Goaf exploration and treatment method based on remote control anti-fall sounding vehicle

Abstract

The present application proposes a method for surveying and processing goafs based on a remote-controlled anti-fall sounding vehicle, the method comprising: determining the maximum load on the surface of the target area to be surveyed; setting a safety factor, and calculating the working weight of the remote-controlled anti-fall sounding vehicle based on the Boussinesq stress solution according to the rock thickness and safety factor of the target area; controlling the weight-adjusted sounding vehicle to travel in the target area, and filling the goaf with the collapsed rock layer when the sounding vehicle collapses any sub-area in the target area; using a lifting structure to lift the sounding vehicle out of the goaf, and continue to survey the remaining area in the target area until the sounding vehicle runs over all areas of the target area. The method surveys and processes the goaf by collapsing the goaf with the sounding vehicle, thereby improving the accuracy of goaf survey and reducing the cost of goaf survey and processing.

Description

Technical Field

[0001] The present application relates to the technical field of coal mine geological disaster investigation, and in particular to a method for investigating and processing goaf areas based on a remote-controlled anti-fall sounding vehicle. Background Art

[0002] At present, after underground coal mining is completed, goafs will be left behind. These goafs often have the characteristics of roof collapse, groundwater accumulation and high gas content, which become safety hazards in mines. Especially in the process of open-pit coal mining, accidents of large equipment falling into underground goafs often occur. Therefore, the survey and determination of the location and boundaries of goafs and the treatment of goafs have become important links in coal mining projects.

[0003] In the related technologies, a combination of geophysical exploration and drilling is usually used to survey the goaf and process the surveyed goaf. However, in practical applications, due to the complex rock structure and the limitations of geophysical exploration technology, the accuracy of goaf exploration in related technologies is low, and missed exploration and mis-exploration often occur. In addition, both geophysical exploration and drilling require a lot of manpower and material resources, and the goaf processing process also requires a high cost investment, resulting in high costs for goaf exploration and processing in related technologies. Summary of the invention

[0004] The present application aims to solve one of the technical problems in the related art at least to some extent.

[0005] To this end, the first purpose of the present application is to propose a method for surveying and processing goafs based on a remote-controlled anti-fall sounding vehicle. The method uses the sounding vehicle to collapse the goaf to survey whether there is a goaf, and automatically collapses the goaf when the goaf is surveyed to process the goaf, thereby improving the accuracy of goaf survey and reducing the cost of goaf survey and treatment.

[0006] The second purpose of the present application is to propose a goaf exploration and processing system based on a remote-controlled anti-fall sounding vehicle.

[0007] A third object of the present application is to provide a non-transitory computer-readable storage medium.

[0008] To achieve the above-mentioned purpose, the first aspect of the present application is to propose a method for surveying and processing goaf areas based on a remote-controlled anti-fall sounding vehicle, comprising the following steps:

[0009] Determining a maximum load of the surface of the target area to be surveyed, wherein the maximum load is determined based on the weight of each device passing through the target area;

[0010] A safety factor is set according to the safety requirements of the goaf, and based on the Boussinesq stress solution, the working weight of the remote-controlled anti-fall sounding vehicle is calculated according to the rock layer thickness of the target area and the safety factor, wherein the sounding vehicle has a lifting structure for vehicle lifting;

[0011] The whole weight of the sounding vehicle is adjusted to the working weight, and the adjusted sounding vehicle is controlled to travel in the target area. When the sounding vehicle collapses any sub-area in the target area, the cavity of the surveyed goaf is filled with the collapsed rock layer, and the goaf site is processed in a related manner;

[0012] The sounding vehicle is lifted away from the surveyed goaf by using the lifting structure, and the remaining area in the target area is continuously surveyed until the sounding vehicle passes through the entire target area.

[0013] Optionally, in one embodiment of the present application, the calculation of the working weight of the remote-controlled anti-fall sounding vehicle includes: when the rock thickness of the target area remains unchanged, calculating the vertical stress generated by the maximum load at a preset height below the rock formation based on the Boussinesq stress solution, wherein the vertical stress can collapse the goaf at the preset height; combining the vertical stress generated by the maximum load and the safety factor, calculating the target vertical stress generated by the sounding vehicle at the preset height, and according to the target vertical stress, calculating the working weight of the sounding vehicle using the Boussinesq stress solution.

