Low-position grouting filling method, filling device and low-position grouting system

Abstract

The invention provides a low-position grouting filling method and device and a low-position grouting system. The low-position grouting filling method comprises the steps that a goaf is determined according to a coal face and grouting filling capacity; a grouting pipeline is arranged on a top plate of an auxiliary transportation gate road of the coal face to conduct grouting on the goaf, and the grouting pipeline is formed by connecting a plurality of sections of pipelines; under the condition that the coal face advances by one filling step pitch every time, low-position grouting operation is carried out until the coal face advances to a mining stopping line, and the low-position grouting operation is that a flow valve of a grouting pipeline is opened to complete filling of one filling step pitch on a goaf; the filling step pitch is the filling distance that the gangue slurry can be uniformly diffused to the required filling range under the condition that the filling amount is ensured. The problem that in the prior art, the filling quality is poor due to the fact that the goaf is complex in the filling process is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of goaf filling, and in particular to a low-position grouting filling method, a filling device, a computer-readable storage medium and a low-position grouting system. Background Art

[0002] In recent years, in the mining paste filling industry, with the enhancement of social environmental awareness and the continuous tightening of environmental protection policies, the ground discharge resistance of solid waste such as gangue and fly ash has become increasingly greater. Due to the large output of coal gangue, the use of coal gangue slurry grouting to treat coal gangue has become a green treatment method. The drilling construction of the traditional ground grouting filling method is mostly located above the goaf, and there are certain hidden dangers in construction safety. In addition, the traditional ground grouting filling mostly uses a single borehole for grouting filling one by one. Due to the poor fluidity of the slurry, multiple boreholes need to be arranged during the grouting filling process to complete the grouting filling, which leads to a relatively high grouting cost. In the actual filling process, the traditional filling method is prone to affect the filling quality due to the complex rock formations in the goaf and the large self-flowing slope of the slurry. Summary of the invention

[0003] The main purpose of the present application is to provide a low-position grouting filling method, a filling device, a computer-readable storage medium and a low-position grouting system, so as to at least solve the problem in the prior art of poor filling quality due to the complexity of the goaf during the filling process.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a low-position grouting filling method is provided, including determining a goaf area according to a coal mining face and a grouting filling capacity; arranging a grouting pipe at the top plate of the auxiliary transport chute of the coal mining face to grout the goaf area, and the grouting pipe is formed by connecting multiple sections of pipes; performing a low-position grouting operation every time the coal mining face advances a filling step until the coal mining face advances to a stop mining line, and the low-position grouting operation is to open the flow valve of the grouting pipe to complete the filling of the goaf with one filling step, and the filling step is a filling distance at which the gangue slurry can be evenly diffused to the required filling range while ensuring the filling amount.

[0005] Optionally, before determining the goaf according to the coal mining face and the grouting filling capacity, the method also includes: obtaining the width of the auxiliary transport chute, the diffusion length, the stacking height of the gangue slurry, the porosity of the goaf, the advancement distance of the coal mining face, the density and mass concentration of the gangue slurry, the diffusion length being the length of the gangue slurry diffused in the gangue area within the goaf; adding the product of the diffusion length and the porosity and the width of the auxiliary transport chute to obtain the diffusion distance of the gangue slurry, and calculating the diffusion distance divided by 2 to obtain the average diffusion distance; calculating the product of the average diffusion distance, the stacking height, the advancement distance, the density of the gangue slurry and the mass concentration to obtain the grouting filling capacity.

[0006] Optionally, before performing a low-position grouting operation each time the coal mining face advances a filling step, the method also includes: conducting a filling process simulation test based on the position of the grouting pipe and the gravity slope of the gangue slurry; performing multiple fillings in combination with the stacking height and the height of the auxiliary transport chute to obtain multiple flow ranges and multiple filling amounts of the gangue slurry; analyzing the optimal value of the flow range for multiple flow ranges and multiple filling amounts to obtain the filling step.

[0007] Optionally, each time the coal mining face advances a filling step, a low-level grouting operation is performed, including: controlling to close the flow valve and bypass valve of the grouting pipe near the stop line of the coal mining face; using a grouting pump to inject water into the grouting pipe until the grouting pipe is filled with the water; using the grouting pump to inject mortar into the grouting pipe and controlling to increase the opening of the flow valve until the grouting pipe is filled with the mortar; controlling to adjust the opening of the flow valve to the maximum, and at the same time using the grouting pump to inject gangue slurry into the grouting pipe until the grouting pipe is filled to one of the filling steps.

[0008] Optionally, after using the grouting pump to inject gangue slurry into the grouting pipe until the grouting pipe is filled to a filling step, the method also includes: setting up stacking walls at fixed intervals in the auxiliary transport chute to prevent the gangue slurry from flowing into the coal mining face during the grouting process.

[0009] Optionally, after using the grouting pump to inject gangue slurry into the grouting pipe until the grouting pipe is filled to a filling step, the method further includes: using the grouting pump to inject a set volume of the mortar into the grouting pipe; after completing the mortar injection, using the grouting pump to inject water into the grouting pipe until the grouting pipe is filled with water, opening the bypass valve and closing the flow valve to drain the water.

[0010] Optionally, after opening the bypass valve and closing the flow valve to drain the water, the method further comprises: removing one or more sections of the pipeline closest to the goaf so that the opening of the grouting pipeline is free of debris within a specified range.

