Method, device and electronic equipment for controlling the rate of advance of a mine heading machine

Abstract

The application provides a tunneling speed control method, device and electronic equipment of a mine-used tunneling machine, the method comprising: acquiring a current tunneling speed and a uniaxial compressive strength; determining a target stress peak value according to the current tunneling speed; and controlling the tunneling speed of the tunneling machine in a preset manner according to at least one of the target stress peak value, the uniaxial compressive strength and a current microseismic energy value, the preset manner comprising one of keeping the tunneling speed of the tunneling machine as the current tunneling speed, increasing the tunneling speed of the tunneling machine and reducing the tunneling speed of the tunneling machine, and the current microseismic energy value is used to represent the microseismic energy value of the mine at the current time. Thus, the accuracy of the speed control of the tunneling machine is improved, and the problem that the accuracy of the control of the tunneling speed of the roadway in the mine with a relatively complex stress environment is low in the prior art is solved.

Description

Technical Field

[0001] This application relates to the field of mining technology, and more specifically, to a method, apparatus, computer-readable storage medium, and electronic device for controlling the tunneling speed of a tunneling machine used in mining. Background Technology

[0002] Rapid tunneling is an inevitable trend in coal mine tunneling development, ensuring the rapid formation of tunnels at the coal seam working face, facilitating mine production, and serving as an important means to maintain a balance between mining and tunneling. However, in steeply inclined, impact-prone coal seams, tunneling safety is poor, easily leading to dynamic disasters. Increased tunneling speed leads to faster stress adjustment in the surrounding rock, preventing the internal mechanical system of the coal and rock mass from reaching stress equilibrium quickly. This shortens stress transmission time, causes instability in the stress state, and results in abnormal energy accumulation in the tunnel that cannot be dissipated in a relatively gentle manner. This directly increases the probability of rockbursts, raising the impact risk of tunneling.

[0003] The existing approach is to determine a reasonable tunneling speed in coal seams prone to gas outbursts by observing the stress curves of the coal body and the gas pressure curves at different tunneling speeds in the field. However, the existing technology lacks a method for determining a reasonable tunneling speed in mines with complex geological structures and stress environments, especially in steeply inclined mines with a tendency to impact, where there is a lack of methods for determining the tunneling speed.

[0004] In other words, the existing methods have low accuracy in controlling the tunneling speed in mines with complex stress environments. Summary of the Invention

[0005] The main objective of this application is to provide a method, apparatus, computer-readable storage medium, and electronic device for controlling the tunneling speed of a mine tunneling machine, so as to at least solve the problem that the accuracy of existing solutions in controlling the tunneling speed of roadways in mines with complex stress environments is low.

[0006] To achieve the above objectives, according to one aspect of this application, a method for controlling the tunneling speed of a mine roadheader is provided. The method includes: acquiring a current tunneling speed and a uniaxial compressive strength, wherein the current tunneling speed characterizes the tunneling speed of the roadheader at the current moment, and the uniaxial compressive strength characterizes the compressive strength of the rock strata on both sides of the roadway to be excavated ahead of the roadheader; determining a target stress peak value based on the current tunneling speed, wherein the target stress peak value is the peak value of the stress on both sides of the roadway to be excavated when the roadway is excavated at the current tunneling speed; and controlling the tunneling speed of the roadheader using a preset mode based on at least one of the target stress peak value, the uniaxial compressive strength, and a current micro-vibration energy value, wherein the preset mode includes one of the following: maintaining the tunneling speed of the roadheader at the current tunneling speed, increasing the tunneling speed of the roadheader, or decreasing the tunneling speed of the roadheader, wherein the current micro-vibration energy value characterizes the micro-vibration energy value of the mine at the current moment.

[0007] Optionally, before obtaining the current tunneling speed and uniaxial compressive strength, the method further includes: storing a first mapping relationship in a database, wherein the first mapping relationship is used to characterize the mapping relationship between the tunneling speed of the tunneling machine and the peak stress.

[0008] Optionally, determining the target stress peak based on the current tunneling speed includes: determining an intermediate stress peak based on the first mapping relationship and the current tunneling speed, wherein the intermediate stress peak is the stress peak corresponding to the current tunneling speed in the first mapping relationship; and determining the target stress peak as the intermediate stress peak.