[0014] Optionally, in one embodiment of the present application, the calculating the working weight of the remote-controlled anti-fall sounding vehicle further includes:

[0015] When the thickness of the rock formation in the target area is variable, the vertical stress generated by the maximum load at a preset height below the rock formation is obtained, and the sounding vehicle is controlled to survey the target area before the step of the open-pit coal mine is deepened; according to the step height and the preset height, the vertical distance between the sounding vehicle and the goaf before the step is deepened is calculated; in combination with the vertical distance, the vertical stress generated by the maximum load at the preset height below the rock formation and the safety factor, the working weight of the sounding vehicle is calculated using the Boussinesq stress solution.

[0016] Optionally, in one embodiment of the present application, the sounding vehicle includes: a traveling mechanism, a driver's cab, a power module, a fuel module, an anti-fall frame and a carriage; wherein the driver's cab is used to sense the road condition ahead and transmit the survey data to a remote control device through wireless communication; the power module includes an engine and a drive module, and the power module is used to drive the sounding vehicle to travel; the fuel module is used to store fuel or place on-board batteries.

[0017] Optionally, in one embodiment of the present application, the anti-fall frame is used to protect the sounding vehicle after the sounding vehicle falls; the carriage is used to hold weights with adjustable weight to adjust the overall weight of the sounding vehicle to the working weight.

[0018] Optionally, in one embodiment of the present application, after the sounding vehicle collapses any sub-area in the target area, it also includes: detecting the cavity parameters of the currently surveyed goaf; performing a safety assessment on the process of lifting the sounding vehicle from the current collapsed position, and lifting the sounding vehicle as a whole out of the surveyed goaf according to the safety assessment result, or disassembling the sounding vehicle and lifting it out of the surveyed goaf.

[0019] To achieve the above purpose, the second aspect of the present application also proposes a goaf exploration and processing system based on a remote-controlled anti-fall sounding vehicle, comprising the following modules:

[0020] A determination module, configured to determine a maximum load on the surface of a target area to be surveyed, wherein the maximum load is determined based on the weight of each device passing through the target area;

[0021] A calculation module, used for setting a safety factor according to the safety requirements of the goaf, and calculating the working weight of the remote-controlled anti-fall sounding vehicle according to the rock layer thickness of the target area and the safety factor based on the Boussinesq stress solution, wherein the sounding vehicle has a lifting structure for vehicle lifting;

[0022] A control module, used for adjusting the overall weight of the sounding vehicle to the working weight, and controlling the adjusted sounding vehicle to travel in the target area, and in the case where the sounding vehicle collapses any sub-area in the target area, filling the cavity of the surveyed goaf with the collapsed rock layer, and performing relevant processing on the goaf site;

[0023] The lifting module is used to lift the sounding vehicle away from the surveyed goaf area using the lifting structure, and continue to survey the remaining area in the target area until the sounding vehicle runs over the entire area of ​​the target area.

[0024] In order to implement the above-mentioned embodiments, the third aspect embodiment of the present application also proposes a non-temporary computer-readable storage medium, on which a computer program is stored. When the computer program is executed by the processor, the goaf exploration and processing method based on the remote-controlled anti-fall sounding vehicle in the above-mentioned first aspect is implemented.

[0025] The technical solution provided by the embodiment of the present application brings at least the following beneficial effects: the present application uses a sounding vehicle with remote control and fall resistance to survey whether there is a goaf in the target area by collapsing the goaf, and determines the weight of the sounding vehicle during the survey work based on the surface load tolerance range of the survey area. Thus, the goaf survey efficiency of the present application is high, and the survey of the area is completed after the sounding vehicle runs over a certain area. In addition, the accuracy of the goaf survey of the present application is high, and the goaf outside the load tolerance range can be accurately collapsed by the sounding vehicle. The survey process avoids the influence of factors such as rock mass structure and geophysical exploration technology, and reduces the probability of missed detection and false detection. In addition, the cost of the present application for goaf survey and treatment is low, and the survey is carried out by a sounding vehicle with simple functions and low hardware cost, and the sounding vehicle can be reused to survey each goaf in turn, and the collapsed rock layer can also be used to process the goaf. As a result, the accuracy and efficiency of goaf survey are improved, the cost of goaf survey and treatment is reduced, and it is easy to implement.