[0011] According to another aspect of the present application, a low-position grouting filling device is provided, the device comprising: a determination unit, for determining a goaf area according to a coal mining face and a grouting filling capacity; an arrangement unit, for arranging a grouting pipe at the top plate of the auxiliary transport chute of the coal mining face to grout the goaf area, the grouting pipe being formed by connecting multiple pipe sections; a grouting unit, for performing a low-position grouting operation every time the coal mining face advances a filling step until the coal mining face advances to a stop mining line, the low-position grouting operation being to open the flow valve of the grouting pipe to complete the filling of the goaf with one filling step, the filling step being a filling distance at which the gangue slurry can be evenly diffused to a required filling range while ensuring the filling amount.

[0012] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute any one of the methods described.

[0013] According to another aspect of the present application, a low-level grouting system is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include methods for executing any one of the described methods.

[0014] Applying the technical solution of the present application, in the low-position grouting filling method, first, the goaf is determined according to the coal mining face and the grouting filling capacity; then, a grouting pipe is arranged at the top plate of the auxiliary transport chute of the coal mining face to grout the goaf, and the grouting pipe is formed by connecting multiple sections of pipes; finally, a low-position grouting operation is performed every time the coal mining face advances a filling step, until the coal mining face advances to the stop mining line. The low-position grouting operation is to open the flow valve of the grouting pipe to complete the filling of the goaf for one filling step, and the filling step is the filling distance at which the gangue slurry can be evenly diffused to the required filling range while ensuring the filling amount. The present application determines the goaf area to be filled according to the coal mining working face and the grouting filling capacity; arranges the outlet of the grouting pipe at an entrance of the goaf area, and starts the first low-position grouting when the working face advances to a filling step, and starts the second low-position grouting operation as the working face advances to the next filling step, repeating the working face advancement and grouting filling process until the working face advances to the stop mining line, and completing the grouting filling. The present application solves the problem of poor filling quality due to the complexity of the goaf area in the prior art during the filling process. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A hardware structure block diagram of a mobile terminal for executing a low-position grouting filling method provided in an embodiment of the present application is shown;

[0016] Figure 2 A schematic flow chart of a low-position grouting filling method provided according to an embodiment of the present application is shown;

[0017] Figure 3 A schematic structural diagram of a low-position grouting goaf area provided according to an embodiment of the present application is shown;

[0018] Figure 4 A structural block diagram of a low-position grouting filling device provided according to an embodiment of the present application is shown.

[0019] The above drawings include the following reference numerals:

[0020] 102. Processor; 104. Memory; 106. Transmission equipment; 108. Input and output equipment; 1. Goaf; 2. Auxiliary transport chute; 3. Grouting pipeline. DETAILED DESCRIPTION

[0021] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0022] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0023] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0024] As introduced in the background technology, in the prior art, the filling quality is easily affected by the complex rock strata and the large self-flow slope of the slurry in the goaf during the actual filling process. In order to solve the problem of poor filling quality caused by the complexity of the goaf during the filling process in the prior art, the embodiments of the present application provide a low-level grouting filling method, a filling device, a computer-readable storage medium and a low-level grouting system.

[0025] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0026] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 1 is a hardware structure block diagram of a mobile terminal for a low-position grouting filling method according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 1More or fewer components as shown, or with Figure 1 Different configurations shown.

[0027] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the low-position grouting filling method in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, the above method is realized. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The transmission device 106 is used to receive or send data via a network. The above-mentioned network specific example may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as 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.

[0028] In this embodiment, a low-level grouting filling method running on a mobile terminal, a computer terminal or a similar computing device is provided. It should be noted that the steps shown in the flowchart of 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 an order different from that shown here.

[0029] Figure 2 Flow chart of the low-position grouting filling method according to an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0030] Step S201, determining the goaf area according to the coal mining working face and grouting filling capacity.

[0031] Specifically, the planned first filling area is the coal mining face, and based on the filling capacity of low-position grouting, the goaf area on one side of the auxiliary transport chute of the coal mining face is determined to be the goaf area that needs to be filled.

[0032] Step S202, arranging a grouting pipe at the roof of the auxiliary transport drift of the coal mining face to grout the goaf, and the grouting pipe is formed by connecting multiple sections of pipes.

[0033] Specifically, the low-position grouting pipe is arranged and fixed at the corner of the auxiliary side of the top plate of the auxiliary transport chute. When the auxiliary transport chute is relatively long and one section of the pipe cannot meet the layout requirements, multiple sections of the pipe are usually spliced ​​to form a grouting pipe.

[0034] Step S203, every time the coal mining face advances a filling step, a low-level grouting operation is performed until the coal mining face advances to the stop mining line. The low-level grouting operation is to open the flow valve of the grouting pipeline to complete the filling of the goaf for a filling step. The filling step is the filling distance at which the gangue slurry can be evenly diffused to the required filling range while ensuring the filling volume.

[0035] Specifically, grouting filling is carried out every time the coal mining working face advances a certain distance, that is, the above-mentioned low-position grouting operation, and this cycle is repeated until the coal mining working face advances to the stop mining line and the grouting filling is completed, wherein the distance advanced is one of the above-mentioned filling steps.

