A green intelligent filling method for coal gangue in situ in a well and a digging, selecting, transporting and filling integrated method

Abstract

The application discloses a kind of green intelligent filling method of underground coal gangue in situ and excavate-select-transport-fill integrated method, 1, set up gangue warehouse as the reserve warehouse of filling material;2, calculate the space that filling mold needs to fill behind single filling support;3, calculate the volume of gangue that is transported to goaf in a shift cycle of moving support;4, calculate the volume of gangue that needs to be allocated by gangue warehouse in a shift cycle of moving support;5, gangue warehouse carries out gangue, the volume of gangue that accumulates gangue is greater than or equal to V 仓 when the volume of gangue that accumulates gangue is greater than or equal to V, gangue warehouse stops gangue;6, transfer belt shifts gangue warehouse gangue to gangue transport belt, and gangue warehouse gangue is transported to working face filling transfer machine transition warehouse by gangue transport belt, and the gangue separated by working face is also transported to working face filling transfer machine transition warehouse by gangue transport belt, when the gangue in transition warehouse meets filling condition, filling is carried out, and step 2 is entered simultaneously. Mining gangue coordination can be realized, and filling quality is guaranteed.

Description

Technical Field

[0001] This invention relates to an in-situ green and intelligent filling method for underground coal gangue and an integrated method for tunneling, sorting, transportation and filling. Background Technology

[0002] Rock tunnels and semi-coal-rock tunnels are one of the important sources of gangue in underground mines. If the gangue from the tunneling face is sorted and backfilled in situ underground, and the tunneling, sorting, transportation, and backfilling processes of the underground production line are designed in an integrated manner to form a highly intensive and intelligent integrated system for underground coal mine tunneling, sorting, transportation, and backfilling, it can not only reduce carbon dioxide emissions during the spontaneous combustion of gangue piles on the surface, but also reduce energy and resource consumption per unit of output, thus forming an effective carbon emission control valve at the source of production.

[0003] In existing technologies, there are four methods for handling gangue at the tunneling face: grouting and filling of the goaf, disposal of abandoned underground spaces, precise adaptive filling, and intelligent roadway retention filling. When the mine adopts the first two methods, the gangue from the tunneling face is sorted and directly transported to the return airway for processing. When the mine adopts the latter two methods, if the gangue content of the raw coal is unstable, the immediate filling method cannot guarantee a stable supply of gangue raw materials, so the filling quality cannot be guaranteed. Especially when performing gangue cemented filling, the amount of gangue aggregate and the ratio of cementitious agent directly affect the mechanical properties of the filling body, which is related to the safety of production. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides an in-situ green and intelligent backfilling method for underground coal gangue and an integrated method for mining, beneficiation, transportation, and backfilling. The gangue from the coal mining face and the gangue from the gangue bin are intelligently allocated to backfill the goaf. On the one hand, this can act as a buffer to prevent the accumulation of gangue underground and the shortage of backfilling materials caused by the fluctuating gangue content of the raw coal. On the other hand, it can achieve coordination between mining and backfilling, ensuring the quality of backfilling.

[0005] To achieve the above-mentioned technical objectives and effects, the present invention is implemented through the following technical solution:

[0006] A green and intelligent in-situ backfilling method for underground coal gangue includes the following steps:

[0007] Step 1: Set up a gangue bin as a storage bin for backfill material. A transfer conveyor belt is arranged below the gangue outlet of the gangue bin. A binocular synchronous camera and a queuing mechanism are installed on the transfer conveyor belt.

[0008] Step 2: Calculate the space V that needs to be filled behind the filling mold of a single filling bracket. 支 :

[0009] V 支 =H×h×L2

[0010] Among them, V支 H represents the space required to be filled behind the filling mold of a single filling support; h represents the width of the filling support; h represents the coal cutting height; and L2 represents the moving step distance.

[0011] Step 3: Calculate one transfer cycle T 移 V, the volume of gangue transported from the inner coal mining face to the goaf. 采 :

[0012] V 采 =V s ×T 移 ×K

[0013] Among them, V 采 V represents the volume of gangue transported from the coal face to the goaf during one shifting cycle. s T represents the average volume of gangue discharged per second from the coal mining face. 移 For one rack shifting cycle: when sequential rack shifting filling is used, T 移 The time t for the next support frame transfer 支 When using partial intermittent filling, T 移 =t 支 *N 支 N 支 Where K is the number of spacer supports; K is the dynamic redundancy coefficient.

[0014] Step 4: Calculate one transfer cycle T 移 The internal gangue storage requires a volume V of gangue to be allocated. 仓 :

[0015] V 仓 =V 支 -V 采

[0016] Among them, V 仓 For one transfer cycle T 移 The internal gangue storage facility is needed to regulate the volume of gangue.

[0017] Step 5: The gangue bins discharge gangue. Using a binocular synchronous camera and queuing mechanism mounted on the conveyor belt, the discharged gangue is queued in a single line for discharge, and the volume of each discharged gangue is calculated, denoted as Q1, Q2, Q3… The discharged gangue volumes are accumulated. When the accumulated discharged gangue volume is greater than or equal to V… 仓 At that time, the waste rock storage facility stopped discharging waste rock;

[0018] Step 6: The transfer conveyor belt transfers the gangue from the gangue bin to the gangue transport conveyor belt, which then transports the gangue from the gangue bin to the transition bin of the working face filling transfer machine. The gangue separated from the coal mining face is also transported to the transition bin of the working face filling transfer machine via the gangue transport conveyor belt. When the gangue in the transition bin meets the filling conditions, filling is carried out, and the process proceeds to Step 2.