[0009] Optionally, the tunneling speed of the tunneling machine is controlled using a preset method based on the target peak stress and the uniaxial compressive strength, including:

[0010] according to Determine the risk coefficient, where N(v) is the risk coefficient when the tunneling speed of the tunneling machine is v, and σ p (v) represents the target stress peak value when the tunneling speed of the tunneling machine is v, σ c Where v is the uniaxial compressive strength and v is the current tunneling speed;

[0011] Based on the risk coefficient, the tunneling speed of the tunneling machine is controlled using the preset method.

[0012] Optionally, controlling the tunneling speed of the tunneling machine using the preset method according to the risk coefficient includes: increasing the tunneling speed of the tunneling machine when the risk coefficient is less than a first coefficient threshold; maintaining the tunneling speed of the tunneling machine when the risk coefficient is greater than or equal to the first coefficient threshold and less than or equal to a second coefficient threshold; and decreasing the tunneling speed of the tunneling machine when the risk coefficient is greater than the second coefficient threshold.

[0013] Optionally, the database stores a second mapping relationship, which represents the mapping relationship between the speed reduction value and the tunneling speed of the tunneling machine. Reducing the tunneling speed of the tunneling machine includes: determining a target speed reduction value based on the second mapping relationship and the current tunneling speed, the target speed reduction value representing the speed reduction value corresponding to the current tunneling speed in the second mapping relationship; determining a target tunneling speed based on the current tunneling speed and the target speed reduction value; and adjusting the tunneling speed of the tunneling machine to the target tunneling speed, the target tunneling speed being the difference between the current tunneling speed and the target speed reduction value.

[0014] Optionally, the tunneling speed of the tunneling machine is controlled according to the current micro-vibration energy value using a preset method, including: increasing the tunneling speed of the tunneling machine when the current micro-vibration energy value is less than a first micro-vibration threshold; maintaining the tunneling speed of the tunneling machine when the current micro-vibration energy value is greater than or equal to the first micro-vibration threshold and less than or equal to a second micro-vibration threshold; and decreasing the tunneling speed of the tunneling machine when the current micro-vibration energy value is greater than the second micro-vibration threshold.

[0015] According to another aspect of this application, a control device for the tunneling speed of a mine roadheader is provided. The device includes an acquisition unit, a determination unit, and a first processing unit. The acquisition unit acquires the current tunneling speed and uniaxial compressive strength, wherein the current tunneling speed characterizes the tunneling speed of the roadheader at the current moment, and the uniaxial compressive strength characterizes the compressive strength of the rock strata on both sides of the roadway to be excavated in front of the roadheader. The determination unit determines a target stress peak value based on the current tunneling speed; the target stress peak value is the peak value of the stress on both sides of the roadway to be excavated when the roadway is excavated at the current tunneling speed. The first processing unit controls the tunneling speed of the roadheader using a preset method based on at least one of the target stress peak value, the uniaxial compressive strength, and the current micro-vibration energy value. The preset method includes one of the following: maintaining the tunneling speed of the roadheader at the current tunneling speed, increasing the tunneling speed of the roadheader, or decreasing the tunneling speed of the roadheader; the current micro-vibration energy value characterizes the micro-vibration energy value of the mine at the current moment.

[0016] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform any of the aforementioned control methods for controlling the tunneling speed of a mine tunneling machine.

[0017] According to another aspect of this application, an electronic device is provided, the electronic device including one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including a control method for performing a tunneling speed control method for any of the aforementioned mine tunneling machines.

[0018] By applying the technical solution of this application, the tunneling speed of the tunneling machine can be reduced, maintained, or increased based on at least one of the target stress peak value, the uniaxial compressive strength, and the current microseismic energy value. This improves the accuracy of the speed control of the tunneling machine and solves the problem of low accuracy in controlling the tunneling speed in mines with complex stress environments in existing solutions. Attached Figure Description

[0019] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0020] Figure 1A hardware structure block diagram of a mobile terminal for implementing a method for controlling the tunneling speed of a mine tunneling machine, according to an embodiment of this application, is shown.

[0021] Figure 2 A schematic flowchart of a method for controlling the tunneling speed of a mine tunneling machine according to an embodiment of this application is shown.

[0022] Figure 3 A structural block diagram of a control device for the tunneling speed of a mine tunneling machine provided according to an embodiment of this application is shown. Detailed Implementation

[0023] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0024] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present application.

