A digital method for surrounding rock of rapid tunneling roadway

Abstract

A kind of surrounding rock digitization method for rapid tunneling roadway belongs to coal mine tunneling technical field, can solve the problem of poor compatibility between existing equipment, large workload of acquisition measurement, high equipment cost, poor technical reliability and operability, tunneling process and equipment mismatch, the method of the present application is suitable for the rapid acquisition and digitization analysis of surrounding rock of rapid tunneling of excavating and anchoring integrated machine, head convergence deformation monitoring, roof lag support area anchor sinking monitoring, based on the combination of close-range photography and laser scanning, mutual make up technical shortcomings, play technical advantages, with the characteristics of reducing acquisition measurement, reducing equipment cost, simplifying data acquisition process.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of coal mine tunneling, and particularly relates to a surrounding rock digitization method for rapid tunneling of a roadway. BACKGROUND

[0002] In order to relieve the tension of coal mining and tunneling connection, reduce the tunneling operation personnel, improve the footage efficiency, improve the mining mechanization and intelligent level, realize safe and efficient tunneling, the number of coal mines using the rapid tunneling of the tunneling and anchoring integrated machine is rapidly increasing at home and abroad. At present, the intelligent control technology of the tunneling and anchoring integrated machine mainly concentrates on the single machine control, cooperative control, remote centralized control of the equipment. In the transparent geology aspect, certain exploration work has been done, but in the head convergence deformation monitoring, rapid collection and digital analysis of surrounding rock, there are still problems such as high price of required equipment, need for professional personnel to operate hardware and software equipment, on-site compatibility to be improved, and inability to provide timely basis for on-site decision-making. SUMMARY

[0003] The application provides a surrounding rock digitization method for rapid tunneling of a tunneling and anchoring integrated machine, which is suitable for rapid collection and digital analysis of surrounding rock for rapid tunneling of the tunneling and anchoring integrated machine, head convergence deformation monitoring, anchor rod subsidence monitoring of roof lagging support area, and is based on the combination of close-range photography and laser scanning, mutually makes up for technical defects, plays technical advantages, and has the characteristics of reducing collection and measurement, reducing equipment cost, and simplifying data collection process.

[0004] The application adopts the following technical scheme:

[0005] A surrounding rock digitization method for rapid tunneling of a tunneling and anchoring integrated machine comprises the following steps:

[0006] Firstly, the tunneling and anchoring integrated machine is used for rapid tunneling: in the tunneling process, the telescopic horizontal roller of the tunneling and anchoring integrated machine is used for cutting the roadway once from top to bottom, meanwhile, the telescopic shovel plate and rake claw of the tunneling and anchoring integrated machine are used for completing coal loading, and the transportation part, anchor rod transfer machine group and belt transfer machine of the tunneling and anchoring integrated machine are used for completing coal transportation;

[0007] Secondly, the tunneling and anchoring integrated machine and the anchor rod transfer machine group are supported: after the tunneling, coal loading and coal transportation are completed, the four roof anchor rod drilling boxes of the tunneling and anchoring integrated machine are used for completing partial support of the roadway roof anchor rod, and the left and right side drilling boxes are used for completing support of the upper anchor rod of the roadway side slope; meanwhile, the roof anchor rod drilling boxes of the anchor rod transfer machine group are used for completing support of the remaining anchor rod of the roadway roof, and the left and right side drilling boxes are used for completing support of the lower anchor rod of the roadway side slope;

[0008] Third step, head-on convergence deformation monitoring: while the tunneling and anchoring integrated machine and the anchor rod transloading machine group support, the three-dimensional laser scanner of the monitoring instrument one scans, and then the data collected in the field is stored in the USB storage of the three-dimensional laser scanner, and all accurate point cloud data is obtained by the explosion-proof microcomputer of the monitoring instrument one, the section of the tunnel is generated by defining the row distance, three-dimensional modeling is carried out based on the point cloud data, three-dimensional scene simulation analysis is carried out, statistical data is saved, and key monitoring and alarm functions are provided for positions with large short-time displacement changes;