[0019] Preferably, the gangue from the tunneling face is filled into a gangue bin for later use.

[0020] Preferably, the value of K ranges from 1.5 to 2, based on the volume of gangue discharged per second V from the coal face. s The value of K is adjusted according to the fluctuation. The larger the fluctuation value, the larger the value of K.

[0021] Preferably, the average volume of gangue discharged per second from the coal mining face is V. s The calculation process is as follows:

[0022] A. A gamma-ray receiver is installed above the scraper conveyor at the coal face to measure the instantaneous gangue content (per second) of the raw coal at the coal face. The relationship between the mass percentage of gangue and the radiation intensity of the coal and gangue accumulation is as follows:

[0023]

[0024] Where J is the radiation intensity within the detection range of the gamma-ray receiver; q is the radioactivity concentration of the gangue; ρ c ρ is the density of coal. g c is the density of gangue. g The mass percentage of gangue; μ c μ is the mass attenuation coefficient of coal to natural radiation. g The mass attenuation coefficient of gangue to natural rays;

[0025] B. Calculate the amount of gangue produced per second at the coal mining face by measuring the mass of coal and gangue accumulated per second within the illumination range using the weighing sensor below the scraper conveyor at the working face:

[0026] m c =c g ×m d

[0027] Where, m c The amount of gangue discharged per second at the coal mining face; m d The mass of coal and gangue piled up per second;

[0028] C. Calculate the average volume of gangue produced per second at the coal mining face, V. s :

[0029]

[0030] Where, m p This represents the average amount of gangue produced per second in the statistical data collected every ten minutes from the coal mining face. Where, m c1 +m c1 +...+m c600 This is statistical data for the coal mining face every ten minutes.

[0031] A method for in-situ green and intelligent integrated mining, beneficiation, transportation, and charging of coal gangue in underground mines includes the following steps:

[0032] The first step is that after the raw coal is extracted by the coal mining machine, it is transported sequentially by the working face scraper conveyor to the transfer machine and vibrating screen for screening. Pulverized coal falls directly into the coal conveying belt conveyor, while the blocky coal gangue enters the queuing mechanism of the coal gangue in-situ intelligent sorting machine.

[0033] The second step involves the sorting machine separating the coal and gangue on-site. The gangue is pushed off into the gangue conveyor and transported to the transition bin of the working face filling transfer machine via the gangue conveyor belt. The lump coal enters the coal conveyor belt and is transported out of the working face together with the pulverized coal.

[0034] The third step is to use any one of the above-mentioned in-situ green and intelligent backfilling methods for underground coal gangue to backfill the goaf.

[0035] Preferably, in the second step, the belt speed v of the scraper conveyor of the sorting machine is dynamically adjusted. 带 The calculation formula is as follows:

[0036]

[0037] Among them, v 带 For the belt speed of the scraper conveyor used in the sorting machine; V s t is the average volume of gangue discharged per second from the coal mining face; t is 1 second; B is the belt width of the conveyor belt; h 堆 is the stackable height of the conveyor belt; k is the surplus coefficient, which takes a value of 1 to 2 and is adjusted according to the fluctuation of the volume of gangue discharged per second at the working face. The larger the fluctuation value, the larger the value.

[0038] The beneficial effects of this invention are:

[0039] (i) The gangue from the coal mining face and the gangue from the gangue bin are intelligently allocated to fill the goaf. On the one hand, it can act as a buffer to prevent the gangue from accumulating underground and the filling material from being insufficient due to the fluctuating gangue content of the raw coal. On the other hand, it can coordinate the mining of gangue and ensure the quality of filling.

[0040] (II) The coal gangue distribution system designed in this invention is equipped with an intelligent control system for gangue transportation, which intelligently adjusts the conveyor belt speed according to the amount of gangue discharged, so as to achieve energy saving and consumption reduction in the transportation process.

[0041] (III) The gangue from the tunneling face is directly transported to the gangue bin and extracted for use as needed. This invention performs in-situ sorting and backfilling of gangue from the mining face underground, and integrates the tunneling, sorting, transportation and backfilling processes of the underground production line, forming a highly intensive and intelligent integrated underground tunneling, sorting, transportation and backfilling system for coal mines, realizing that the mined gangue does not leave the mine.

[0042] (iv) This invention not only reduces carbon dioxide emissions caused by spontaneous combustion of coal gangue piles on the ground, but also reduces energy and resource consumption per unit of output, forming an effective carbon emission control valve at the source of production. Through energy conservation and emission reduction in coal gangue transportation and spontaneous combustion, green, low-carbon and intelligent coal mining is realized. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the structure of an underground coal gangue in-situ intelligent sorting machine according to the present invention;

[0044] Figure 2 This is a schematic diagram of a partial arrangement of the sorting belt in this invention;

[0045] Figure 3 This is a schematic diagram of the overall layout of the present invention;

[0046] Figure 4 This is the present invention. Figure 1 Cross-sectional view along Line II;

[0047] Figure 5 This is a layout diagram of the coal sorting machine above the coal bunker in the mining area according to the present invention;

[0048] The meanings of the labels in the attached diagram are as follows:

[0049] 1. Host computer; 2. Binocular synchronous camera; 3. Coal; 4. Gangue; 5. Weighing sensor; 6. Sorting belt; 7. Mechanical lever; 8. Coal conveying belt conveyor; 9. Gangue conveying scraper conveyor; 10. Queuing mechanism; 11. Gangue chute; 12. Sorting belt baffle; 13. Outer shell; 14. Sorting machine; 15. Vibrating screen; 16. Working face transport roadway; 17. Hydraulic support; 18. Coal mining machine; 19. Working face scraper conveyor; 20. Transfer conveyor; 21. Goaf; 22. Roof; 23. Floor; 24. Guide chute; 25. Main roadway; 26. Sorting chamber; 27. Gangue chute; 28. Coal chute; 29. ​​Coal bunker; 30. Gangue bunker; 31. Supplemental lighting. Detailed Implementation

[0050] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it. However, the embodiments are not intended to limit the present invention.