[0036] In this embodiment, first, the goaf is determined according to the coal mining face and the grouting filling capacity; then, a grouting pipe is arranged at the top plate of the auxiliary transport chute of the coal mining face to grout the goaf, and the grouting pipe is formed by connecting multiple pipe sections; finally, a low-level grouting operation is performed every time the coal mining face advances a filling step until the coal mining face advances to the stop line. The low-level grouting operation is to open the flow valve of the grouting pipe to complete the filling of the goaf for a filling step. The filling step is the filling distance at which the gangue slurry can be evenly diffused to the required filling range while ensuring the filling amount. The present application determines the goaf area to be filled according to the coal mining working face and the grouting filling capacity; arranges the outlet of the grouting pipe at an entrance of the goaf area, and starts the first low-position grouting when the working face advances to a filling step, and starts the second low-position grouting operation as the working face advances to the next filling step, repeating the working face advancement and grouting filling process until the working face advances to the stop mining line, and completing the grouting filling. The present application solves the problem of poor filling quality due to the complexity of the goaf area in the prior art during the filling process.

[0037] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the low-position grouting filling method of the present application will be described in detail below in combination with specific embodiments.

[0038] In order to improve the filling efficiency and curing effect of the gangue slurry, in an optional embodiment, before the above step S201, the method further includes:

[0039] Step S301, obtain the width of the auxiliary transport chute, the diffusion length, the accumulation height of the gangue slurry, the porosity of the goaf, the advancement distance of the coal mining face, the density and mass concentration of the gangue slurry, and the diffusion length is the length of the gangue slurry diffused in the gangue area in the goaf.

[0040] Specifically, in order to accurately calculate the grouting filling capacity, it is necessary to obtain parameters related to the grouting filling capacity, namely, the width a of the auxiliary transport chute, the diffusion length b, the accumulation height h of the gangue slurry, the porosity δ of the goaf, the advancement distance L of the coal mining face, the density ρ and mass concentration C of the gangue slurry. The diffusion length is the length of the gangue slurry diffused in the gangue area in the goaf.

[0041] Step S302, summing up the product of the diffusion length and the porosity and the width of the auxiliary chute to obtain the diffusion distance of the gangue slurry, and dividing the diffusion distance by 2 to obtain the average diffusion distance.

[0042] Specifically, the product of the diffusion length b and the porosity δ and the width a of the auxiliary chute are added together to obtain the diffusion distance a+bδ of the gangue slurry. The average diffusion distance is obtained by dividing the diffusion distance by 2.

[0043] Step S303, calculating the product of the average diffusion distance, the accumulation height, the advancement distance, the density of the gangue slurry and the mass concentration to obtain the grouting filling capacity.

[0044] Specifically, the grouting filling capacity Q is obtained according to the product of the average diffusion distance r, the stacking height h, the advancing distance L, the density ρ of the gangue slurry, and the mass concentration C, and the calculation formula is Q=rhρLC. By calculating the grouting filling capacity, the filling effect and solidification ability of the gangue slurry in the goaf can be evaluated. It is helpful to optimize the filling design of the coal mining face, improve the filling efficiency and solidification effect of the gangue slurry, thereby reducing the impact of the gangue slurry on groundwater and the environment, and ensuring the safety and sustainable development of mine production.

[0045] In order to ensure that the gangue slurry can fully cover the target area, in an optional embodiment, before the above step S202, the method further includes:

[0046] Step S401, performing a filling process simulation test according to the location of the grouting pipeline and the self-flow slope of the gangue slurry.

[0047] Specifically, in order to ensure the filling volume and cover the goaf to the greatest extent, a filling process simulation experiment is carried out according to the location of the filling pipe and the self-flow slope of the filling material in the goaf, the location of the grouting pipe and the self-flow slope of the gangue slurry are determined, and a simulation test is carried out to observe the flow of the gangue slurry at different slopes.

[0048] Step S402, multiple fillings are performed in combination with the stacking height and the height of the auxiliary transport chute to obtain multiple flow ranges and multiple filling amounts of the gangue slurry.

[0049] Specifically, multiple filling tests are carried out according to the height of the stockpile and the height of the auxiliary transport chute, and the flow range and filling volume of the gangue slurry are recorded.

[0050] Step S403, analyzing the optimal value of the flow range for multiple flow ranges and multiple filling amounts to obtain the filling step distance.

[0051] Specifically, multiple flow ranges and filling volumes are analyzed to find the optimal value of the flow range, that is, the maximum range that the gangue slurry can cover, and the filling step distance, that is, the interval distance of each filling, is obtained. For example, when the filling slurry is filled to a height of 2m, the auxiliary transport chute is 2.5m high, and its flow range is about 20m according to the previous test data. Therefore, considering the diffusion range of the filling slurry and ensuring the filling volume to the greatest extent, the low-level grouting filling step distance is determined to be 20m. Ensure that the gangue slurry can fully cover the target area and reduce leakage and infiltration. At the same time, reduce the waste of grouting materials and avoid waste caused by uneven filling.

[0052] In order to improve the safety of the coal mine and provide stable support and solidification, in an optional implementation, the above step S203 includes:

[0053] Step S2031, controlling the closing of the flow valve and bypass valve of the grouting pipeline near the stop line of the coal mining face.

[0054] Specifically, when the working face advances to a filling step, the first low-level grouting begins. It is necessary to close the flow valve and bypass valve of the grouting pipeline in the auxiliary transport chute near the stop line of the coal mining working face to facilitate subsequent water injection to clean the grouting pipeline.