[0026] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0028] Figure 1 A flow chart of a method for investigating and processing goaf areas based on a remote-controlled anti-fall sounding vehicle proposed in an embodiment of the present application;

[0029] Figure 2 A schematic diagram of the structure of a sounding vehicle proposed in an embodiment of the present application;

[0030] Figure 3 A schematic diagram of a component module of a sounding vehicle proposed in an embodiment of the present application;

[0031] Figure 4 A schematic diagram of the assembly relationship of various modules of a sounding vehicle proposed in an embodiment of the present application;

[0032] Figure 5 A schematic diagram of the principle of calculating the working weight of a sounding vehicle proposed in an embodiment of the present application;

[0033] Figure 6 A schematic structural diagram of a goaf exploration and processing system based on a remote-controlled anti-fall sounding vehicle proposed in an embodiment of the present application. DETAILED DESCRIPTION

[0034] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0035] It should be noted that in the relevant embodiments, a combination of geophysical exploration and drilling is used to survey and process the goaf, which is divided into the following steps: first, geophysical exploration is used to preliminarily determine the scope of the goaf; second, drilling is used to verify the existence of the goaf; third, if the borehole penetrates the goaf, the shape of the goaf is checked using equipment such as a drilling television; fourth, blasting and other means are used to blast the overlying rock strata down to fill the goaf, at which time a collapse pit is formed on the surface; fifth, rock, soil and other materials are transported to fill the collapse pit caused by the previous step.

[0036] The exploration and treatment methods of goaf in the above-mentioned related embodiments have low exploration accuracy and cannot meet the actual goaf exploration and determination requirements. In addition, the implementation of geophysical exploration and drilling requires a lot of manpower and material resources, and blasting and filling also require high costs.

[0037] To this end, the present application proposes a method for goaf exploration and processing based on a remote-controlled anti-fall sounding vehicle, which significantly improves the efficiency and accuracy of goaf exploration, and the cost of goaf exploration and processing is relatively low.

[0038] The following describes, with reference to the accompanying drawings, a method and system for goaf exploration and processing based on a remote-controlled anti-fall sounding vehicle according to an embodiment of the present application.

[0039] Figure 1 A flowchart of a method for investigating and processing goaf areas based on a remote-controlled anti-fall sounding vehicle proposed in an embodiment of the present application is shown in FIG. Figure 1 As shown, the method comprises the following steps:

[0040] Step S101 : determining the maximum load of the surface of the target area to be surveyed, wherein the maximum load is determined based on the weight of each device passing through the target area.

[0041] Among them, the target area to be surveyed is an area suspected of having a mined-out area. This application conducts a survey on whether there is a mined-out area in the area and processes the mined-out area that has been surveyed. In practical applications, the target area can be pre-determined in a variety of ways, for example, by reading relevant historical records, or preliminarily inferring it based on phenomena such as deep surface sinkholes. For another example, it can also be preliminarily determined in combination with geophysical exploration technology.

[0042] Specifically, the present application first determines the maximum load of the surface of the target area according to the weight of each device passing through the target area. P max , where the various devices passing through the target area include all the working devices that may pass through the area currently and in the future. This application can use the maximum weight of the actual weights of all the devices that may pass through the target area as the maximum load P max Therefore, after the subsequent goaf survey using the maximum load, it can be ensured that every device in the target area can pass safely.

[0043] Step S102, setting a safety factor according to the safety requirements of the goaf, and calculating the working weight of the remote-controlled anti-fall sounding vehicle based on the Bussinaisk stress solution and the rock thickness and safety factor of the target area.

[0044] The sounding vehicle has a lifting structure for lifting the vehicle.

[0045] Specifically, the present application uses a remote-controlled anti-fall motorized device (referred to as a sounding vehicle) to collapse the goaf, and can simultaneously survey and treat the goaf that may exist in the target area. Before the survey, a safety factor is set according to the safety requirements of the goaf. Among them, the safety factor r s It is used to ensure that the possible goaf can be crushed to avoid missed exploration. The higher the safety requirements for the goaf (including the accuracy of exploration and treatment of the goaf), the greater the safety factor. r s Greater than or equal to 1.

[0046] Furthermore, in view of the current survey and processing tasks, a remote-controlled anti-fall sounding vehicle is prepared, including the calculation of the overall weight of the sounding vehicle during the actual execution of the survey work.