[0051] There are four methods for handling gangue at the tunneling face: grouting and backfilling in the goaf, disposal of abandoned spaces underground, precise adaptive backfilling, and intelligent roadway backfilling. The first two methods are direct gangue treatment methods, while the latter two are gangue backfilling and utilization methods. These can be used to control mine pressure at the working face or in roadways, and the selection is based on the mine's needs and the amount of gangue, aiming to ensure that gangue from the tunneling face does not leave the mine. Among these:

[0052] Precision adaptive filling aims to regulate the working face pressure. Based on the working face pressure distribution characteristics inverted by the intelligent inversion system, the filling scheme is adjusted in real time. It can prevent coal wall spalling and coal-rock dynamic disasters, break coal but not gangue, so as to facilitate subsequent coal and gangue separation. It is suitable for mines with thick gangue-containing coal seams.

[0053] Intelligent roadway retention and backfilling aims to regulate roadway pressure. Based on the roadway pressure distribution characteristics inverted by an intelligent roadway pressure inversion system, the backfilling method is adjusted in real time. It is used to regulate roadway pressure, achieve roadway retention along the goaf, reduce tunneling and support costs, decrease the workload of advance support, and prevent coal and rock dynamic disasters. It is suitable for mines with tight mining and tunneling succession. Depending on the mine's needs, one of the two schemes can be selected individually or used simultaneously, weighing the amount of gangue. Gangue can also be obtained by cutting the roof and floor or tunneling through rock.

[0054] This invention discloses an in-situ green and intelligent backfilling method for underground coal gangue, comprising the following steps:

[0055] Step 1: Set up the gangue bin 30 as a storage bin for backfilling materials. The gangue bin is equipped with a transfer belt below the gangue outlet. The transfer belt is equipped with a binocular synchronous camera and a queuing mechanism. When the mine adopts backfilling methods such as precise adaptive backfilling and intelligent roadway backfilling, the tunneled gangue needs to be transported to the gangue bin 30 first and extracted as needed.

[0056] The gangue bin 30 plays a crucial role in ensuring the supply of backfill materials. On one hand, it acts as a buffer to prevent gangue accumulation underground and backfill material shortages caused by fluctuating gangue content in raw coal. On the other hand, it coordinates the mining and extraction of gangue to guarantee backfill quality. It is worth noting that when using direct gangue processing, the gangue from the tunneling face is sorted in situ and directly transported to the goaf 21 for backfilling. When using gangue utilization for backfilling, the gangue from the tunneling face is sorted above the coal bunker in the mining area, and the sorted gangue enters the gangue bin, coordinating with the gangue from the coal mining face to ensure a sufficient supply of gangue materials. The gangue in the gangue bin 30 originates from the tunneling face, but when the gangue from the tunneling face is insufficient, it is supplemented by gangue from the surface to ensure the supply of backfill materials.

[0057] Step 2: To ensure the efficiency and scientific nature of gangue transportation, the transportation and backfilling volume of gangue is calculated. Taking a single backfilling support as an example (the backfilling support is equipped with a backfilling mold and a binocular synchronous camera: gangue is backfilled through the backfilling mold; the space clearance of the backfilling mold is monitored in real time by the binocular synchronous camera, and the calculation results are corrected), the space V that the backfilling mold of a single backfilling support needs to be filled is calculated. 支 :

[0058] V 支 =H×h×L2

[0059] Among them, V 支 H represents the space required to be filled by the filling mold behind a single filling support; H is the width of the filling support; h is the coal cutting height; L2 is the moving step distance.

[0060] Step 3: Calculate one transfer cycle T 移 V, the volume of gangue transported from the inner coal mining face to the goaf. 采 :

[0061] V 采 =V s ×T 移 ×K

[0062] Among them, V 采 V represents the volume of gangue transported from the coal face to the goaf during one shifting cycle. s T represents the average volume of gangue discharged per second from the coal mining face. 移 For one rack shifting cycle: when sequential rack shifting filling is used, T 移 The time t for the next support frame transfer 支 When using partial intermittent filling, T 移 =t 支 *N 支 N 支 denoted as the number of spacer supports; K is the dynamic surplus coefficient.

[0063] The value of K ranges from 1.5 to 2, based on the volume of gangue discharged per second V from the coal face. s The fluctuation is adjusted accordingly. The larger the fluctuation value, the larger the value of K. That is, if the fluctuation value is large, a larger dynamic surplus coefficient is taken to leave enough remaining space. Conversely, a smaller value is taken to prevent the space behind the support from being filled in advance, which would cause the gangue to accumulate on the working face.

[0064] Step 4: Calculate one transfer cycle T 移 The internal gangue storage requires a volume V of gangue to be allocated. 仓 :

[0065] V 仓 =V 支 -V 采

[0066] Among them, V 仓 For one transfer cycle T 移 The internal gangue storage facility is needed to regulate the volume of gangue.