[0025] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0026] As described in the background section, existing methods determine a reasonable tunneling speed in coal seams prone to gas outbursts by observing the stress curves of the coal body and the gas pressure curves at different tunneling speeds. However, existing technologies lack methods for determining reasonable tunneling speeds in mines with complex geological structures and stress environments, especially in steeply inclined, impact-prone mines. To address the problem of low accuracy in controlling tunneling speeds in mines with complex stress environments, embodiments of this application provide a method, apparatus, computer-readable storage medium, and electronic device for controlling the tunneling speed of a mine tunneling machine.

[0027] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0028] The methods and embodiments provided in this application can be executed on a mobile terminal, a computer terminal, or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a method of controlling the tunneling speed of a mine tunneling machine according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0029] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the method for controlling the tunneling speed of a mine tunneling machine in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0030] This embodiment provides a method for controlling the tunneling speed of a mine tunneling machine that runs on a mobile terminal, computer terminal, or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0031] Figure 2 This is a schematic flowchart illustrating a method for controlling the tunneling speed of a mine tunneling machine according to an embodiment of this application. Figure 2 As shown, the method includes the following steps:

[0032] Step S201: Obtain the current tunneling speed and uniaxial compressive strength. The current tunneling speed is used to characterize the tunneling speed of the tunneling machine at the current moment, and the uniaxial compressive strength is used to characterize the compressive strength of the rock strata on both sides of the tunnel to be excavated in front of the tunneling machine.

[0033] Specifically, the compressive strength of a single calorific value can be measured using rock mechanics experiments.

[0034] In one embodiment of this application, before obtaining the current tunneling speed and uniaxial compressive strength, the method further includes: storing a first mapping relationship in a database, wherein the first mapping relationship is used to characterize the mapping relationship between the tunneling speed of the tunneling machine and the stress peak value.

[0035] Specifically, by storing the first mapping relationship, it is convenient to find the stress peak corresponding to the current tunneling speed based on the first mapping relationship. Based on numerical calculation and monitoring results, stress distribution curves of the coal body in front of the roadway and the stress distribution on both sides of the roadway under different tunneling speeds can be drawn to obtain the relationship between the roadway tunneling speed and the stress of the coal body in front of the roadway and the stress on both sides of the roadway. The relationship between the stress in front of the peak of the coal body in front of the roadway and the distance from the tunneling face under different tunneling speeds can be determined, as can the relationship between the stress in front of the peak of the roadway on both sides and the distance from the roadway coal wall under different tunneling speeds. Correlation fitting is performed on the roadway tunneling speed and the magnitude of the peak stress of the coal body in front of the roadway (distance from the tunneling face) and the magnitude of the peak stress of both sides (distance from the tunneling face) to obtain the relationship between the tunneling speed and the stress peak of the surrounding rock of the roadway, thereby determining the first mapping relationship, which can be presented in tabular form.

[0036] Step S202: Based on the current tunneling speed, determine the target stress peak value. The target stress peak value is the peak value of the stress on both sides of the tunnel to be excavated when the tunnel to be excavated is excavated at the current tunneling speed.

[0037] Step S202, namely, determining the target stress peak value based on the current tunneling speed, includes: determining the intermediate stress peak value based on the first mapping relationship and the current tunneling speed, wherein the intermediate stress peak value is the stress peak value corresponding to the current tunneling speed in the first mapping relationship; and determining the target stress peak value as the intermediate stress peak value.

[0038] Specifically, by using the current tunneling speed, the stress peak value corresponding to the current tunneling speed can be found from the first mapping relationship, and this stress peak value can be used as the target stress peak value, which facilitates subsequent control of the tunneling machine speed.

[0039] Step S203: Based on at least one of the target stress peak value, the uniaxial compressive strength, and the current microseismic energy value, the tunneling speed of the tunneling machine is controlled using a preset method. The preset method includes one of the following: maintaining the tunneling speed of the tunneling machine at the current tunneling speed, increasing the tunneling speed of the tunneling machine, or decreasing the tunneling speed of the tunneling machine. The current microseismic energy value is used to characterize the microseismic energy value of the mine at the current moment.

