Underground coal mine intelligent rapid tunneling method and system

Abstract

According to the coal mine underground intelligent rapid tunneling method and system, a sensor arrangement box is installed on a tunneling machine, the methane gas concentration of a tunneling working face is monitored through a methane sensor, and explosion accidents caused by the fact that the methane concentration is too high are prevented. Related information provided by the vibration sensor, the sonic sensor and the tunneling motor current and voltage identifier is transmitted to the tunneling information processing system through the mobile Bluetooth transmission module to be processed, and the tunneling state of the tunneling machine is intelligently judged. The cutting feeding speed is automatically adjusted according to the tunneling state of the tunneling machine, the corresponding tunneling mode is selected, the rotating speed of the tunneling machine is adjusted, the cutting feeding speed is automatically adjusted, and therefore intelligent and rapid tunneling of the tunneling machine is achieved.

Description

Technical Field

[0001] The present application relates to the field of coal mining technology, and in particular to an intelligent and rapid tunneling method and system for underground coal mines. Background Art

[0002] The intelligent and rapid tunneling method in underground coal mines mainly determines the cutting status of the tunneling machine by analyzing the relevant information generated by the tunneling machine during the tunneling process, ensuring that the cutting mode of the tunneling machine matches the actual situation, thereby greatly improving the cutting efficiency.

[0003] For semi-coal and rock tunnels, the excavation method of soft first and hard later needs to be adopted during the excavation process. It is necessary to drill and cut the coal side along the coal-rock boundary line. Different coal qualities such as soft coal and hard coal need to adopt different cutting methods and adjust the cutting feed speed of the roadheader. When the roadheader realizes intelligent and rapid excavation, the automatic conversion of the cutting mode is realized, which can avoid damage to the cutting teeth while greatly improving the excavation speed. The current of the cutting motor will also be greatly overloaded, resulting in shutdown or even motor damage.

[0004] Therefore, there is an urgent need to provide a technical solution to the above-mentioned deficiencies in the prior art. Summary of the invention

[0005] The purpose of this application is to provide an intelligent rapid tunneling method and system for underground coal mines to solve or alleviate the problems existing in the above-mentioned prior art.

[0006] In order to achieve the above objectives, this application provides the following technical solutions:

[0007] The present application provides an intelligent and rapid tunneling method for underground coal mines, comprising: installing a sensor arrangement box on a tunneling machine, monitoring the methane gas concentration of the tunneling working face through a methane sensor to prevent an explosion accident caused by excessive methane concentration, using a vibration sensor, an acoustic wave sensor, and tunneling motor current and voltage identifiers to transmit relevant information provided by a mobile Bluetooth transmission module to a tunneling information processing system for processing, intelligently judging the tunneling state of the tunneling machine, automatically adjusting the cutting feed speed and selecting the corresponding tunneling mode according to the tunneling state of the tunneling machine, adjusting the tunneling machine speed, and autonomously adjusting the cutting feed speed, thereby realizing intelligent and rapid tunneling of the tunneling machine;

[0008] During the excavation process, the excavation working face environment is complex, and the sensors are easily damaged by dust, water, and falling coal and rock. Therefore, a sensor arrangement box is designed to gather the sensors in an orderly manner and protect the sensors from the influence of adverse environments while ensuring the normal operation of the sensors.

[0009] The intelligent rapid tunneling system in underground coal mines mainly includes three subsystems: tunneling state perception system of tunneling machine, tunneling information processing system, and remote visualization intelligent control system. At the same time, the whole system is connected to the intelligent comprehensive management and control platform of the mine, which can be coordinated and controlled by the management and control platform;

[0010] The tunneling state sensing system of the roadheader is composed of multiple sensors including acoustic wave sensors, methane sensors, current and voltage identifiers of the roadheader motor, and a mine intrinsically safe camera. It can identify the sound signals generated by the roadheader during the tunneling process, the load of the roadheader, and the working face environment in real time.