[0067] Step 5: The gangue bins discharge gangue. Using a binocular synchronous camera and queuing mechanism mounted on the conveyor belt, the discharged gangue is queued in a single line for discharge, and the volume of each discharged gangue is calculated, denoted as Q1, Q2, Q3… The discharged gangue volumes are accumulated. When the accumulated discharged gangue volume is greater than or equal to V… 仓 At that time, the waste rock storage facility stopped discharging waste rock;

[0068] Step 6: The transfer conveyor belt transfers the gangue from the gangue bin to the gangue transport conveyor belt. The gangue transport conveyor belt operates at full speed and transports the gangue from the gangue bin to the transition bin of the filling transfer machine at the working face. The gangue separated from the coal mining face is also transported to the transition bin of the filling transfer machine at full speed via the gangue transport conveyor belt. When the gangue in the transition bin meets the filling conditions (e.g., when the weight is greater than 30kg), filling is carried out, and the process proceeds to Step 2.

[0069] Because the belt speeds on the scraper conveyor and tunneling machine transfer belts at the working face are relatively slow, the differences in gamma-ray radiation intensity caused by the variations in the three naturally occurring radioactive elements (thorium, uranium, and potassium) contained in the coal gangue can be utilized. A gamma-ray receiver can be placed above the working face to measure the instantaneous (i.e., per second) gangue content of the raw coal at the mining face. Preferably, the average per second gangue output volume V from the coal mining face is... s The calculation process is as follows:

[0070] A. A gamma-ray receiver is installed above the scraper conveyor at the coal face to measure the instantaneous gangue content (per second) of the raw coal at the coal face. The relationship between the mass percentage of gangue and the radiation intensity of the coal and gangue accumulation is as follows:

[0071]

[0072] Where J is the radiation intensity within the detection range of the gamma-ray receiver; q is the radioactivity concentration of the gangue; ρ c ρ is the density of coal. g c is the density of gangue. g The mass percentage of gangue; μ c μ is the mass attenuation coefficient of coal to natural radiation. g The mass attenuation coefficient of gangue to natural rays;

[0073] B. Calculate the amount of gangue produced per second at the coal mining face by measuring the mass of coal and gangue accumulated per second within the illumination range using the weighing sensor below the scraper conveyor at the working face:

[0074] m c =c g ×m d

[0075] Where, m c The amount of gangue discharged per second at the coal mining face; m d The mass of coal and gangue piled up per second;

[0076] C. Calculate the average volume of gangue produced per second at the coal mining face, V. s :

[0077]

[0078] Where, mp This represents the average amount of gangue produced per second in the statistical data collected every ten minutes from the coal mining face. Where, m c1 +m c1 +...+m c600 This is statistical data for the coal mining face every ten minutes.

[0079] Correspondingly, a method for in-situ green and intelligent integrated mining, beneficiation, transportation, and charging of underground coal gangue includes the following steps:

[0080] In the first step, after the raw coal is extracted by the coal mining machine 18, it is transported sequentially by the working face scraper conveyor 19 to the transfer conveyor 20 and the vibrating screen 15 for screening. The pulverized coal falls directly into the coal conveying belt conveyor 8, while the blocky coal gangue enters the queuing mechanism 10 of the coal gangue in-situ intelligent sorting machine 14.

[0081] In the second step, the sorting machine 14 sorts the coal and gangue on-site, and the gangue 4 is pushed off into the gangue conveyor 9 and transported to the transition bin of the working face filling transfer machine via the gangue conveyor belt; the lump coal enters the coal conveyor belt conveyor 8 and is transported out of the working face together with the pulverized coal.

[0082] The third step is to fill the goaf 21 using one of the above-mentioned underground coal gangue in-situ green intelligent filling methods.

[0083] In the second step, the sorting machine 14, as shown... Figures 1-2 As shown, the system includes a sorting belt 6, a mechanical lever 7, and a host computer 1. Coal and gangue blocks mined by the coal mining machine 18 enter the sorting belt 6 for coal and gangue separation. The inlet of the sorting belt 6 (… Figure 1 The right end of the sorting conveyor belt 6 is equipped with a queuing mechanism 10 that can arrange coal gangue into a single column for queuing. For example, a camera can be used in conjunction with a mechanical claw to arrange the coal gangue into a single column, or a gate can be used to arrange the coal gangue into a single column. Near the entrance of the sorting conveyor belt 6, a dynamic weighing sensor 5 is installed below it, a binocular synchronous camera 2 is installed above it, and a mechanical lever 7 is installed at the position of the gangue trough 11.

[0084] At the outlet of the sorting belt 6 ( Figure 1 A coal conveyor belt 8 is installed at the left end of the sorting belt 6, and a waste rock scraper conveyor 9 is installed below it. It should be noted that when the coal conveyor belt conveyor 8 and the waste rock scraper conveyor 9 are located in the main roadway 25, their conveying directions are the same. When they are located in the working face transport roadway 16, their conveying directions are opposite. For example, with... Figure 4 For example, the coal conveying belt conveyor 8 and the sorting belt 6 are oriented in the same direction. Figure 4 The right end of the conveyor transports coal, while the scraper conveyor for transporting gangue moves in 9 directions. Figure 4 The left end is used to transport gangue for in-situ filling.

[0085] The sorting belt 6, mechanical lever 7, weighing sensor 5, and binocular synchronous camera 2 are all connected to the host computer 1. The host computer 1 determines the target (i.e., coal gangue) category at the current position by collecting data from the weighing sensor 5 and the binocular synchronous camera 2. If the current target is determined to be gangue 4, when gangue 4 reaches the position of the gangue trough 11 (i.e., a trough opened at the gangue discharge point of the sorting belt 6), the mechanical lever 7 pushes the gangue 4 down to the gangue transport scraper conveyor 9.