[0040] In one embodiment of this application, the tunneling speed of the tunneling machine is controlled using a preset method based on the target peak stress and the uniaxial compressive strength, including:

[0041] according to Determine the risk coefficient, where N(v) is the risk coefficient when the tunneling speed of the aforementioned tunneling machine is v, and σ p (v) represents the peak value of the target stress when the tunneling speed of the aforementioned tunneling machine is v, σ c The above-mentioned uniaxial compressive strength, and v is the above-mentioned current tunneling speed;

[0042] Based on the aforementioned risk coefficient, the aforementioned tunneling speed of the aforementioned tunneling machine is controlled using the aforementioned preset method.

[0043] Specifically, based on the aforementioned risk coefficient, a target risk level is determined, which is one of multiple risk levels; based on the aforementioned target risk level, the aforementioned tunneling speed of the aforementioned tunneling machine is controlled using the aforementioned preset method, and the multiple risk levels are respectively the first risk level, the second risk level, and the third risk level, with the risk degree increasing sequentially.

[0044] In one embodiment of this application, controlling the tunneling speed of the tunneling machine using the preset method based on the aforementioned risk coefficient includes: increasing the tunneling speed of the tunneling machine when the risk coefficient is less than a first coefficient threshold; maintaining the tunneling speed of the tunneling machine when the risk coefficient is greater than or equal to the first coefficient threshold and less than or equal to a second coefficient threshold; and decreasing the tunneling speed of the tunneling machine when the risk coefficient is greater than the second coefficient threshold.

[0045] Specifically, the first coefficient threshold can be 1, and the second coefficient threshold can be 3. If the risk coefficient is less than the first coefficient threshold, the target risk level is determined to be the first risk level, indicating that the risk is low, and the tunneling speed of the tunneling machine is increased. If the risk coefficient is greater than or equal to the first coefficient threshold and less than or equal to the second coefficient threshold, the target risk level is determined to be the second risk level, indicating that increasing the speed will increase the risk, and the tunneling speed of the tunneling machine is maintained. If the risk coefficient is greater than the second coefficient threshold, the target risk level is determined to be the third risk level, indicating that maintaining the speed will also have a greater risk, and the tunneling speed of the tunneling machine is reduced.

[0046] In one embodiment of this application, a second mapping relationship is stored in the database. The second mapping relationship is used to characterize the mapping relationship between the speed reduction value and the tunneling speed of the tunneling machine. Reducing the tunneling speed of the tunneling machine includes: determining a target speed reduction value based on the second mapping relationship and the current tunneling speed, the target speed reduction value being used to characterize the speed reduction value corresponding to the current tunneling speed in the second mapping relationship; determining a target tunneling speed based on the current tunneling speed and the target speed reduction value; and adjusting the tunneling speed of the tunneling machine to the target tunneling speed, the target tunneling speed being the difference between the current tunneling speed and the target speed reduction value.

[0047] Specifically, by finding the speed reduction value corresponding to the current tunneling speed from the second mapping relationship based on the current tunneling speed, and subtracting the speed reduction value from the current tunneling speed, the target tunneling speed is obtained. The tunneling machine can then be controlled using the target tunneling speed.

[0048] In one embodiment of this application, the tunneling speed of the tunneling machine is controlled using a preset method based on the current micro-vibration energy value, including: increasing the tunneling speed of the tunneling machine when the current micro-vibration energy value is less than a first micro-vibration threshold; maintaining the tunneling speed of the tunneling machine when the current micro-vibration energy value is greater than or equal to the first micro-vibration threshold and less than or equal to a second micro-vibration threshold; and decreasing the tunneling speed of the tunneling machine when the current micro-vibration energy value is greater than the second micro-vibration threshold.

[0049] Specifically, the first microseismic threshold can be 4 × 10⁻⁶. 5 J, the second microseismic threshold can be 10. 6 If the current micro-vibration energy value is less than the first micro-vibration threshold, it indicates that the current micro-vibration energy value is safe, and the tunneling speed of the tunnel boring machine can be increased. If the current micro-vibration energy value is greater than or equal to the first micro-vibration threshold and less than or equal to the second micro-vibration threshold, it indicates that the current micro-vibration energy value will not cause the roadway to collapse, and the current tunneling speed can be maintained. If the current micro-vibration energy value is greater than the second micro-vibration threshold, it indicates that the current micro-vibration energy value exceeds the threshold, and the tunneling speed of the tunnel boring machine can be reduced.