[0055] Step S2032, inject water into the grouting pipe using a grouting pump until the grouting pipe is filled with water.

[0056] Specifically, filling with water can ensure that there is no air and impurities in the grouting pipe, thereby improving the grouting effect.

[0057] Step S2033, inject mortar into the grouting pipe using a grouting pump and control the opening of the flow valve to increase until the grouting pipe is filled with mortar.

[0058] Specifically, after water is injected until the pipe is full, the slurry is then injected, and at the same time, the opening of the flow valve is adjusted to ensure a full pipe flow state.

[0059] Step S2034, control and adjust the opening of the flow valve to the maximum, and at the same time use the grouting pump to inject gangue slurry into the grouting pipe until the filling in the grouting pipe reaches a filling step.

[0060] Specifically, gangue slurry is a material mixed with cement, sand and slag, which has strong supporting and solidifying capabilities, can fill the gaps in the coal seam, support the coal seam, prevent coal seam collapse, and improve the safety of coal mines. Use a grouting pump to inject gangue slurry into the grouting pipe until the filling in the grouting pipe reaches a filling step. This position grouting operation is completed.

[0061] In order to ensure the safety and stability of the coal mining working face, in an optional implementation, after the above step S2034, the method further includes:

[0062] Step S501, setting up stacking walls at fixed intervals in the auxiliary transport drift to prevent gangue slurry from flowing into the coal mining face during the grouting process.

[0063] Specifically, after each grouting filling is completed, a sandbag stacking wall is set at a certain distance in the auxiliary transport chute. For example, the sandbag stacking wall can be a 0.5m thick sand wall. It can prevent the gangue slurry from pouring into the coal mining face: the setting of the stacking wall can prevent the gangue slurry from entering the coal mining face during the grouting process, ensuring the safety and stability of the coal mining face. By preventing the influx of gangue slurry, the stacking wall can improve the safety of the coal mining face and reduce the risk of accidents caused by the entry of gangue slurry.

[0064] In order to prevent blockage and water accumulation inside the grouting pipeline, in an optional embodiment, after the above step S2034, the method further includes:

[0065] Step S601, injecting a set volume of mortar into the grouting pipe using a grouting pump.

[0066] Specifically, before water injection, a grouting pump is used to inject mortar into the grouting pipe for water isolation. Injecting mortar for water isolation can prevent water from flowing to the ground or other places where water is not required during the water injection process.

[0067] Step S602, after the mortar injection is completed, water is injected into the grouting pipe using a grouting pump until the grouting pipe is filled with water, and the bypass valve is opened and the flow valve is closed to discharge the water.

[0068] Specifically, after the mortar is filled, water is injected to clean the grouting pipe to remove dirt and impurities inside the pipe and keep the pipe unobstructed. When the water reaches the coal mining face, the bypass valve is opened and the flow valve is closed to lead the water to the sedimentation tank and discharge it to the mine water tank through the water pit, which can effectively treat the sewage generated during the water injection process.

[0069] In order to prevent the opening of the grouting pipe from being blocked, in an optional embodiment, after the above step S602, the method further includes:

[0070] Step S701, remove one or more sections of the pipe closest to the goaf so that the opening of the grouting pipe is within a specified range and free of debris.

[0071] Specifically, after the operation process is completed, the pipe closest to the goaf is also removed, and the specified range of its opening is free of debris; avoiding the pipe opening being blocked by debris can ensure the smooth progress of the grouting operation, reduce work delays and material waste caused by pipe blockage, reduce interference with the goaf during the grouting operation, and ensure the safety and stability of the goaf.

[0072] This embodiment relates to a specific low-position grouting filling method, such as Figure 3 As shown, the following steps are included:

[0073] Step S1: According to the filling capacity of the coal mining working face and the low-position grouting, determine the area on one side of the auxiliary transportation drift 2 of the working face as the goaf 1 that needs to be filled;

[0074] Step S2: When the coal mining face advances to a filling step, the first low-position grouting is started: ① Preparation period: close the flow valve and bypass valve on the grouting pipe 3 near the stop line of the auxiliary transport chute 2, and then use the grouting pump to fill the grouting pipe 3 with water until the pipe is full and then start to inject mortar, adjust the opening of the flow valve to ensure the full pipe flow state, and finally fully open the flow valve after injecting the gangue slurry; ② Filling period: continue to fill the gangue slurry until the filling of a grouting step is completed; ③ Cleaning period: before water injection, use the grouting pump to inject mortar into the grouting pipe 3 for water isolation, and start to inject water to clean the pipe after the mortar is filled. When the water reaches the coal mining face, open the bypass valve and close the flow valve to guide the water to the sedimentation tank and discharge it to the mine water tank through the water pit;

[0075] Step S3: After completing the operation process, remove the pipe closest to the goaf and make sure that there is no debris within the specified range of its opening. Step 4: Repeat the above process until the working face advances to the stop-mining line and the grouting filling is completed.

[0076] Step S4: As the working face advances, when the working face advances to the next filling step, the second low-position grouting operation is started, and steps S2 and S3 are repeated until the coal mining working face advances to the stop mining line and the grouting filling is completed.

[0077] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0078] The embodiment of the present application also provides a low-position grouting filling device. It should be noted that the low-position grouting filling device of the embodiment of the present application can be used to execute the low-position grouting filling method provided by the embodiment of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware for a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived.