[0086] Since a single sorting belt 6 can only perform sorting in one row, multiple sorting belts 6 can be set up for synchronous sorting to improve the sorting speed, based on the mining capacity of the coal mining machine 18. That is, the sorting machine has at least two sorting belts 6 arranged side by side. The host computer 1 can be set up in total, but each sorting belt 6 needs to be equipped with a set of mechanical levers 7, queuing mechanism 10, weighing sensor 5, and binocular synchronous camera 2. Depending on the actual working conditions, supplementary lights 31 can be installed above each sorting belt 6.

[0087] If a single sorting belt 6 can meet the mine's daily sorting requirements, then there is no need to deploy more sorting belts 6. If a single sorting belt 6 cannot meet the mine's daily sorting requirements, then the number of sorting belts 6 can be increased in parallel or vertically to meet the sorting requirements. When multiple sorting belts 6 are operating simultaneously, to prevent mutual interference between the sorting belts 6, it is preferable to install sorting belt baffles 12 between the sorting belts 6. This is to facilitate the collection of gangue 4. Figure 1 In the middle, a cavity with a wider top and a narrower bottom is provided below the sorting belt 6, and the scraper conveyor 9 is located below the cavity. In order to protect the sorting accuracy and service life of the sorting machine, a partial outer shell 13 can be provided on the outside of the sorting machine.

[0088] The host computer 1 determines the target category at the current location by collecting data from the weighing sensor 5 and the binocular synchronous camera 2, specifically including:

[0089] 1. The Zhang Zhengyou calibration method was used to calibrate the binocular synchronous camera 2. After calibration, the left and right images of coal gangue captured by the binocular synchronous camera 2 were stereo corrected according to the solved camera parameter information. The stereo corrected left and right images were converted into grayscale images, and the images were denoised using median filtering of 3×3 neighborhood.

[0090] 2. Perform SURF feature point detection and matching to obtain a set M of matching point pairs. Let the pixel coordinates of the i-th matching point pair at the feature point of the left eye image be (u i ,v i The corresponding point obtained by matching in the right eye image is (u) i ',v i If '), then iterate through the set M of matching point pairs one by one, and remove |vi '-v i For matching pairs where |>2, retain |v i '-v i For each pair of matching points |≤2, obtain a set N of matching point pairs, where all matching feature points in this set satisfy row alignment.

[0091] 3. Sequentially assign the i-th left-eye image feature point (u) from set N. i ,v i ) and right eye image feature points (u i ',v i Subtracting the x-coordinates of the i-th feature points from the x-coordinates of the i-th feature points yields the disparity d. i Combining the camera baseline B obtained from camera calibration and the camera focal length f, the (X) coordinates of the i-th feature point in the world coordinate system are calculated according to the following formula. i ,Y i Z i Coordinates, where the world coordinate system coincides with the camera coordinate system:

[0092]

[0093] In the formula, B is the distance between the centers of the two lenses of the binocular synchronous camera 2, i.e., the baseline; f is the focal length of the camera; d i d is the disparity of the i-th feature point. i =|u i -u i '|, where Z i If Z is the distance from the i-th feature point to the camera, then the height of the coal / gangue at that point is equal to the distance Z' from the camera to the table minus Z. i The method for calculating Z' is as follows: Select a feature point on the desktop, calculate its disparity in the left and right images, and then use the above formula to calculate the Z' coordinate of the point, which is the height of the camera from the desktop.

[0094] 4. After the above processing, a three-dimensional coordinate dataset of feature points on the coal / gangue surface is obtained. The coordinates in the three-dimensional coordinate dataset of feature points on the coal / gangue surface are then subjected to Delaunay triangulation (this is existing technology). This is combined with the coordinates of the i-th feature point (X... i ,Y i The corresponding Z i The coordinates are used to display the triangle as a 3D surface plot, thus obtaining the 3D surface plot of the coal gangue. The volume V of the coal gangue is then calculated using the integral method. m :

[0095] If Δ i Let i be the i-th triangle, and let the vertices of this triangle correspond to the three-dimensional coordinates of the feature points as (X, X) and (X, X) respectively. i1 Y i1 Z i1 ), (Xi2 Y i2 Z i2 ), (X i3 Y i3 Z i3 ), take Z i1 Z i2 Z i3 The minimum value is taken as Δ i For each Δ corresponding to the height of the column, calculate the values ​​for each Δ in sequence. i The volume of the coal gangue is obtained by summing the volumes of the corresponding cylinders.

[0096] In the formula, S(Δ i Let be the area of ​​the i-th triangle;

[0097] 5. Calculate the density ρ of the coal gangue based on the mass m collected by the weighing sensor 5:

[0098]

[0099] 6. Because the binocular camera can only capture the surface morphology of the coal gangue, and the bottom of the coal gangue is not flat with some areas protruding, other areas are suspended, forming an inverted trapezoid. The surface height of the coal gangue corresponding to these suspended areas is higher than the actual value, resulting in an overestimation of the volume and a certain error in density recognition. Similarly, image grayscale recognition is also affected by the appearance characteristics of the coal gangue, leading to certain recognition errors. Therefore, this invention optimizes the sorting algorithm and calculates the image grayscale feature correction parameter F. ir and density feature correction parameter F bi :

[0100]

[0101]

[0102] In the formula, G is the average gray value of coal gangue in the left and right grayscale images, and the value range is [0, 100].