[0050] The excavation of the tunnel causes unloading and failure within the surrounding rock, resulting in energy accumulation and release. The faster the tunnel excavation speed, the greater the energy accumulation and the higher the frequency of energy release, thus increasing the risk of tunnel impact. Microseismic systems can collect and calculate the energy magnitude of coal and rock fracturing signals generated during tunnel excavation and locate the seismic source. Therefore, using microseismic monitoring to optimize the tunnel excavation speed determined by numerical simulation is more consistent with actual on-site construction.

[0051] Theoretical calculation of minimum impact energy:

[0052] When the coal and rock mass is not disturbed by excavation, it is in a triaxial stress state. The energy E3 stored in a unit coal and rock mass in the triaxial state is:

[0053]

[0054] In the formula: σ1, σ2, σ3 are the first principal stress, the second principal stress, and the third principal stress (where the direction of the first principal stress is the direction of the maximum principal stress, the direction of the third principal stress is the direction of the minimum principal stress, the second principal stress is greater than the third principal stress, and the second principal stress is less than the first principal stress), v is Poisson's ratio, and E is the elastic modulus.

[0055] The initial state of the coal and rock mass is triaxial stress. As the tunnel is excavated, the coal and rock mass gradually changes from a triaxial stress state to a uniaxial stress state. That is, the energy required for the coal and rock mass to fail is the same as the energy E required for uniaxial failure. min The calculation is based on the following formula:

[0056]

[0057] After a coal and rock mass fractures, the remaining energy is converted into elastic waves. If the elastic wave energy is small, it will be absorbed by the surrounding rock during transmission. If the elastic wave energy is large, it will damage the coal and rock mass around the fracture, causing the surrounding coal and rock mass to also fracture. The excess energy is converted into kinetic energy, which throws out the broken coal and rock mass. If the kinetic energy is very large, it will form an impact. Therefore, by collecting the fracture signal of the coal and rock mass, the magnitude of the elastic wave energy and the location of the seismic source can be determined.

[0058] Through the above embodiments, by reducing, maintaining, or increasing the tunneling speed of the tunneling machine based on at least one of the target stress peak value, the uniaxial compressive strength, and the current microseismic energy value, the accuracy of the tunneling machine's speed control is improved, thereby solving the problem of low accuracy in controlling the tunneling speed of roadways in mines with complex stress environments in existing solutions.

[0059] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0060] This application also provides a control device for the tunneling speed of a mine tunneling machine. It should be noted that the control device for the tunneling speed of a mine tunneling machine in this application can be used to execute the control method for the tunneling speed of a mine tunneling machine provided in this application. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0061] The following describes the control device for the tunneling speed of a mine tunneling machine provided in the embodiments of this application.

[0062] Figure 3 This is a structural block diagram of a control device for the tunneling speed of a mine tunneling machine, provided according to an embodiment of this application. Figure 3As shown, the device includes an acquisition unit 31, a determination unit 32, and a first processing unit 33. The acquisition unit 31 is used to acquire the current tunneling speed and uniaxial compressive strength. The current tunneling speed is used to characterize the tunneling speed of the tunneling machine at the current moment, and the uniaxial compressive strength is used to characterize the compressive strength of the rock strata on both sides of the roadway to be excavated in front of the tunneling machine. The determination unit 32 is used to determine the target stress peak value based on the current tunneling speed. The target stress peak value is the peak value of the stress on both sides of the roadway to be excavated when the roadway to be excavated is excavated at the current tunneling speed. The first processing unit 33 is used to control the tunneling speed of the tunneling machine using a preset method based on at least one of the target stress peak value, the uniaxial compressive strength, and the current micro-vibration energy value. The preset method includes one of the following: maintaining the tunneling speed of the tunneling machine at the current tunneling speed, increasing the tunneling speed of the tunneling machine, or decreasing the tunneling speed of the tunneling machine. The current micro-vibration energy value is used to characterize the micro-vibration energy value of the mine at the current moment.

[0063] In the aforementioned device, the tunneling speed of the tunneling machine is reduced, maintained, or increased based on at least one of the target stress peak value, the uniaxial compressive strength, and the current micro-vibration energy value. This improves the accuracy of the tunneling machine's speed control and solves the problem of low accuracy in controlling the tunneling speed of roadways in mines with complex stress environments in existing solutions.