[0009] Fourth step, rapid acquisition and digital analysis of surrounding rock: while the tunneling and anchoring integrated machine and the anchor rod transloading machine group support, the explosion-proof camera of the monitoring instrument one takes photos on the spot, and the geological information of the tunneling face is rapidly acquired and transmitted, then the long line segments and dense small line segments of the rock mass structure profile, the fracture occurrence information, and the surrounding rock type are intelligently extracted from the photos and test data by the explosion-proof microcomputer of the monitoring instrument one, and finally the surrounding rock classification results are formed and saved, which provide a basis for subsequent decision-making;

[0010] Fifth step, anchor rod subsidence monitoring in the lag support area of the roof: while the tunneling and anchoring integrated machine tunnels and supports, the three-dimensional laser scanner of the monitoring instrument two scans, and then the data collected in the field is stored in the USB storage of the three-dimensional laser scanner, all accurate point cloud data is obtained by the explosion-proof microcomputer of the monitoring instrument two, only the data of the exposed anchor rod and the adjacent position are retained, three-dimensional scene simulation analysis is carried out, the scanning and analysis interval time is customized, key monitoring is provided for positions with large short-time displacement changes, an alarm value is set, and an alarm function is provided;

[0011] Sixth step, digital comprehensive analysis and decision-making of surrounding rock: through head-on convergence deformation monitoring, rapid acquisition and digital analysis of surrounding rock, and anchor rod subsidence monitoring in the lag support area of the roof, the relevant data is comprehensively analyzed, and the relevant data and pictures are displayed in zones on the mobile phone software and the intelligent operation platform, which are specifically the head section of the tunneling face, the deformation and convergence values of the tunnel section, and the displacement change values of the anchor rods in the lag support area of the roof. Through software design and self-learning, the integrity and stability grade of the surrounding rock is determined, and relevant suggestions are provided for the number of anchor rods for timely support of the roadway and the positions requiring reinforcement support;

[0012] Seventh step, rapid tunneling cycle operation: the processes of coal cutting, coal loading, and coal transportation are completed during the rapid tunneling of the tunneling and anchoring integrated machine; the processes of anchor rod and cable support, head-on convergence deformation monitoring, and rapid acquisition and digital analysis of surrounding rock are completed during the support of the tunneling and anchoring integrated machine and the anchor rod transloading machine group; the anchor rod subsidence monitoring in the lag support area of the roof is continuously carried out, the digital comprehensive analysis and decision-making of surrounding rock are carried out in the background computer, and the process time is not occupied. The rapid tunneling is repeatedly implemented according to the above processes, and the cycle is repeated until the tunneling of the roadway is completed.

[0013] Further, the monitoring instrument one is located below the temporary support guard plate of the combined excavating and bolting machine, and there is no object blocking in front and on both sides, and one monitoring instrument is arranged on each side of the body of the combined excavating and bolting machine.

[0014] Further, the scanning range of the three-dimensional laser scanner of the monitoring instrument one in the third step is the roof of the empty roof area and the coal wall of the empty wall area.

[0015] Further, the photographing range of the explosion-proof camera of the monitoring instrument one in the fourth step is the coal wall of the working face.

[0016] Further, the monitoring instrument two is located above the transportation crossheading at the rear part of the body of the combined excavating and bolting machine or a position deviating from the middle part, and there is no object blocking above, so that the roof support structure above the combined excavating and bolting machine can be scanned, and one monitoring instrument is arranged.

[0017] Further, the scanning range of the three-dimensional laser scanner of the monitoring instrument two in the fifth step is the timely supporting roof anchor rod above the combined excavating and bolting machine.

[0018] The beneficial effects of the present application are as follows:

[0019] 1. The present application realizes rapid collection and digital analysis of surrounding rock, and improves the intelligent level of rapid roadway excavation: the current rapid excavation lacks real-time monitoring of the empty roof area and the empty wall area, and usually relies on experience for judgment. The present application retains the original excavation process, adds two monitoring instruments, carries out zoned monitoring, and finally presents the results on the mobile phone software and the intelligent operation platform, and connects the on-site alarm device, thereby improving the feasibility and operability of excavation intelligence.