[0103] 7. Calculate the criterion parameter F for coal and gangue separation according to the following formula. fuse :

[0104] F fuse =a ir F ir +(1-a ir )F bi

[0105] In the formula, a ir For grayscale features F ir The weight, a ir The value of F ranges from 0 to 1; when F fuseWhen F ≥ 0.5, the target is determined to be gangue 4; when F fuse If the value is less than 0.5, the target is identified as Coal 3.

[0106] When the target is determined to be gangue 4, the waiting time T for the mechanical lever 7 is calculated based on the distance L between the shooting position of the binocular synchronous camera 2 and the gangue separation trough 11:

[0107]

[0108] In the formula, ν 速 The belt speed of the sorting belt 6.

[0109] Binocular synchronous cameras can simulate the visual structure of human eyes. By utilizing the parallax of target objects in a scene within the binocular structure, depth information is obtained, enabling 3D reconstruction of the scene and targets. The application of binocular synchronous cameras for coal gangue volume recognition focuses on coal gangue images captured by binocular synchronous camera 2. A surface irregularity object volume recognition algorithm based on SURF feature point matching is employed. Row alignment constraints are used to eliminate incorrectly matched feature point pairs, and the 3D coordinate dataset is optimized. A 2D Delaunay triangulation method is used to obtain a triangular network of feature points, and the surface is reconstructed in 3D. The coal gangue volume is calculated using integral methods, and the density of coal gangue passing through binocular synchronous camera 2 is calculated using weighing information. The recognition algorithm is further optimized and corrected, enabling high-precision and high-speed in-situ intelligent sorting of underground coal gangue.

[0110] After the raw coal is extracted by the coal mining machine 18, it is sequentially transported by the face scraper conveyor 19 to the transfer conveyor 20 and vibrating screen 15 for screening. Pulverized coal falls directly into the coal conveying belt conveyor 8, while blocky coal gangue enters the queuing mechanism 10 of the in-situ intelligent coal gangue separator 14. The separator 14 is located in the face transport roadway 16 for on-site coal gangue separation. Using weighing sensors and a binocular synchronous camera mounted on the separator belt, the coal gangue separation algorithm is optimized and corrected using image recognition + dynamic weighing to achieve accurate identification and rapid separation of coal gangue. Correspondingly, such as... Figure 3-5 As shown, the sorting method includes the following steps:

[0111] S01, the queuing mechanism 10 arranges the coal gangue into a single-row advancing state and enters the sorting belt 6 in sequence. The conveying direction of the sorting belt 6 is the same as that of the coal conveying belt conveyor 8. Figure 4 In the middle, when the coal mining machine 18 is located below the hydraulic support 17 for mining, a working face transport roadway 16 is formed between the roof 22 and the floor 23.

[0112] S02, the binocular synchronous camera 2 takes pictures of the passing coal gangue targets and the weighing sensor 5 collects the mass data, which is then transmitted to the host computer 1.

[0113] S03, the host computer 1 determines the target category at the current location by collecting data from the weighing sensor 5 and the binocular synchronous camera 2, specifically including:

[0114] S0301. The Zhang Zhengyou calibration method is used to calibrate the binocular synchronous camera 2. After calibration, the left and right images of coal gangue captured by the binocular synchronous camera 2 are stereo corrected according to the solved camera parameter information. The stereo corrected left and right images are converted into grayscale images, and the images are denoised using median filtering of 3×3 neighborhood.

[0115] S0302. Perform SURF feature point detection and matching on the image to obtain a set M of matching point pairs. Let the pixel coordinates of the i-th matching point pair at the feature point of the left eye image be (u i ,v i The corresponding point obtained by matching in the right eye image is (u) i ',v i If '), then iterate through the set M of matching point pairs one by one, and remove |v i '-v i For matching pairs where |>2, retain |v i '-v i For each pair of matching points |≤2, obtain the set N of matching point pairs.

[0116] S0303, sequentially extract the i-th left eye image feature point (u) from set N. i ,v i ) and right eye image feature points (u i ',v i Subtracting the x-coordinates of the i-th feature points from the x-coordinates of the i-th feature points yields the disparity d. i Combining the camera baseline B obtained from camera calibration and the camera focal length f, the (X) coordinates of the i-th feature point in the world coordinate system are calculated according to the following formula. i ,Y i Z i Coordinates, where the world coordinate system coincides with the camera coordinate system:

[0117]

[0118] In the formula, B is the distance between the centers of the two lenses of the binocular synchronous camera 2, i.e., the baseline; f is the focal length of the camera; d i d is the disparity of the i-th feature point. i =|u i -u i '|;where Z i If Z is the distance from the i-th feature point to the camera, then the height of the coal / gangue at that point is equal to the distance Z' from the camera to the table minus Z. iThe method for calculating Z' is as follows: Select a feature point on the desktop, calculate its disparity in the left and right images, and then use the above formula to calculate the Z' coordinate of the point, which is the height of the camera from the desktop.

[0119] S0304. Perform Delaunay triangulation on the central (X,Y) coordinates of the three-dimensional coordinate dataset of feature points on the coal / gangue surface, and combine the data with the i-th feature point (X... i ,Y i The corresponding Z i Coordinates, using the concept of integration to calculate the volume V of coal gangue. m The details are as follows:

[0120] If Δ i Let i be the i-th triangle, and let the vertices of this triangle correspond to the three-dimensional coordinates of the feature points as (X, X) and (X, X) respectively. i1 Y i1 Z i1 ), (X i2 Y i2 Z i2 ), (X i3 Y i3 Z i3 ), take Z i1 Z i2 Z i3 The minimum value is taken as Δ i For each Δ corresponding to the height of the column, calculate the values ​​for each Δ in sequence. i The volume of the coal gangue is obtained by summing the volumes of the corresponding cylinders.