[0079] The following is an introduction to the low-position grouting filling device provided in the embodiments of the present application.

[0080] Figure 4 is a structural block diagram of a low-position grouting filling device according to an embodiment of the present application. Figure 4 As shown, the device comprises:

[0081] The determination unit 10 is used to determine the goaf area according to the coal mining working face and the grouting filling capacity.

[0082] Specifically, the planned first filling area is the coal mining face, and based on the filling capacity of low-position grouting, the goaf area on one side of the auxiliary transport chute of the coal mining face is determined to be the goaf area that needs to be filled.

[0083] The arrangement unit 20 is used to arrange a grouting pipeline at the roof of the auxiliary transport drift of the coal mining face to grout the goaf, and the grouting pipeline is formed by connecting multiple sections of pipelines.

[0084] Specifically, the low-position grouting pipe is arranged and fixed at the corner of the auxiliary side of the top plate of the auxiliary transport chute. When the auxiliary transport chute is relatively long and one section of the pipe cannot meet the layout requirements, multiple sections of the pipe are usually spliced ​​to form a grouting pipe.

[0085] The grouting unit 30 is used to perform a low-level grouting operation every time the coal mining face advances a filling step until the coal mining face advances to the stop line. The low-level grouting operation is to open the flow valve of the grouting pipeline to complete the filling of the goaf with a filling step. The filling step is the filling distance at which the gangue slurry can be evenly diffused to the required filling range while ensuring the filling volume.

[0086] Specifically, grouting filling is carried out every time the coal mining working face advances a certain distance, that is, the above-mentioned low-position grouting operation, and this cycle is repeated until the coal mining working face advances to the stop mining line and the grouting filling is completed, wherein the distance advanced is one of the above-mentioned filling steps.

[0087] In order to improve the filling efficiency and solidification effect of the gangue slurry, in an optional embodiment, the device further includes:

[0088] The acquisition unit is used to obtain the width of the auxiliary transport chute, the diffusion length, the accumulation height of the gangue slurry, the porosity of the goaf, the advancement distance of the coal mining face, the density and mass concentration of the gangue slurry before determining the goaf according to the coal mining face and the grouting filling capacity. The diffusion length is the length of the gangue slurry diffused in the gangue area in the goaf.

[0089] Specifically, in order to accurately calculate the grouting filling capacity, it is necessary to obtain parameters related to the grouting filling capacity, namely, the width a of the auxiliary transport chute, the diffusion length b, the accumulation height h of the gangue slurry, the porosity δ of the goaf, the advancement distance L of the coal mining face, the density ρ and mass concentration C of the gangue slurry. The diffusion length is the length of the gangue slurry diffused in the gangue area in the goaf.

[0090] The first calculation unit is used to add the product of the diffusion length and the porosity and the width of the auxiliary chute to obtain the diffusion distance of the gangue slurry, and divide the diffusion distance by 2 to obtain the average diffusion distance.

[0091] Specifically, the product of the diffusion length b and the porosity δ and the width a of the auxiliary chute are added together to obtain the diffusion distance a+bδ of the gangue slurry. The average diffusion distance is obtained by dividing the diffusion distance by 2.

[0092] The second calculation unit is used to calculate the product of the average diffusion distance, the accumulation height, the advancement distance, the density of the gangue slurry and the mass concentration to obtain the grouting filling capacity.

[0093] Specifically, the grouting filling capacity Q is obtained according to the product of the average diffusion distance r, the stacking height h, the advancing distance L, the density ρ of the gangue slurry, and the mass concentration C, and the calculation formula is Q=rhρLC. By calculating the grouting filling capacity, the filling effect and solidification ability of the gangue slurry in the goaf can be evaluated. It is helpful to optimize the filling design of the coal mining face, improve the filling efficiency and solidification effect of the gangue slurry, thereby reducing the impact of the gangue slurry on groundwater and the environment, and ensuring the safety and sustainable development of mine production.

[0094] In order to ensure that the gangue slurry can fully cover the target area, in an optional embodiment, the device further includes:

[0095] The first test unit is used to conduct a filling process simulation test based on the position of the grouting pipeline and the self-flow slope of the gangue slurry before carrying out a low-position grouting operation every time the coal mining face advances a filling step.

[0096] Specifically, in order to ensure the filling volume and cover the goaf to the greatest extent, a filling process simulation experiment is carried out according to the location of the filling pipe and the self-flow slope of the filling material in the goaf, the location of the grouting pipe and the self-flow slope of the gangue slurry are determined, and a simulation test is carried out to observe the flow of the gangue slurry at different slopes.

[0097] The second test unit is used to perform multiple fillings in combination with the stacking height and the height of the auxiliary transport chute to obtain multiple flow ranges and multiple filling amounts of the gangue slurry.

[0098] Specifically, multiple filling tests are carried out according to the height of the stockpile and the height of the auxiliary transport chute, and the flow range and filling volume of the gangue slurry are recorded.

[0099] The analysis unit is used to analyze the optimal value of the flow range for multiple flow ranges and multiple filling amounts to obtain the filling step distance.