[0020] 2. The present application improves the safety of the combined excavating and bolting machine: on the one hand, the empty roof area and the empty wall area which are relatively dangerous are scanned by laser radar, and real-time monitoring is carried out; on the other hand, the combined excavating and bolting machine usually hopes to support only part of the roof anchor rod in order to speed up the excavation speed, but due to the lack of safety judgment basis and alarm value, it is limited in a dilemma, so the present application provides technical decision support and safety guarantee by monitoring the sinking displacement of the anchor rod in the lagging support area of the roof.

[0021] 3. Laser radar and close-range photography are combined for zoned digital monitoring: laser radar scanning has high accuracy, but there are technical problems such as limited scanning range and large model data requiring secondary processing; close-range photography has flexible viewing range and high definition, but there are problems such as image distortion affecting measurement accuracy and deformation measurement accuracy needing to be improved. Therefore, the present application takes the advantages of the two methods, and makes up for each other's shortcomings, uses laser radar for small-range scanning and extracts useful data, deletes redundant point clouds, uses close-range photography, saves and analyzes excavation geological information, provides original data information for support decision-making for subsequent excavation or mining of adjacent roadways, and reduces the amount of repeated geological work.

[0022] 4. The front and rear laser radars are monitored differently, and the methods are different: the front laser radar is used for monitoring the real-time dynamic of the empty roof and empty side, and extracting the shape and displacement of the exposed coal and rock, and the rear laser radar only extracts the displacement change of the exposed anchor rod and the surrounding rock near the anchor rod by scanning, and extracts the displacement change value. Therefore, the front laser radar needs to collect a large amount of data for rapid analysis, and the rear laser radar only collects part of the data, so as to ensure the technical feasibility and reliability. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 The profile graph is monitored for the fast excavation of the excavating and anchoring integrated machine;

[0024] Figure 2 The plan view is monitored for the fast excavation of the excavating and anchoring integrated machine;

[0025] Wherein: 1-excavating and anchoring integrated machine; 2-monitoring instrument one; 3-empty roof area roof; 4-working face coal wall; 5-empty side area coal side; 6-coal seam; 7-monitoring instrument two; 8-timely supporting top anchor rod; 9-roof; 10-floor; 11-lagging supporting top anchor rod position; 12-roadway two sides; I-three-dimensional laser scanning area; II-photographic monitoring area. DETAILED DESCRIPTION

[0026] The application is further described in combination with the drawings.

[0027] As shown in the drawings, a surrounding rock digitization method for fast excavation of a roadway comprises the following steps:

[0028] Excavating and anchoring integrated machine fast excavation: in the excavation process, the telescopic horizontal roller of the excavating and anchoring integrated machine is used to cut the roadway from top to bottom at one time, and the telescopic shovel plate and rake claw of the excavating and anchoring integrated machine complete the coal loading, and the transportation part, anchor rod transfer machine group and belt transfer machine of the excavating and anchoring integrated machine complete the coal transportation.

[0029] Excavating and anchoring integrated machine and anchor rod transfer machine group support: after the excavation, coal loading and coal transportation are completed, the four top anchor rod drill boxes of the excavating and anchoring integrated machine complete the partial support of the roadway roof anchor rod, and the left and right side drill boxes complete the support of the upper anchor rod of the roadway side; at the same time, the top anchor rod drill boxes of the anchor rod transfer machine group complete the support of the remaining anchor rod of the roadway roof, and the left and right side drill boxes complete the support of the lower anchor rod of the roadway side.

[0030] Head-on convergence deformation monitoring: while the combined machine of tunneling and bolting and the anchor rod transshipment machine group support, the three-dimensional laser scanner of monitoring instrument one scans, the scanning range is the roof of the empty top area and the coal wall of the empty side area of the working face, then the data collected in the field is stored in the USB storage of the three-dimensional laser scanner, the explosion-proof microcomputer of monitoring instrument one processes all accurate point cloud data through professional software, defines the row distance to generate the cross section of the tunnel, carries out three-dimensional modeling based on point cloud data, carries out three-dimensional scene simulation analysis, saves statistical data, and provides key monitoring and alarm function for the position with large displacement change in a short time.