[0064] In one embodiment of this application, the device further includes a second processing unit. Before obtaining the current tunneling speed and uniaxial compressive strength, the second processing unit stores a first mapping relationship in a database. The first mapping relationship is used to characterize the mapping relationship between the tunneling speed of the tunneling machine and the stress peak value.

[0065] In one embodiment of this application, the determining unit includes a first determining module and a second determining module. The first determining module is used to determine the intermediate stress peak value according to the first mapping relationship and the current tunneling speed. The intermediate stress peak value is the stress peak value corresponding to the current tunneling speed in the first mapping relationship. The second determining module is used to determine the target stress peak value as the intermediate stress peak value.

[0066] In one embodiment of this application, the control unit includes a third determining module and a first processing module:

[0067] The third determining module is used to determine based on Determine the risk coefficient, where N(v) is the risk coefficient when the tunneling speed of the aforementioned tunneling machine is v, and σ p(v) represents the peak value of the target stress when the tunneling speed of the aforementioned tunneling machine is v, σ c The above-mentioned uniaxial compressive strength, and v is the above-mentioned current tunneling speed;

[0068] The first processing module is used to control the tunneling speed of the tunneling machine according to the aforementioned risk coefficient and the aforementioned preset method.

[0069] In one embodiment of this application, the first processing module includes a first processing submodule, a second processing submodule, and a third processing submodule. The first processing submodule is used to increase the tunneling speed of the tunneling machine when the risk coefficient is less than a first coefficient threshold. The second processing submodule is used to maintain the tunneling speed of the tunneling machine when the risk coefficient is greater than or equal to the first coefficient threshold and less than or equal to a second coefficient threshold. The third processing submodule is used to decrease the tunneling speed of the tunneling machine when the risk coefficient is greater than the second coefficient threshold.

[0070] In one embodiment of this application, a second mapping relationship is stored in the database. The second mapping relationship is used to characterize the mapping relationship between the speed reduction value and the tunneling speed of the tunneling machine. The third processing submodule includes a first determining submodule and a second determining submodule. The first determining submodule is used to determine a target speed reduction value based on the second mapping relationship and the current tunneling speed. The target speed reduction value is used to characterize the speed reduction value corresponding to the current tunneling speed in the second mapping relationship. The second determining submodule is used to determine a target tunneling speed based on the current tunneling speed and the target speed reduction value, and adjust the tunneling speed of the tunneling machine to the target tunneling speed. The target tunneling speed is the difference between the current tunneling speed and the target speed reduction value.

[0071] In one embodiment of this application, the control unit includes a second processing module, a third processing module, and a fourth processing module. The second processing module is used to increase the tunneling speed of the tunneling machine when the current micro-vibration energy value is less than a first micro-vibration threshold. The third processing module is used to maintain the tunneling speed of the tunneling machine when the current micro-vibration energy value is greater than or equal to the first micro-vibration threshold and less than or equal to a second micro-vibration threshold. The fourth processing module is used to decrease the tunneling speed of the tunneling machine when the current micro-vibration energy value is greater than the second micro-vibration threshold.

[0072] The aforementioned control device for the tunneling speed of a mine tunneling machine includes a processor and a memory. The acquisition unit, determination unit, and first processing unit are all stored as program units in the memory, and the processor executes these program units to achieve the corresponding functions. All of the above modules are located in the same processor; alternatively, the modules may be located in different processors in any combination.

[0073] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and adjusting kernel parameters can address the problem of low accuracy in controlling tunnel excavation speed in complex stress environments like mines.

[0074] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0075] This invention provides a computer-readable storage medium including a stored program, wherein, when the program is executed, a method for controlling the device containing the computer-readable storage medium to perform the tunneling speed of the mine tunneling machine is provided.

[0076] This invention provides a processor for running a program, wherein the program executes a method for controlling the tunneling speed of a mine tunneling machine.

