CCD camera and a laser transmitter to obtain the apparent morphology and structure of the tunnel face and the distribution of joints and cracks inside the rock mass, and feeding back the stress distribution data of the rock mass on the tunnel face after the cutting seam is unloaded, as well as the apparent morphology and structure of the tunnel face and the distribution data of joints and cracks inside the rock mass to the processing platform, which analyzes and processes the obtained data to determine the high-pressure abrasive water jet cutting parameters of the rock mass on the tunnel face, wherein the high-pressure abrasive water jet cutting parameters include jet pressure, target distance, and traverse speed.

5. The method for jet cutting hard rock crushing assisted by ground stress disturbance according to claim 1 or 2, characterized in that: When high-pressure abrasive water jet cutting is performed in S4, the rock burst area is cut first, and then the non-rock burst area is cut.

6. The method for jet cutting hard rock crushing assisted by ground stress disturbance according to claim 1 or 2, characterized in that: The rock mass stress distribution data of the tunnel face in S1 were obtained by using ultrasonic stress nondestructive testing method and blind hole stress detection method.

7. The method for jet cutting hard rock crushing assisted by ground stress disturbance according to claim 1 or 2, characterized in that: The ground stress disturbance in S4 is specifically as follows: the ground stress disturbance in the non-rockburst area assists in crushing the rock mass at the tunnel face. On the basis of cutting the cracks produced by unloading pressure along the cutting, the cutting is selected along the main stress direction to gradually release the rock energy and achieve large-scale crushing of the rock mass.

8. A jet cutting hard rock crushing device assisted by ground stress disturbance, characterized in that: A jet cutting hard rock crushing method assisted by ground stress disturbance is used to implement any one of claims 1 to 7, comprising a walking mechanism and an abrasive water jet mechanism fixed on the walking mechanism, an ultrasonic stress non-destructive testing mechanism, a three-dimensional laser scanning mechanism and an operating mechanism, wherein the abrasive water jet mechanism is used to form a high-pressure abrasive water jet, the ultrasonic stress non-destructive testing mechanism and the three-dimensional laser scanning mechanism are connected to the operating mechanism, the ultrasonic stress non-destructive testing mechanism is used to obtain surface and internal stress distribution characteristics of the rock mass at the face, and the three-dimensional laser scanning mechanism is used to obtain three-dimensional morphological characteristics of the rock mass at the face.

9. The jet cutting hard rock crushing device assisted by ground stress disturbance according to claim 8 is characterized in that: The abrasive water jet mechanism comprises an abrasive tank, a water tank, a pump body, a flexible mechanical arm and a nozzle. The abrasive tank is connected to the water tank, the nozzle is fixed on the movable end of the flexible mechanical arm, the nozzle inlet is connected to the abrasive tank through a pipeline, the water in the water tank is pressurized by the pump body and mixed with the abrasive in the abrasive tank, the abrasive is accelerated by the high-pressure water to form an abrasive fluid, the abrasive fluid enters the mixing chamber of the nozzle through the pipeline for secondary acceleration, and forms a high-pressure abrasive water jet.

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