[0031] Rapid collection and digital analysis of surrounding rock: while the combined machine of tunneling and bolting and the anchor rod transshipment machine group support, the explosion-proof camera of monitoring instrument one takes photos on site, the photo range is the coal wall of the working face, the geological information of the tunneling working face is rapidly collected and transmitted, then the explosion-proof microcomputer of monitoring instrument one extracts the long line segment and dense small line segment of the rock mass structure contour, the fracture occurrence information and the surrounding rock type through the photos and test data, finally forms the surrounding rock classification and discrimination results, saves the results, and provides basis for subsequent decision-making.

[0032] Anchor rod subsidence monitoring in lag support area of roof: while the combined machine of tunneling and bolting and the anchor rod transshipment machine group support, the three-dimensional laser scanner of monitoring instrument two scans, the scanning range is the timely support anchor rod above the combined machine of tunneling and bolting, then the data collected in the field is stored in the USB storage of the three-dimensional laser scanner, the explosion-proof microcomputer of monitoring instrument two processes all accurate point cloud data through professional software, only retains the data of the exposed anchor rod and the adjacent position, carries out three-dimensional scene simulation analysis, customizes the scanning and analysis interval time, provides key monitoring for the position with large displacement change in a short time, sets the warning value, and provides alarm function.

[0033] Digital comprehensive analysis and decision of surrounding rock: through head-on convergence deformation monitoring, rapid collection and digital analysis of surrounding rock, anchor rod subsidence monitoring in lag support area of roof, the related data is comprehensively analyzed, the related data and pictures are displayed in the mobile phone software and intelligent operation platform, which are specifically divided into tunneling working face head-on cross section, roadway cross section deformation and convergence value, lag support anchor rod displacement change value, through software design and self-learning, the surrounding rock integrity and stability grade is determined, and related suggestions are provided for the number of timely support anchor rods of roadway and the position needing to strengthen support.

[0034] Fast driving cycle operation: complete the process of cutting coal, loading coal, and transporting coal when the integrated machine of driving and anchoring fast drives; complete the process of anchoring, monitoring convergence deformation at the head, rapid collection and digital analysis of surrounding rock when the integrated machine of driving and anchoring and the anchor rod transfer machine group support; the monitoring of anchor rod subsidence in the roof lagging support area is continuously carried out. The digital comprehensive analysis and decision of surrounding rock are carried out in the background computer, which does not occupy the process time. The fast driving is repeatedly implemented according to the above process, and the cycle is repeated until the driving of the roadway is completed.