[0047] It should be noted that the remote control anti-fall sounding vehicle of the present application has the following characteristics: First, remote control can realize the task of surveying the goaf without driving. Second, it can be unmanned. When surveying the goaf, it is forbidden to carry people on the sounding vehicle to avoid casualties when the sounding vehicle collapses the goaf and falls. Third, the weight is adjustable. In order to adapt to the collapse requirements of goafs in different regions and different safety level requirements, the working weight of the sounding vehicle can be adjusted. Fourth, it is fall-resistant. The sounding vehicle has an anti-fall protection structure. After the collapse of the goaf, it can avoid damage to the sounding vehicle and continue to be used. Fifth, it can be hoisted. After the collapse of the goaf falls to the collapse, it can be easily hoisted to the ground for repeated surveys. Sixth, it can be disassembled and assembled. The sounding vehicle can be conveniently disassembled into modules or assembled into vehicles in various scenarios, so as to facilitate vehicle transportation, transfer and hoisting.

[0048] In order to realize the above-mentioned characteristics of the sounding vehicle, a remote-controlled anti-falling sounding vehicle is proposed in one embodiment of the present application, such as Figures 2 to 4 As shown, the sounding vehicle in this embodiment includes: a traveling mechanism 1, a driver's cab 2, a power module 3, a fuel module 4, an anti-fall frame 5 and a carriage 6.

[0049] The traveling mechanism 1 includes components such as tracks and driving wheels.

[0050] The driver's cab 2 is used to sense the road conditions ahead and transmit the survey data to the remote control device through wireless communication. For example, a camera and a positioning device can be set in the driver's cab 2 to determine the current position of the vehicle and the road conditions ahead, so as to control the vehicle to cover the entire target area according to the driving route. For another example, a wireless communication module can also be set in the driver's cab 2 to transmit the currently collected data to the remote control device and receive remote control instructions, wherein the remote control device can be an operator's wireless remote control device or a monitoring device of a remote control center. When the survey task is not performed, people can also be transported through the driver's cab 2.

[0051] The power module 3 includes an engine and a driving module. The power module 3 is used to drive the sounding vehicle to travel. The driving module can transmit the power generated by the engine to the traveling mechanism 1.

[0052] The fuel module 4 is used to store fuel or place the on-board battery. According to the type of the power module 3, the fuel module 4 can provide fuel or electricity to the power module 3, and can also supply power to the electrical equipment of the whole vehicle through the on-board energy storage battery.

[0053] The anti-fall frame 5 is used to protect the sounding vehicle after it falls. For example, a protective component such as a flexible rubber structure can be provided on the anti-fall frame 5 to provide anti-impact protection when the sounding vehicle falls to the ground.

[0054] The carriage 6 is used for containing weights with adjustable weights, so as to adjust the overall weight of the sounding vehicle to the working weight, thereby achieving the functions of counterweight and containing other weights.

[0055] Therefore, the sounding vehicle of the embodiment of the present application has a relatively simple structure and function, and a relatively low cost. It is also relatively convenient to assemble, and lifting structures such as lifting rings can be provided on each module to achieve the lifting of the sounding vehicle.

[0056] The following is a detailed description of the process of calculating the working weight of the sounding vehicle. As a possible implementation method, the working weight of the sounding vehicle can be calculated in two cases according to whether the rock layer thickness in the target area changes. P w .

[0057] In one embodiment of the present application, when the rock thickness of the target area does not change, calculating the working weight of the remote-controlled anti-fall sounding vehicle includes the following steps:

[0058] In the first step, the vertical stress generated by the maximum load at a preset height below the rock formation is calculated based on the Boussinesq stress solution, wherein the vertical stress can collapse the goaf at the preset height.

[0059] Specifically, according to Boussinesq's semi-infinite space elastic body surface, there is a vertical concentrated force P The stress solution when the vertical concentrated force P Preset height below the action point z The vertical stress at is given by the following formula:

[0060]

[0061] in, Vertical concentration P exist z The vertical stress generated at the preset height z It can be determined based on the survey requirements of the goaf.

[0062] Furthermore, assuming that the load is the maximum load determined in step S101 P max equipment that can collapse the equipment below z If the device is located in the goaf, the device is located below z The vertical stress generated at .

[0063] In the second step, the target vertical stress generated by the sounding vehicle at the preset height is calculated by combining the vertical stress generated by the maximum load and the safety factor, and the working weight of the sounding vehicle is calculated based on the target vertical stress using the Boussinesq stress solution.