[0077] This invention provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs at least the following steps: obtaining a current tunneling speed and uniaxial compressive strength, wherein the current tunneling speed characterizes the tunneling speed of the tunneling machine at the current moment, and the uniaxial compressive strength characterizes the compressive strength of the rock strata on both sides of the roadway to be excavated in front of the tunneling machine; determining a target stress peak value based on the current tunneling speed, wherein the target stress peak value is the peak value of the stress on both sides of the roadway to be excavated when the roadway is excavated at the current tunneling speed; and controlling the tunneling speed of the tunneling machine using a preset method based on at least one of the target stress peak value, the uniaxial compressive strength, and the current microseismic energy value, wherein the preset method includes one of the following: maintaining the tunneling speed of the tunneling machine at the current tunneling speed, increasing the tunneling speed of the tunneling machine, or decreasing the tunneling speed of the tunneling machine, wherein the current microseismic energy value characterizes the microseismic energy value of the mine at the current moment. The device described herein may be a server, PC, PAD, mobile phone, etc.

[0078] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps: obtaining a current tunneling speed and uniaxial compressive strength, wherein the current tunneling speed is used to characterize the tunneling speed of the tunneling machine at the current moment, and the uniaxial compressive strength is used to characterize the compressive strength of the rock strata on both sides of the roadway to be excavated in front of the tunneling machine; determining a target stress peak value based on the current tunneling speed, wherein the target stress peak value is the peak value of the stress value on both sides of the roadway to be excavated when the roadway to be excavated is excavated at the current tunneling speed; and controlling the tunneling speed of the tunneling machine using a preset method based on at least one of the target stress peak value, the uniaxial compressive strength, and the current microseismic energy value, wherein the preset method includes one of the following: maintaining the tunneling speed of the tunneling machine at the current tunneling speed, increasing the tunneling speed of the tunneling machine, or decreasing the tunneling speed of the tunneling machine, wherein the current microseismic energy value is used to characterize the microseismic energy value of the mine at the current moment.

[0079] This application also provides an electronic device including one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors. The one or more programs include a method for controlling the tunneling speed of any of the aforementioned methods for a mine tunneling machine. By reducing, maintaining, or increasing the tunneling speed of the tunneling machine based on at least one of the target peak stress, the uniaxial compressive strength, and the current microseismic energy value, the accuracy of the tunneling machine's speed control is improved, thereby solving the problem of low accuracy in controlling the tunneling speed of roadways in mines with complex stress environments in existing solutions.

[0080] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0081] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0082] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0083] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0084] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0085] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0086] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0087] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0088] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0089] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0090] 1) The method for controlling the tunneling speed of a mine tunneling machine in this application improves the accuracy of speed control of the tunneling machine by reducing, maintaining, or increasing the tunneling speed of the tunneling machine based on at least one of the target stress peak value, the uniaxial compressive strength, and the current micro-vibration energy value. This solves the problem that the existing solutions have low accuracy in controlling the tunneling speed of roadways in mines with complex stress environments.

[0091] 2) The tunneling speed control device for a mine tunneling machine of this application reduces, maintains, or increases the tunneling speed of the tunneling machine based on at least one of the target stress peak value, the uniaxial compressive strength, and the current micro-vibration energy value, thereby improving the accuracy of the speed control of the tunneling machine and solving the problem that the existing solution has low accuracy in controlling the tunneling speed of the roadway in mines with complex stress environments.

[0092] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for controlling the tunneling speed of a mine tunneling machine, characterized in that, include: The current tunneling speed and uniaxial compressive strength are obtained. The current tunneling speed is used to characterize the tunneling speed of the tunneling machine at the current moment, and the uniaxial compressive strength is used to characterize the compressive strength of the rock strata on both sides of the roadway to be excavated in front of the tunneling machine. Based on the current tunneling speed, a target stress peak value is determined. The target stress peak value is the peak value of the stress on both sides of the tunnel to be excavated when the tunnel to be excavated is excavated at the current tunneling speed. The tunneling speed of the tunneling machine is controlled by a preset method based on at least one of the target peak stress, the uniaxial compressive strength, and the current microseismic energy value. The preset method includes one of the following: maintaining the tunneling speed of the tunneling machine at the current tunneling speed, increasing the tunneling speed of the tunneling machine, or decreasing the tunneling speed of the tunneling machine. The current microseismic energy value is used to characterize the microseismic energy value of the mine at the current moment. The first mapping relationship is stored in the database, and the first mapping relationship is used to characterize the mapping relationship between the tunneling speed of the tunneling machine and the peak stress. Based on the first mapping relationship and the current tunneling speed, an intermediate stress peak is determined, wherein the intermediate stress peak is the stress peak corresponding to the current tunneling speed in the first mapping relationship; The target stress peak value is determined to be the intermediate stress peak value.