Claims

1. A method for digitalizing surrounding rock for rapid excavation of a roadway, characterized by: Comprising the following steps: First step, the rapid excavation of the integrated machine: in the process of excavation, the telescopic horizontal roller of the integrated machine cuts the tunnel from top to bottom at one time, while the telescopic shovel plate and rake of the integrated machine complete the coal loading, the transport part, the anchor rod transfer machine group and the belt transfer machine complete the coal transportation; Second step, the support of the integrated machine and the anchor rod transfer machine group: after the completion of excavation, coal loading and coal transportation, the four roof anchor rod drilling boxes of the integrated machine complete the partial support of the roof anchor rod of the tunnel, and the left and right side drilling boxes complete the support of the upper anchor rod of the side of the tunnel; at the same time, the roof anchor rod drilling boxes of the anchor rod transfer machine group complete the support of the remaining roof anchor rod of the tunnel, and the left and right side drilling boxes complete the support of the lower anchor rod of the side of the tunnel; Third step, monitoring of convergence deformation at the head: while the integrated machine and the anchor rod transfer machine group are supporting, the three-dimensional laser scanner of the monitoring instrument one scans, and then the data collected in the field is stored in the USB storage of the three-dimensional laser scanner, and the accurate point cloud data is obtained by the explosion-proof microcomputer of the monitoring instrument one, the section view of the tunnel is generated by defining the distance, the three-dimensional modeling is carried out based on the point cloud data, the three-dimensional scene simulation analysis is carried out, the statistical data is saved, and the positions with large displacement changes in a short time are provided with key monitoring and alarm functions; Fourth step, rapid collection and digital analysis of surrounding rock: while the integrated machine and the anchor rod transfer machine group are supporting, the explosion-proof camera of the monitoring instrument one takes photos on site, the geological information of the excavation face is rapidly collected and transmitted, and then the long line segment and dense small line segment of the rock mass structure contour, the fracture occurrence information and the surrounding rock type are intelligently extracted and displayed by the explosion-proof microcomputer of the monitoring instrument one, and finally the surrounding rock classification results are formed and saved, which provides a basis for subsequent decision-making; Fifth step, monitoring of anchor rod subsidence in lag support area of roof: while the integrated machine is excavating and supporting, the three-dimensional laser scanner of the monitoring instrument two scans, and then the data collected in the field is stored in the USB storage of the three-dimensional laser scanner, and the accurate point cloud data is obtained by the explosion-proof microcomputer of the monitoring instrument two, only the data of the exposed anchor rod and the adjacent position is retained, three-dimensional scene simulation analysis is carried out, the scanning and analysis interval time is self-defined, the positions with large displacement changes in a short time are provided with key monitoring, and an alarm value is set to provide an alarm function; Sixth step, digital comprehensive analysis and decision of surrounding rock: through the convergence deformation monitoring at the head, the rapid collection and digital analysis of surrounding rock, and the monitoring of anchor rod subsidence in the lag support area of the roof, the related data is comprehensively analyzed, and the related data and pictures are displayed in the mobile phone software and the intelligent operation platform, which are specifically divided into the section view of the tunnel excavation face at the head, the deformation and convergence value of the tunnel section, and the displacement change value of the lag support roof anchor rod. Through software design and self-learning, the integrity and stability grade of the surrounding rock is determined, and relevant suggestions are provided for the number of roof and side anchor rods for timely support of the tunnel and the position requiring strengthened support. The seventh step is a rapid excavation cycle operation: the process of cutting, loading and transporting coal is completed when the integrated machine of excavation and anchoring rapidly excavates; the process of anchoring, monitoring convergence deformation, rapid collection and digital analysis of surrounding rock is completed when the integrated machine of excavation and anchoring and the anchor rod transfer machine group support; the monitoring of the anchor rod sinking amount in the roof lagging support area is continuously performed, the digital comprehensive analysis and decision of the surrounding rock are performed in the background computer, the process time is not occupied, the rapid excavation is repeatedly performed according to the above process, and the cycle is repeated until the excavation of the roadway is completed.

2. The method for digitalizing surrounding rock for rapid roadway excavation according to claim 1, characterized in that: The monitor one is located below the guard plate of the integrated machine of excavation and anchoring, and the front and both sides are not blocked by objects, and one is arranged on each side of the body of the integrated machine of excavation and anchoring.

3. The method for digitalizing surrounding rock for rapid roadway excavation according to claim 1, characterized in that: In the third step, the scanning range of the three-dimensional laser scanner of the monitor one is the roof of the empty roof area and the coal wall of the empty wall area.

4. The method for digitalizing surrounding rock for rapid roadway excavation according to claim 1, characterized in that: In the fourth step, the photographing range of the explosion-proof camera of the monitor one is the coal wall of the working face.

5. The method for digitalizing surrounding rock for rapid roadway excavation according to claim 1, characterized in that: The monitor two is located above the transportation crossheading at the rear of the body of the integrated machine of excavation and anchoring or a position deviated from the middle, and there is no object above, and one is arranged.

6. The method for digitalizing surrounding rock for rapid roadway excavation according to claim 1, characterized in that: In the fifth step, the scanning range of the three-dimensional laser scanner of the monitor two is the timely support anchor rod above the integrated machine of excavation and anchoring.

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