[0064] Specifically, the survey and processing process of this application requires the above load to be P max Before the equipment of the first step reaches the goaf, the goaf is collapsed by the sounding vehicle. In order to ensure the purpose of collapse, the vertical stress generated by the maximum load calculated in the first step and the safety factor determined in step S102 are combined. r s , get the sounding vehicle below it z The target vertical stress generated at is Then, using the Boussinesq stress solution, the target vertical stress can be calculated by the following formula: The working weight of the sounding vehicle at this time:

[0065]

[0066] From this, we can get the working weight of the sounding vehicle should be P w = r s P max .

[0067] In one embodiment of the present application, when the thickness of the rock layer in the target area can change, calculating the working weight of the remote-controlled anti-fall sounding vehicle includes the following steps:

[0068] In the first step, the vertical stress generated by the maximum load at a preset height below the rock formation is obtained, and the sounding vehicle is controlled to survey the target area before the step depth of the open-pit coal mine is lowered.

[0069] Specifically, in this embodiment, the weight is determined as the maximum load in the same manner as in the above embodiment. P max The device below z The vertical stress generated at During open-pit mining, the embodiment controls the sounding vehicle to first collapse the goaf area that may be collapsed by the equipment with the maximum load before the step is lowered.

[0070] It should be noted that the step reduction in this embodiment refers to the process in which the step gradually extends downward as the mining progresses during the open-pit mining process. Since the open-pit mine is mined layer by layer from the surface, each horizontal layer is called a step. After the upper step is mined, the lower step gradually appears. This embodiment controls the sounding vehicle to conduct exploration before a step is reduced in depth to ensure the safety of the coal mine.

[0071] The second step is to calculate the vertical distance between the sounding vehicle and the goaf interval before the step is deepened based on the step height and the preset height.

[0072] Specifically, Figure 5 As shown, since the sounding vehicle in this embodiment works before the step is lowered, the vertical distance from the sounding vehicle to the goaf interval is the step height. h With preset height z The sum of h + z .

[0073] In the third step, the working weight of the sounding vehicle is calculated using the Boussinesq stress solution, combining the vertical distance, the vertical stress generated by the maximum load at a preset height below the rock layer, and the safety factor.

[0074] Specifically, in this embodiment, the target vertical stress generated by the sounding vehicle at the depth of the goaf before the step is lowered is also , can be calculated based on the vertical stress and safety factor generated at the preset height below the rock layer according to the maximum load obtained. Based on the Boussinesq stress solution, the target vertical stress can be generated before the step is lowered by the following formula: The working weight of the sounding vehicle at this time:

[0075]

[0076] It can be deduced that the working weight of the sounding vehicle is .

[0077] In order to ensure that the empty area within the height range of a step is collapsed, it is assumed that the preset height z Equal to step height h , then the working weight of the sounding vehicle can be calculated using the above formula: P w =4 r s P max .

[0078] Step S103, adjust the overall weight of the sounding vehicle to the working weight, and control the adjusted sounding vehicle to travel in the target area. In the case that the sounding vehicle collapses any sub-area in the target area, the cavity of the surveyed goaf is filled with the collapsed rock layer, and the goaf site is processed accordingly.

[0079] Specifically, the overall weight of the sounding vehicle is adjusted to the calculated working weight by counterweighting the vehicle compartment 6. P w , control the sounding vehicle to drive in the target area with this weight, and the driving route covers the entire target area. If the area rolled over by the sounding vehicle does not collapse, it means that it is safe for subsequent equipment with a weight not exceeding the maximum load to pass through the area. If the sounding vehicle collapses any sub-area in the target area during driving, the goaf under the sub-area is surveyed, and the collapsed rock layer can be used to fill the goaf.

[0080] Among them, when using the collapsed rock layer to treat the surveyed goaf, the collapsed rock layer is used to fill the cavity of the surveyed goaf, and external materials can also be used to perform necessary leveling and compaction and other related processing operations on the site within the goaf, so that the treated goaf can pass through various equipment.

[0081] Therefore, in this application, all goafs outside the tolerable load range can be accurately collapsed, which improves the accuracy of goaf exploration. In addition, in this application, no additional blasting and caving operations are required, and the overburden layer is automatically collapsed while the goaf is explored, reducing the cost of processing the goaf.