[0121] In the formula, S(Δ i Let be the area of ​​the i-th triangle.

[0122] S0305. Based on the mass m of the coal gangue collected by the weighing sensor 5, calculate the density ρ of the coal gangue:

[0123]

[0124] S0306. Calculate the image grayscale feature correction parameter F. ir and density feature correction parameter F bi :

[0125]

[0126]

[0127] In the formula, G is the average ash value of coal gangue in the left and right grayscale images.

[0128] S0307. Calculate the criterion parameter F for coal and gangue separation according to the following formula. fuse :

[0129] F fuse =a ir F ir +(1-a ir )F bi

[0130] In the formula, a ir For grayscale features F ir The weights; when F fuse When F ≥ 0.5, the target is determined to be gangue 4; when F fuse If the value is less than 0.5, the target is identified as coal.

[0131] S04. When the target is determined to be gangue 4, the waiting time T for the mechanical lever 7 is calculated based on the distance L between the shooting position of the binocular synchronous camera 2 and the gangue separation trough 11:

[0132]

[0133] In the formula, ν 速 To determine the belt speed of the sorting belt 6;

[0134] S05, the mechanical handpiece 7, according to the action time, pushes the gangue 4 into the gangue transport scraper conveyor 9. The gangue transport scraper conveyor 9 transports the gangue 4 in the opposite direction to the goaf 21 for filling, while the lump coal enters the coal transport belt conveyor 8 and is transported out of the working face together with the pulverized coal.

[0135] The sorting belts 6 consist of 2-6 belts, each equipped with a set of mechanical levers 7, queuing mechanism 10, weighing sensor 5, and binocular synchronous camera 2.

[0136] Depending on the specific conditions of different mines, a sorting machine can also be installed above the coal bunker 29 in the mining area. When the sorting system is installed above the coal bunker 29 in the mining area, it can not only serve the entire mining area, but also sort the raw coal from the coal mining face and the tunneling face together, eliminating the need for separate sorting systems for the coal mining and tunneling faces. When the raw coal is transported to the front of the coal bunker in the mining area, it is first screened by the vibrating screen 15. The pulverized coal falls into the coal conveyor belt 8 connected below the vibrating screen 15 and is then poured into the coal bunker 29. Lump coal and gangue enter the guide chute 24 from the vibrating screen, and are then diverted by the guide chute 24 to each sorting chamber 26 for sorting. The sorted gangue can be immediately returned to the goaf for filling or stored in the gangue bin 30 for later use through the gangue chute 27. The sorted lump coal flows into the coal bunker 29 through the coal chute 28 and is transported to the surface together with the pulverized coal.

[0137] In addition, when the amount of gangue produced at the coal mining face is unstable, the conveying speed of the gangue-carrying scraper conveyor of the sorting machine is intelligently adjusted according to the amount of gangue produced, so as to achieve energy saving and consumption reduction in the transportation process and ensure that the gangue-carrying belt operates at full load as much as possible. That is, in the second step, the belt speed v of the gangue-carrying scraper conveyor of the sorting machine is dynamically adjusted. 带The calculation formula is as follows:

[0138]

[0139] Among them, v 带 For the belt speed of the scraper conveyor used in the sorting machine; V s B represents the average volume of gangue discharged per second from the coal mining face; t is 1 second; B 带 h is the conveyor belt width. 堆 is the stackable height of the conveyor belt; k is the margin coefficient, which takes a value of 1 to 2 and is adjusted according to the fluctuation of the volume of gangue discharged per second at the working face. The larger the fluctuation value, the larger the value should be to ensure a suitable belt speed.

[0140] The beneficial effects of this invention are:

[0141] (i) The gangue from the coal mining face and the gangue from the gangue bin are intelligently allocated to fill the goaf. On the one hand, it can act as a buffer to prevent the gangue from accumulating underground and the filling material from being insufficient due to the fluctuating gangue content of the raw coal. On the other hand, it can coordinate the mining of gangue and ensure the quality of filling.

[0142] (II) The coal gangue distribution system designed in this invention is equipped with an intelligent control system for gangue transportation, which intelligently adjusts the conveyor belt speed according to the amount of gangue discharged, so as to achieve energy saving and consumption reduction in the transportation process.

[0143] (III) The gangue from the tunneling face is directly transported to the gangue bin and extracted for use as needed. This invention performs in-situ sorting and backfilling of gangue from the mining face underground, and integrates the tunneling, sorting, transportation and backfilling processes of the underground production line, forming a highly intensive and intelligent integrated underground tunneling, sorting, transportation and backfilling system for coal mines, realizing that the mined gangue does not leave the mine.

[0144] (iv) This invention not only reduces carbon dioxide emissions caused by spontaneous combustion of coal gangue piles on the ground, but also reduces energy and resource consumption per unit of output, forming an effective carbon emission control valve at the source of production. Through energy conservation and emission reduction in coal gangue transportation and spontaneous combustion, green, low-carbon and intelligent coal mining is realized.