[0100] Specifically, multiple flow ranges and filling volumes are analyzed to find the optimal value of the flow range, that is, the maximum range that the gangue slurry can cover, and the filling step distance, that is, the interval distance of each filling, is obtained. For example, when the filling slurry is filled to a height of 2m, the auxiliary transport chute is 2.5m high, and its flow range is about 20m according to the previous test data. Therefore, considering the diffusion range of the filling slurry and ensuring the filling volume to the greatest extent, the low-level grouting filling step distance is determined to be 20m. Ensure that the gangue slurry can fully cover the target area and reduce leakage and infiltration. At the same time, reduce the waste of grouting materials and avoid waste caused by uneven filling.

[0101] In order to improve the safety of coal mines and provide stable support and solidification, in an optional embodiment, the grouting unit includes:

[0102] The control module controls the closing of the flow valve and bypass valve at the stop line of the grouting pipeline close to the coal mining face.

[0103] Specifically, when the working face advances to a filling step, the first low-level grouting begins. It is necessary to close the flow valve and bypass valve of the grouting pipeline in the auxiliary transport chute near the stop line of the coal mining working face to facilitate subsequent water injection to clean the grouting pipeline.

[0104] The first injection module uses a grouting pump to inject water into the grouting pipe until the grouting pipe is filled with water.

[0105] Specifically, filling with water can ensure that there is no air and impurities in the grouting pipe, thereby improving the grouting effect.

[0106] The second injection module uses a grouting pump to inject mortar into the grouting pipe and controls the opening of the flow valve to increase until the grouting pipe is filled with mortar.

[0107] Specifically, after water is injected until the pipe is full, the slurry is then injected, and at the same time, the opening of the flow valve is adjusted to ensure a full pipe flow state.

[0108] The grouting module controls and adjusts the opening of the flow valve to the maximum, and at the same time uses the grouting pump to inject gangue slurry into the grouting pipe until the filling in the grouting pipe reaches a filling step distance.

[0109] Specifically, gangue slurry is a material mixed with cement, sand and slag, which has strong supporting and solidifying capabilities, can fill the gaps in the coal seam, support the coal seam, prevent coal seam collapse, and improve the safety of coal mines. Use a grouting pump to inject gangue slurry into the grouting pipe until the filling in the grouting pipe reaches a filling step. This position grouting operation is completed.

[0110] In order to ensure the safety and stability of the coal mining face, in an optional embodiment, the device further includes:

[0111] A setting unit is used to set up stacking walls at fixed intervals in the auxiliary transport chute after injecting gangue slurry into the grouting pipe by a grouting pump until the filling in the grouting pipe reaches a filling step distance to prevent gangue slurry from flowing into the coal mining face during the grouting process.

[0112] Specifically, after each grouting filling is completed, a sandbag stacking wall is set at a certain distance in the auxiliary transport chute. For example, the sandbag stacking wall can be a 0.5m thick sand wall. It can prevent the gangue slurry from pouring into the coal mining face: the setting of the stacking wall can prevent the gangue slurry from entering the coal mining face during the grouting process, ensuring the safety and stability of the coal mining face. By preventing the influx of gangue slurry, the stacking wall can improve the safety of the coal mining face and reduce the risk of accidents caused by the entry of gangue slurry.

[0113] In order to prevent blockage and water accumulation inside the grouting pipeline, in an optional embodiment, the device further includes:

[0114] The first injection unit is used to inject gangue slurry into the grouting pipe by using a grouting pump until the filling in the grouting pipe reaches a filling step, and then inject a set volume of mortar into the grouting pipe by using a grouting pump.

[0115] Specifically, before water injection, a grouting pump is used to inject mortar into the grouting pipe for water isolation. Injecting mortar for water isolation can prevent water from flowing to the ground or other places where water is not required during the water injection process.

[0116] The second injection unit is used to inject water into the grouting pipe by using a grouting pump after the mortar injection is completed until the grouting pipe is filled with water, open the bypass valve and close the flow valve to discharge the water.

[0117] Specifically, after the mortar is filled, water is injected to clean the grouting pipe to remove dirt and impurities inside the pipe and keep the pipe unobstructed. When the water reaches the coal mining face, the bypass valve is opened and the flow valve is closed to lead the water to the sedimentation tank and discharge it to the mine water tank through the water pit, which can effectively treat the sewage generated during the water injection process.

[0118] In order to prevent the opening of the grouting pipe from being blocked, in an optional embodiment, the device further comprises:

[0119] The cleaning unit is used to remove one or more sections of the pipeline closest to the goaf after opening the bypass valve and closing the flow valve to drain the water so that the opening of the grouting pipeline is free of debris within a specified range.

[0120] Specifically, after the operation process is completed, the pipe closest to the goaf is also removed, and the specified range of its opening is free of debris; avoiding the pipe opening being blocked by debris can ensure the smooth progress of the grouting operation, reduce work delays and material waste caused by pipe blockage, reduce interference with the goaf during the grouting operation, and ensure the safety and stability of the goaf.

[0121] In this embodiment, the determination unit is used to determine the goaf according to the coal mining face and the grouting filling capacity; the arrangement unit is used to arrange the grouting pipe at the top plate of the auxiliary transport chute of the coal mining face to grout the goaf, and the grouting pipe is formed by connecting multiple pipe sections; the grouting unit is used to perform a low-level grouting operation every time the coal mining face advances a filling step until the coal mining face advances to the stop line. The low-level grouting operation is to open the flow valve of the grouting pipe to complete the filling of the goaf for one filling step. The filling step is the filling distance that the gangue slurry can be evenly diffused to the required filling range while ensuring the filling amount. The present application determines the goaf area to be filled according to the coal mining working face and the grouting filling capacity; arranges the outlet of the grouting pipe at an entrance of the goaf area, and starts the first low-position grouting when the working face advances to a filling step, and starts the second low-position grouting operation as the working face advances to the next filling step, repeating the working face advancement and grouting filling process until the working face advances to the stop mining line, and completing the grouting filling. The present application solves the problem of poor filling quality due to the complexity of the goaf area in the prior art during the filling process.