2. The method according to claim 1, characterized in that, Based on the target peak stress and the uniaxial compressive strength, the tunneling speed of the tunneling machine is controlled using a preset method, including: according to Determine the risk coefficient, among which, For the tunneling speed of the tunneling machine is The risk coefficient mentioned at that time, For the tunneling speed of the tunneling machine is The target stress peak value at that time, The uniaxial compressive strength is... The current tunneling speed; Based on the risk coefficient, the tunneling speed of the tunneling machine is controlled using the preset method.

3. The method according to claim 2, characterized in that, Based on the risk coefficient, the tunneling speed of the tunneling machine is controlled using the preset method, including: If the risk coefficient is less than a first coefficient threshold, the tunneling speed of the tunneling machine shall be increased; If the risk coefficient is greater than or equal to the first coefficient threshold and the risk coefficient is less than or equal to the second coefficient threshold, the tunneling speed of the tunneling machine shall be maintained. If the risk coefficient is greater than the second coefficient threshold, the tunneling speed of the tunneling machine shall be reduced.

4. The method according to claim 3, characterized in that, The database stores a second mapping relationship, which characterizes the mapping between the speed reduction value and the tunneling speed of the tunneling machine. Reducing the tunneling speed of the tunneling machine includes: Based on the second mapping relationship and the current tunneling speed, a target speed reduction value is determined, wherein the target speed reduction value is used to characterize the speed reduction value corresponding to the current tunneling speed in the second mapping relationship; Based on the current tunneling speed and the target speed reduction value, a target tunneling speed is determined, and the tunneling speed of the tunneling machine is adjusted to the target tunneling speed, wherein the target tunneling speed is the difference between the current tunneling speed and the target speed reduction value.

5. The method according to claim 2, characterized in that, Based on the current microseismic energy value, the tunneling speed of the tunneling machine is controlled using a preset method, including: If the current micro-vibration energy value is less than the first micro-vibration threshold, increase the tunneling speed of the tunneling machine; If the current micro-vibration energy value is greater than or equal to the first micro-vibration threshold and the current micro-vibration energy value is less than or equal to the second micro-vibration threshold, the tunneling speed of the tunneling machine shall be maintained. If the current micro-vibration energy value is greater than the second micro-vibration threshold, the tunneling speed of the tunneling machine shall be reduced.

6. A control device for the tunneling speed of a mine tunneling machine, characterized in that, include: The acquisition unit is used to acquire the current tunneling speed and uniaxial compressive strength. The current tunneling speed is used to characterize the tunneling speed of the tunneling machine at the current moment, and the uniaxial compressive strength is used to characterize the compressive strength of the rock strata on both sides of the roadway to be excavated in front of the tunneling machine. The determining unit is used to determine the target stress peak value based on the current tunneling speed. The target stress peak value is the peak value of the stress on both sides of the tunnel to be excavated when the tunnel to be excavated is excavated at the current tunneling speed. The first processing unit is configured to control the tunneling speed of the tunneling machine according to at least one of the target stress peak value, the uniaxial compressive strength, and the current microseismic energy value using a preset method. The preset method includes one of the following: maintaining the tunneling speed of the tunneling machine at the current tunneling speed, increasing the tunneling speed of the tunneling machine, and decreasing the tunneling speed of the tunneling machine. The current microseismic energy value is used to characterize the microseismic energy value of the mine at the current moment. The second processing unit is used to store the first mapping relationship in the database, wherein the first mapping relationship is used to characterize the mapping relationship between the tunneling speed of the tunneling machine and the peak stress. The first determining module is configured to determine the intermediate stress peak value based on the first mapping relationship and the current tunneling speed, wherein the intermediate stress peak value is the stress peak value corresponding to the current tunneling speed in the first mapping relationship; The second determining module is used to determine that the target stress peak value is the intermediate stress peak value.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the control method for controlling the tunneling speed of a tunneling machine for mining as described in any one of claims 1 to 5.

8. An electronic device, characterized in that, include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including a method for controlling the tunneling speed of a tunneling machine for mining as described in any one of claims 1 to 5.

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