[0145] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A method for in-situ green and intelligent integrated mining, beneficiation, transportation, and charging of coal gangue underground, characterized in that, Includes the following steps: First step: After the raw coal is mined by the coal mining machine (18), it is transported by the working face scraper conveyor (19) to the transfer machine (20) and the vibrating screen (15) for screening. The pulverized coal falls directly into the coal conveying belt conveyor (8), while the blocky coal gangue enters the queuing mechanism (10) of the coal gangue in-situ intelligent sorting machine (14). The second step is that the sorting machine (14) sorts the coal and gangue on the spot, and the gangue (4) is pushed into the gangue conveyor (9) and transported to the transition bin of the filling transfer machine at the working face by the gangue conveyor belt; while the lump coal enters the coal conveyor belt conveyor (8) and is transported out of the working face together with the pulverized coal. The third step is to use an in-situ green and intelligent underground coal gangue filling method to fill the goaf (21); The aforementioned in-situ green and intelligent backfilling method for underground coal gangue includes the following steps: Step 1: Set up a gangue bin as a storage bin for backfill material. A transfer conveyor belt is arranged below the gangue outlet of the gangue bin. A binocular synchronous camera and a queuing mechanism are installed on the transfer conveyor belt. Step 2: Calculate the space V that needs to be filled behind the filling mold of a single filling bracket. 支 : In 支 =H×h×L2 Among them, V 支 H represents the space required to be filled behind the filling mold of a single filling support; h represents the width of the filling support; h represents the coal cutting height; and L2 represents the moving step distance. Step 3: Calculate one transfer cycle T 移 V, the volume of gangue transported from the inner coal mining face to the goaf. 采 : V 采 =V s ×T 移 ×K Among them, V 采 V represents the volume of gangue transported from the coal face to the goaf during one shifting cycle. s T represents the average volume of gangue discharged per second from the coal mining face. 移 For one rack shifting cycle: when sequential rack shifting filling is used, T 移 The time t for the next support frame transfer 支 When using partial intermittent filling, T 移 =t 支 *N 支 N 支 Where K is the number of spacer supports; K is the dynamic redundancy coefficient. Step 4: Calculate one transfer cycle T 移 The internal gangue storage requires a volume V of gangue to be allocated. 仓 : V 仓 =V 支 -V 采 Among them, V 仓 For one transfer cycle T 移 The internal gangue storage facility is needed to regulate the volume of gangue. Step 5: The gangue bins discharge gangue. Using a binocular synchronous camera and queuing mechanism mounted on the conveyor belt, the discharged gangue is queued in a single line for discharge, and the volume of each discharged gangue is calculated. The discharged gangue volumes are accumulated. When the accumulated discharged gangue volume is greater than or equal to V... 仓 At that time, the waste rock storage facility stopped discharging waste rock; Step 6: The transfer conveyor belt transfers the gangue from the gangue bin to the gangue transport conveyor belt, which then transports the gangue from the gangue bin to the transition bin of the working face filling transfer machine. The gangue separated from the coal mining face is also transported to the transition bin of the working face filling transfer machine via the gangue transport conveyor belt. When the gangue in the transition bin meets the filling conditions, filling is carried out, and the process proceeds to Step 2.

2. The integrated method for in-situ green and intelligent mining, beneficiation, transportation, and charging of underground coal gangue according to claim 1, characterized in that, The gangue from the tunneling face is filled into the gangue bin for later use.

3. The method for in-situ green and intelligent integrated mining, beneficiation, transportation, and charging of coal gangue in underground mines according to claim 1, characterized in that, The value of K ranges from 1.5 to 2, based on the volume of gangue discharged per second V from the coal face. s The value of K is adjusted according to the fluctuation. The larger the fluctuation value, the larger the value of K.

4. The integrated method for in-situ green and intelligent mining, beneficiation, transportation, and charging of underground coal gangue according to claim 2, characterized in that, Average per second gangue output V at the coal mining face s The calculation process is as follows: A. A gamma-ray receiver is installed above the scraper conveyor at the coal face to measure the instantaneous gangue content (per second) of the raw coal at the coal face. The relationship between the mass percentage of gangue and the radiation intensity of the coal and gangue accumulation is as follows: Where J is the radiation intensity within the detection range of the gamma-ray receiver; q is the radioactivity concentration of the gangue; ρ c ρ is the density of coal. g c is the density of gangue. g The mass percentage of gangue; μ c μ is the mass attenuation coefficient of coal to natural radiation. g The mass attenuation coefficient of gangue to natural rays; B. Calculate the amount of gangue produced per second at the coal mining face by measuring the mass of coal and gangue accumulated per second within the illumination range using the weighing sensor below the scraper conveyor at the working face: m c =c g ×m d Where, m c The amount of gangue discharged per second at the coal mining face; m d The mass of coal and gangue piled up per second; C. Calculate the average volume of gangue produced per second at the coal mining face, V. s : Where, m p This represents the average amount of gangue produced per second in the statistical data collected every ten minutes from the coal mining face. Where, m ci This represents the i-th statistical data point from the coal mining face.

5. The integrated method for in-situ green and intelligent mining, beneficiation, transportation, and charging of underground coal gangue according to claim 1, characterized in that, In the second step, the belt speed v of the scraper conveyor of the sorting machine is dynamically adjusted. 带 The calculation formula is as follows: Among them, v 带 For the belt speed of the scraper conveyor used in the sorting machine; V s B represents the average volume of gangue discharged per second from the coal mining face; t is 1 second; B 带 h is the conveyor belt width. 堆 is the stackable height of the conveyor belt; k is the surplus coefficient, which takes a value of 1 to 2 and is adjusted according to the fluctuation of the volume of gangue discharged per second at the working face. The larger the fluctuation value, the larger the value.

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