[0122] The low-position grouting filling device includes a processor and a memory. The determination unit, arrangement unit, grouting unit, etc. are all stored in the memory as program units, and the processor executes the program units stored in the memory to realize the corresponding functions. The modules are all located in the same processor; or, the modules are located in different processors in any combination.

[0123] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the problem of poor filling quality due to complex goaf areas in the prior art during the filling process can be solved by adjusting kernel parameters.

[0124] The memory may include non-permanent memory in a computer-readable medium, 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.

[0125] An embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the low-position grouting filling method.

[0126] Specifically, the low-position grouting filling method includes:

[0127] Step S201, determining the goaf area according to the coal mining face and grouting filling capacity;

[0128] Step S202, arranging a grouting pipe at the roof of the auxiliary transport drift of the coal mining face to grout the goaf, wherein the grouting pipe is formed by connecting multiple sections of pipes;

[0129] Step S203, every time the coal mining face advances a filling step, a low-level grouting operation is performed until the coal mining face advances to the stop mining line. The low-level grouting operation is to open the flow valve of the grouting pipeline to complete the filling of the goaf for a filling step. The filling step is the filling distance at which the gangue slurry can be evenly diffused to the required filling range while ensuring the filling volume.

[0130] An embodiment of the present invention provides a processor, and the processor is used to run a program, wherein the low-position grouting filling method is executed when the program is run.

[0131] Specifically, the low-position grouting filling method includes:

[0132] Step S201, determining the goaf area according to the coal mining face and grouting filling capacity;

[0133] Step S202, arranging a grouting pipe at the roof of the auxiliary transport drift of the coal mining face to grout the goaf, wherein the grouting pipe is formed by connecting multiple sections of pipes;

[0134] Step S203, every time the coal mining face advances a filling step, a low-level grouting operation is performed until the coal mining face advances to the stop mining line. The low-level grouting operation is to open the flow valve of the grouting pipeline to complete the filling of the goaf for a filling step. The filling step is the filling distance at which the gangue slurry can be evenly diffused to the required filling range while ensuring the filling volume.

[0135] An embodiment of the present invention provides a device, the device including a processor, a memory, and a program stored in the memory and executable on the processor, and when the processor executes the program, at least the following steps are implemented:

[0136] Step S201, determining the goaf area according to the coal mining face and grouting filling capacity;

[0137] Step S202, arranging a grouting pipe at the roof of the auxiliary transport drift of the coal mining face to grout the goaf, wherein the grouting pipe is formed by connecting multiple sections of pipes;

[0138] Step S203, every time the coal mining face advances a filling step, a low-level grouting operation is performed until the coal mining face advances to the stop mining line. The low-level grouting operation is to open the flow valve of the grouting pipeline to complete the filling of the goaf for a filling step. The filling step is the filling distance at which the gangue slurry can be evenly diffused to the required filling range while ensuring the filling volume.

[0139] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing at least the following method steps:

[0140] Step S201, determining the goaf area according to the coal mining face and grouting filling capacity;

[0141] Step S202, arranging a grouting pipe at the roof of the auxiliary transport drift of the coal mining face to grout the goaf, wherein the grouting pipe is formed by connecting multiple sections of pipes;

[0142] Step S203, every time the coal mining face advances a filling step, a low-level grouting operation is performed until the coal mining face advances to the stop mining line. The low-level grouting operation is to open the flow valve of the grouting pipeline to complete the filling of the goaf for a filling step. The filling step is the filling distance at which the gangue slurry can be evenly diffused to the required filling range while ensuring the filling volume.

[0143] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0144] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0145] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0146] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0147] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0148] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0149] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0150] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules 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 technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0151] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0152] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0153] 1) The low-position grouting filling method of the present application first determines the goaf according to the coal mining face and the grouting filling capacity; then, a grouting pipe is arranged at the top plate of the auxiliary transport chute of the coal mining face to grout the goaf, and the grouting pipe is formed by connecting multiple pipe sections; finally, a low-position grouting operation is performed every time the coal mining face advances a filling step, until the coal mining face advances to the stop mining line. The low-position grouting operation is to open the flow valve of the grouting pipe to complete the filling of the goaf for a filling step, and the filling step is the filling distance at which the gangue slurry can be evenly diffused to the required filling range while ensuring the filling amount. The present application determines the goaf area to be filled according to the coal mining working face and the grouting filling capacity; arranges the outlet of the grouting pipe at an entrance of the goaf area, and starts the first low-position grouting when the working face advances to a filling step, and starts the second low-position grouting operation as the working face advances to the next filling step, repeating the working face advancement and grouting filling process until the working face advances to the stop mining line, and completing the grouting filling. The present application solves the problem of poor filling quality due to the complexity of the goaf area in the prior art during the filling process.