[0011] The tunneling information processing system can obtain the signals collected by the tunneling state perception system in real time, optimize the collected information through the central processor, and then send the processed information to the remote visual intelligent control system in real time to achieve real-time control of the tunneling machine, so that the cutting mode of the tunneling machine is adapted to the actual situation, achieve the best cutting effect, and ensure the intelligent and rapid tunneling of the tunneling machine;

[0012] The remote visualization intelligent control system can realize the remote control operation function of the tunnel boring machine's excavation process, and realize remote visualization control of the tunnel boring machine at least 100 meters behind the tunnel boring machine, thereby ensuring the personal safety of on-site workers and improving production efficiency. At the same time, the tunnel boring machine can also be controlled by the ground control center.

[0013] Technical effect:

[0014] The present invention has a high level of automation and advanced technology. It can ensure that the excavation state of the tunnel boring machine matches the actual situation, achieve the best tunneling effect, reduce the wear of the tunnel boring machine, greatly reduce the labor intensity of the personnel at the tunneling working face, ensure the physical and mental health of the personnel, and provide strong support for realizing intelligent and rapid tunneling. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. Among them:

[0016] Figure 1 A structural diagram of a roadheader and a coal-rock automatic identification system provided according to some embodiments of the present application;

[0017] Figure 2 A sensor arrangement box structure provided according to some embodiments of the present application;

[0018] Figure 3 An adaptive control process for a roadheader is provided according to some embodiments of the present application.

[0019] Description of reference numerals:

[0020] 1. Cutting end of the tunnel boring machine; 2. Sensor group and intrinsically safe camera for mining; 3. Motor current and voltage identifier. DETAILED DESCRIPTION

[0021] The present application will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. Each example is provided by way of explanation of the present application and does not limit the present application. In fact, it will be clear to those skilled in the art that modifications and variations may be made in the present application without departing from the scope or spirit of the present application. For example, a feature shown or described as a part of an embodiment may be used in another embodiment to produce yet another embodiment. Therefore, it is desired that the present application includes such modifications and variations within the scope of the appended claims and their equivalents.

[0022] At present, the types and settings of sensors play a vital role in the automatic identification of coal and rock during the tunneling process of the tunneling machine. Due to the complex environment of the tunneling working face, a single sensor is difficult to play its role, and multiple sensors are needed to cooperate to achieve the best effect. The remote visualization control system of the tunneling machine can remotely monitor the key working parameters of the tunneling working face over a long distance and realize remote control of the tunneling machine from behind the tunneling machine.

[0023] During the excavation process of traditional tunnel boring machines, the tunnel boring machine driver needs to maintain a high degree of concentration. In addition, due to the complex working environment of the excavation face, noise and dust will have a certain impact on the physical and mental health of the tunnel boring machine driver. These greatly increase the labor intensity of the tunnel boring machine driver and affect his physical and mental health.

[0024] Based on this, the applicant proposed an intelligent rapid tunneling method and system for underground coal mines, which can enable the tunneling machine to identify the distribution and hardness of coal and rock during tunneling, automatically adjust the cutting and feeding speed and select the corresponding tunneling mode, adjust the tunneling machine speed, and autonomously adjust the cutting and feeding speed. It can realize the remote control operation, remote monitoring, environmental data detection and other functions of the tunneling machine, thereby achieving rapid tunneling, greatly reducing the labor intensity of the tunneling face workers and improving the automation level of tunneling work.

[0025] The purpose of the present invention is to realize the intelligent and rapid excavation of the coal mine excavation working face, to provide an intelligent and rapid excavation method for underground coal mines, to install a sensor arrangement box on the excavation machine, to monitor the methane gas concentration of the excavation working face through a methane sensor, to prevent the explosion accident caused by excessive methane concentration. The relevant information provided by the vibration sensor, the acoustic wave sensor, the excavation motor current, and the voltage identifier are transmitted to the excavation information processing system through a removable Bluetooth transmission module for processing, and the excavation state of the excavation machine is intelligently judged. According to the excavation state of the excavation machine, the cutting feed speed is automatically adjusted and the corresponding excavation mode is selected, the excavation machine speed is adjusted, and the cutting feed speed is autonomously adjusted, so as to realize the intelligent and rapid excavation of the excavation machine.

[0026] During the excavation process, the excavation working face environment is complex and the sensors are easily damaged by dust, water, and falling coal (rock). Therefore, a sensor arrangement box is designed to gather the sensors in an orderly manner and protect the sensors from the influence of adverse environment while ensuring their normal operation.