[0082] In one embodiment of the present application, after the sounding vehicle collapses any sub-area in the target area, it also includes: detecting the cavity parameters of the currently surveyed goaf; performing a safety assessment on the process of lifting the sounding vehicle from the current collapsed position, and lifting the sounding vehicle as a whole out of the surveyed goaf according to the safety assessment results, or disassembling the sounding vehicle and lifting it out of the surveyed goaf.

[0083] Specifically, after the sounding vehicle collapses the goaf, the currently surveyed goaf is first tested through relevant verification operations to determine the required goaf cavity parameters, such as verifying the size of the goaf cavity, or collecting rock layer image data in the goaf through the camera equipment on the sounding vehicle. Then, the safety of lifting the sounding vehicle is evaluated. For example, the specific position of the sounding vehicle in the goaf, the amount of rock in the surrounding area, and the current characteristics of the goaf can be combined to evaluate whether there is a danger in the process of lifting the sounding vehicle out of the goaf and the difficulty of lifting the whole vehicle. Then, according to the evaluation results, the sounding vehicle is lifted out of the goaf as a whole or disassembled.

[0084] For example, if the assessment result is that the safety is relatively high, the whole vehicle can be lifted out. If the assessment result is that the safety is relatively low and the collapse of the goaf is small, it is not convenient to lift the whole vehicle out or the lifting of the whole vehicle may cause collapse again, the sounding vehicle will be disassembled into modules, and each module will be lifted out of the goaf in turn through external lifting equipment and lifting structures such as lifting rings on the sounding vehicle.

[0085] Step S104, using the lifting structure to lift the sounding vehicle away from the surveyed goaf, and continue to survey the remaining area in the target area until the sounding vehicle has passed through the entire area of ​​the target area.

[0086] Specifically, since there may be multiple goafs in the target area, after the sounding vehicle is lifted away from the currently surveyed goaf in accordance with the method in the above embodiment, the sounding vehicle continues to be controlled to survey the remaining parts of the target area until all areas of the target area are run over by the sounding vehicle and the driving trajectory of the sounding vehicle covers the entire target area.

[0087] Therefore, the present application can ensure the comprehensiveness of the survey of the goaf in the target area, and reduce the cost of the goaf survey through the reusable sounding vehicle.

[0088] In summary, the goaf exploration and processing method based on the remote control anti-fall sounding vehicle of the embodiment of the present application uses a sounding vehicle with remote control and fall resistance to survey whether there is a goaf in the target area by collapsing the goaf, and determines the weight of the sounding vehicle during the survey work based on the surface load tolerance range of the survey area. Thus, the goaf exploration efficiency of this method is high, and the survey of the area is completed after the sounding vehicle runs over a certain area. In addition, the accuracy of the goaf exploration of this method is high, and the goaf outside the load tolerance range can be accurately collapsed by the sounding vehicle. The survey process avoids the influence of factors such as rock mass structure and geophysical exploration technology, and reduces the probability of missed exploration and false exploration. In addition, the cost of goaf exploration and processing of this method is low, and the survey is carried out by a sounding vehicle with simple functions and low hardware cost, and the sounding vehicle can be reused to survey each goaf in turn, and the collapsed rock layer can also be used to process the goaf. Therefore, the method improves the accuracy and efficiency of goaf area exploration, reduces the cost of goaf area exploration and treatment, and is easy to implement.

[0089] In order to implement the above-mentioned embodiment, the present application also proposes a goaf exploration and processing system based on a remote-controlled anti-fall sounding vehicle. Figure 6 A schematic diagram of the structure of a schematic diagram of a goaf area survey and processing system based on a remote-controlled anti-fall sounding vehicle proposed in an embodiment of the present application is shown in FIG. Figure 6 As shown, the system includes: a determination module 100 , a calculation module 200 , a control module 300 and a lifting module 400 .

[0090] The determination module 100 is used to determine the maximum load of the surface of the target area to be surveyed, wherein the maximum load is determined based on the weight of each device passing through the target area.

[0091] The calculation module 200 is used to set the safety factor according to the safety requirements of the goaf, and based on the Boussinesq stress solution, calculate the working weight of the remote-controlled anti-fall sounding vehicle according to the rock thickness and safety factor of the target area, wherein the sounding vehicle has a lifting structure for vehicle lifting.

[0092] The control module 300 is used to adjust the overall weight of the sounding vehicle to the working weight, and control the adjusted sounding vehicle to travel in the target area. When the sounding vehicle collapses any sub-area in the target area, the cavity of the surveyed goaf is filled with the collapsed rock layer, and the goaf site is processed accordingly.