[0154] 2) The low-position grouting filling device of the present application comprises a determination unit, which is used to determine the goaf area according to the coal mining face and the grouting filling capacity; an arrangement unit, which is used to arrange the grouting pipe at the top plate of the auxiliary transport chute of the coal mining face to grout the goaf area, and the grouting pipe is formed by connecting multiple pipe sections; a grouting unit, which is used to perform a low-position grouting operation every time the coal mining face advances a filling step until the coal mining face advances to the stop mining line. The low-position grouting operation is to open the flow valve of the grouting pipe to complete the filling of the goaf with a filling step. The filling step is the filling distance at which the gangue slurry can be evenly diffused to the required filling range while ensuring the filling amount. The present application determines the goaf area to be filled according to the coal mining working face and the grouting filling capacity; arranges the outlet of the grouting pipe at an entrance of the goaf area, and starts the first low-position grouting when the working face advances to a filling step, and starts the second low-position grouting operation as the working face advances to the next filling step, repeating the working face advancement and grouting filling process until the working face advances to the stop mining line, and completing the grouting filling. The present application solves the problem of poor filling quality due to the complexity of the goaf area in the prior art during the filling process.

[0155] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A low-position grouting filling method, characterized in that: include: Determine the goaf area based on the coal mining face and grouting filling capacity; Arranging a grouting pipe at the top plate of the auxiliary transport drift of the coal mining face to grout the goaf, wherein the grouting pipe is formed by connecting multiple sections of pipes; Every time the coal mining face advances a filling step, a low-level grouting operation is performed until the coal mining face advances to the stop mining line. The low-level grouting operation is to open the flow valve of the grouting pipeline to complete the filling of the goaf with one filling step. The filling step is the filling distance at which the gangue slurry can be evenly diffused to the required filling range while ensuring the filling volume.

2. The method according to claim 1, characterized in that Before determining the goaf according to the coal mining face and the grouting filling capacity, the method further comprises: Obtaining the width and diffusion length of the auxiliary transport chute, the stacking height of the gangue slurry, the porosity of the goaf, the advancement distance of the coal mining face, the density and mass concentration of the gangue slurry, wherein the diffusion length is the length of the gangue slurry diffused in the gangue area in the goaf; The product of the diffusion length and the porosity is added to the width of the auxiliary transport chute to obtain the diffusion distance of the gangue slurry, and the diffusion distance is divided by 2 to obtain the average diffusion distance; The product of the average diffusion distance, the stacking height, the advancing distance, the density of the gangue slurry, and the mass concentration is calculated to obtain the grouting filling capacity.

3. The method according to claim 2, characterized in that When the coal mining face advances one filling step each time, before performing a low-position grouting operation, the method further comprises: Performing a filling process simulation test according to the location of the grouting pipeline and the self-flow slope of the gangue slurry; Multiple fillings are performed in combination with the stacking height and the height of the auxiliary transport chute to obtain multiple flow ranges and multiple filling amounts of the gangue slurry; The optimal value of the flow range is analyzed for multiple flow ranges and multiple filling amounts to obtain the filling step size.

4. The method according to claim 1, characterized in that: When the coal mining face advances one filling step, a low-position grouting operation is performed, including: Controlling and closing the flow valve and bypass valve of the grouting pipeline close to the stop line of the coal mining face; Injecting water into the grouting pipe using a grouting pump until the grouting pipe is filled with the water; Using the grouting pump to inject mortar into the grouting pipe and controlling the opening of the flow valve to increase until the grouting pipe is filled with the mortar; The opening of the flow valve is controlled and adjusted to the maximum, and at the same time, the grouting pump is used to inject gangue slurry into the grouting pipeline until the filling in the grouting pipeline reaches one of the filling steps.

5. The method according to claim 4, characterized in that After the gangue slurry is injected into the grouting pipe by using the grouting pump until the filling in the grouting pipe reaches one of the filling steps, the method further comprises: Stacking walls are arranged at fixed intervals in the auxiliary transport chute to prevent the gangue slurry from flowing into the coal mining face during the grouting process.

6. The method according to claim 4, characterized in that After the gangue slurry is injected into the grouting pipe by using the grouting pump until the filling in the grouting pipe reaches one of the filling steps, the method further comprises: Using the grouting pump to inject a set volume of the mortar into the grouting pipe; After the mortar injection is completed, water is injected into the grouting pipe using the grouting pump until the grouting pipe is filled with water, and the bypass valve is opened and the flow valve is closed to discharge the water.

7. The method according to claim 6, characterized in that After opening the bypass valve and closing the flow valve to discharge the water, the method further includes: Dismantle one or more sections of the pipeline closest to the goaf so that the opening of the grouting pipeline is free of debris within a specified range.

8. A low-position grouting filling device, characterized in that: The device comprises: A determination unit for determining the goaf area according to the coal mining face and the grouting filling capacity; An arrangement unit is used to arrange a grouting pipe at the top plate of the auxiliary transport chute of the coal mining face to grout the goaf, wherein the grouting pipe is formed by connecting multiple sections of pipes; The grouting unit is used to perform a low-position grouting operation every time the coal mining face advances a filling step until the coal mining face advances to the stop mining line. The low-position grouting operation is to open the flow valve of the grouting pipeline to complete the filling of the goaf with one filling step. The filling step is the filling distance that the gangue slurry can be evenly diffused to the required filling range while ensuring the filling amount.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 7.

10. A low-position grouting system, 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 are configured to be executed by the one or more processors, and the one or more programs include methods for executing any one of claims 1 to 7.

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