[0093] The lifting module 400 is used to lift the sounding vehicle away from the surveyed goaf area by using a lifting structure, and continue to survey the remaining area in the target area until the sounding vehicle runs over the entire area of ​​the target area.

[0094] Optionally, in one embodiment of the present application, the calculation module 200 is specifically used to: calculate the vertical stress generated by the maximum load at a preset height below the rock formation based on the Boussinesq stress solution when the rock formation thickness in the target area remains unchanged, wherein the vertical stress can collapse the goaf at the preset height; calculate the target vertical stress generated by the sounding vehicle at the preset height in combination with the vertical stress generated by the maximum load and the safety factor, and calculate the working weight of the sounding vehicle based on the target vertical stress using the Boussinesq stress solution.

[0095] Optionally, in one embodiment of the present application, the calculation module 200 is also used to: when the rock thickness in the target area is variable, obtain the vertical stress generated by the maximum load at a preset height below the rock formation, and control the sounding vehicle to survey the target area before the step depth of the open-pit coal mine is lowered; calculate the vertical distance between the sounding vehicle and the goaf before the step depth is lowered according to the step height and the preset height; and calculate the working weight of the sounding vehicle using the Boussinesq stress solution based on the vertical distance, the vertical stress generated by the maximum load at a preset height below the rock formation, and the safety factor.

[0096] Optionally, in one embodiment of the present application, the lifting module 400 is also used to: detect the cavity parameters of the currently surveyed goaf; perform a safety assessment on the process of lifting the sounding vehicle from the current collapse position, and lift the sounding vehicle as a whole out of the surveyed goaf according to the safety assessment results, or disassemble the sounding vehicle and lift it out of the surveyed goaf.

[0097] It should be noted that the above explanation of the embodiment of the method for goaf exploration and processing based on a remote-controlled anti-fall sounding vehicle is also applicable to the system of this embodiment and will not be repeated here.

[0098] In summary, the goaf survey and processing system based on the remote control anti-fall sounding vehicle of the embodiment of the present application uses a sounding vehicle with remote control and fall resistance to survey whether there is a goaf in the target area by collapsing the goaf, and determines the weight of the sounding vehicle during the survey work based on the surface load tolerance range of the survey area. Thus, the goaf survey efficiency of the system is high, and the survey of the area is completed after the sounding vehicle runs over a certain area. In addition, the accuracy of the goaf survey of the system is high, and the goaf outside the load tolerance range can be accurately collapsed by the sounding vehicle. The survey process avoids the influence of factors such as rock structure and geophysical exploration technology, and reduces the probability of missed detection and false detection. In addition, the cost of the system for goaf survey and processing is low, and the survey is carried out by a sounding vehicle with simple functions and low hardware cost, and the sounding vehicle can be reused to survey each goaf in turn, and the collapsed rock layer can also be used to process the goaf.

[0099] In order to implement the above-mentioned embodiments, the present application also proposes a non-temporary computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, a method for goaf exploration and processing based on a remote-controlled anti-fall sounding vehicle as described in any one of the above-mentioned first aspect embodiments is implemented.

[0100] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0101] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0102] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0103] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0104] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0105] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0106] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0107] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for exploring and processing goaf areas based on a remote-controlled anti-fall sounding vehicle, characterized in that: The following steps are involved: Determining a maximum load of the surface of the target area to be surveyed, wherein the maximum load is determined based on the weight of each device passing through the target area; A safety factor is set according to the safety requirements of the goaf, and based on the Boussinesq stress solution, the working weight of the remote-controlled anti-fall sounding vehicle is calculated according to the rock layer thickness of the target area and the safety factor, wherein the sounding vehicle has a lifting structure for vehicle lifting; The whole weight of the sounding vehicle is adjusted to the working weight, and the adjusted sounding vehicle is controlled to travel in the target area. When the sounding vehicle collapses any sub-area in the target area, the cavity of the surveyed goaf is filled with the collapsed rock layer, and the goaf site is processed in a related manner; The sounding vehicle is lifted away from the surveyed goaf by using the lifting structure, and the remaining area in the target area is continuously surveyed until the sounding vehicle passes through the entire target area.

2. The method according to claim 1, characterized in that The calculation of the working weight of the remote-controlled anti-fall sounding vehicle includes: Under the condition that the thickness of the rock formation in the target area remains unchanged, the vertical stress generated by the maximum load at a preset height below the rock formation is calculated based on the Boussinesq stress solution, wherein the vertical stress can collapse the goaf at the preset height; The target vertical stress generated by the maximum load and the safety factor are calculated, and the working weight of the sounding vehicle is calculated based on the target vertical stress using the Boussinesq stress solution.

3. The method according to claim 2, characterized in that The calculation of the working weight of the remote-controlled anti-fall sounding vehicle also includes: In the case where the thickness of the rock layer in the target area is variable, the vertical stress generated by the maximum load at a preset height below the rock layer is obtained, and the sounding vehicle is controlled to survey the target area before the step depth of the open-pit coal mine is lowered; According to the step height and the preset height, calculating the vertical distance between the sounding vehicle and the goaf interval before the step is deepened; The working weight of the sounding vehicle is calculated by using the Boussinesq stress solution in combination with the vertical distance, the vertical stress generated by the maximum load at a preset height below the rock formation, and the safety factor.

4. The method according to claim 1, characterized in that: The sounding vehicle comprises: a traveling mechanism, a driver's cab, a power module, a fuel module, an anti-fall frame and a carriage; wherein, The driver's cab is used to sense the road conditions ahead and transmit the survey data to the remote control device through wireless communication; The power module includes an engine and a drive module, and the power module is used to drive the sounding vehicle to travel; The fuel module is used to store fuel or house vehicle batteries.

5. The method according to claim 4, characterized in that The anti-fall frame is used to protect the sounding vehicle after it falls; The carriage is used to hold weights with adjustable weight so as to adjust the overall weight of the sounding vehicle to the working weight.

6. The method according to claim 1, characterized in that After the sounding vehicle collapses any sub-area in the target area, the method further includes: Detect the cavity parameters of the currently surveyed goaf; A safety assessment is performed on the process of lifting the sounding vehicle from the current collapsed position, and based on the safety assessment result, the sounding vehicle is lifted out of the surveyed goaf as a whole, or the sounding vehicle is disassembled and then lifted out of the surveyed goaf.

7. A goaf exploration and processing system based on a remote-controlled anti-fall sounding vehicle, characterized in that: Includes the following modules: A determination module, configured to determine a maximum load on the surface of a target area to be surveyed, wherein the maximum load is determined based on the weight of each device passing through the target area; A calculation module, used for setting a safety factor according to the safety requirements of the goaf, and calculating the working weight of the remote-controlled anti-fall sounding vehicle according to the rock layer thickness of the target area and the safety factor based on the Boussinesq stress solution, wherein the sounding vehicle has a lifting structure for vehicle lifting; A control module, used for adjusting the overall weight of the sounding vehicle to the working weight, and controlling the adjusted sounding vehicle to travel in the target area, and in the case where the sounding vehicle collapses any sub-area in the target area, filling the cavity of the surveyed goaf with the collapsed rock layer, and performing relevant processing on the goaf site; The lifting module is used to lift the sounding vehicle away from the surveyed goaf area using the lifting structure, and continue to survey the remaining area in the target area until the sounding vehicle runs over the entire area of ​​the target area.

8. The system according to claim 7, characterized in that The computing module is specifically used for: Under the condition that the thickness of the rock formation in the target area remains unchanged, the vertical stress generated by the maximum load at a preset height below the rock formation is calculated based on the Boussinesq stress solution, wherein the vertical stress can collapse the goaf at the preset height; The target vertical stress generated by the maximum load and the safety factor are calculated, and the working weight of the sounding vehicle is calculated based on the target vertical stress using the Boussinesq stress solution.

9. The system according to claim 8, characterized in that The computing module is further used for: In the case where the thickness of the rock layer in the target area is variable, the vertical stress generated by the maximum load at a preset height below the rock layer is obtained, and the sounding vehicle is controlled to survey the target area before the step depth of the open-pit coal mine is lowered; According to the step height and the preset height, calculating the vertical distance between the sounding vehicle and the goaf interval before the step is deepened; The working weight of the sounding vehicle is calculated by using the Boussinesq stress solution in combination with the vertical distance, the vertical stress generated by the maximum load at a preset height below the rock formation, and the safety factor.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, the goaf exploration and processing method based on the remote-controlled anti-fall sounding vehicle as described in any one of claims 1 to 6 is implemented.

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