[0027] The intelligent rapid tunneling system in underground coal mines mainly consists of three subsystems: tunneling state perception system of tunneling machine, tunneling information processing system, and remote visualization intelligent control system. At the same time, the whole system is connected to the intelligent comprehensive management and control platform of the mine, which can be coordinated and controlled by the management and control platform.

[0028] The tunnel boring machine's excavation status perception system consists of multiple sensors including acoustic wave sensors, methane sensors, tunnel boring motor current and voltage identifiers, and a mining intrinsically safe camera. It can identify in real time the sound signals generated by the tunnel boring machine during the excavation process, the load of the tunnel boring machine, and the working face environment.

[0029] The tunneling information processing system can obtain the signals collected by the tunneling status perception system in real time, optimize the collected information through the central processing unit (CPU), and then send the processed information to the remote visual intelligent control system in real time to realize real-time control of the tunneling machine, so that the cutting mode of the tunneling machine can adapt to the actual situation, achieve the best cutting effect, and ensure the intelligent and rapid tunneling of the tunneling machine.

[0030] The remote visualization intelligent control system can realize the remote control operation function of the tunnel boring machine's excavation process, and realize remote visualization control of the tunnel boring machine at least 100 meters behind the tunnel boring machine, thereby ensuring the personal safety of on-site workers and improving production efficiency. At the same time, the tunnel boring machine can also be controlled by the ground control center.

[0031] The tunneling state perception system of the tunneling machine is composed of multiple sensors such as acoustic wave sensors, methane sensors, tunneling motor current and voltage identifiers, and explosion-proof cameras. The system can collect the sound signals generated during the tunneling process, the load of the tunneling machine, and the working surface environment, and transmit them to the tunneling information processing system. The tunneling state perception system of the tunneling machine is mainly arranged on the tunneling machine through the arrangement box.

[0032] The sensor arrangement box is composed of three modules from top to bottom: the camera module, the sensor group module and the Bluetooth acquisition module. The camera module is protected by a hemispherical tempered glass cover, which can protect the camera from adverse factors. The sensor group module and the Bluetooth acquisition module are integrated and protected by high-strength steel. There is a layer in the middle due to the layout requirements. The sensor group module is composed of multiple sensors, including acoustic wave sensors, vibration sensors, and methane sensors. The sensors and tempered glass arranged at the bottom of the camera module are seamlessly combined by adhesives. The Bluetooth acquisition module is located at the bottom of the arrangement box. The Bluetooth acquisition module includes a central processing unit (CPU). The central processing unit includes an A / D conversion module, a Bluetooth module, and a serial interface connecting the A / D conversion module and the Bluetooth module. The A / D conversion module is connected to the sensor by wire inside the arrangement box, and converts the information collected by the sensor into transmittable information in real time, and finally transmits it to the mobile Bluetooth base station through the Bluetooth module.

[0033] The rear line of the layout box is the power line and the transmission line of the excavation motor current and voltage identifier sensor, which can supply power to each module in the layout box, and transmit the collected information of the excavation motor current and voltage identifier sensor to the central processing unit (CPU) in the layout box, and transmit it to the mobile Bluetooth base station through the Bluetooth module. The mobile Bluetooth base station can be moved or added as the excavation tunnel advances, and it is more convenient to arrange or recover it than the traditional base station. At the same time, the basic power consumption of Bluetooth is low, and it can be used with energy storage batteries to realize communication without the need for power supply line arrangement, which greatly improves the stability of the system and its ability to respond to emergencies.

[0034] The main hardware facilities of the tunneling information processing system include a management terminal computer, a data acquisition server, a mobile Bluetooth base station, and a Bluetooth acquisition module. The Bluetooth acquisition module is located at the coal mining face, and the data acquisition server and the management terminal computer are located on the ground. The Bluetooth acquisition module includes a central processing unit (CPU), which includes an A / D conversion module, a Bluetooth module, and a serial interface connecting the A / D conversion module and the Bluetooth module. The A / D conversion module is connected to the sensor, and the Bluetooth module is connected to the Bluetooth base station. Among them, the A / D conversion can realize analog-to-digital conversion and can convert analog signals into digital signals. The Bluetooth acquisition module includes a power supply circuit and a battery, and the power supply circuit is connected to the central processing unit and the mining battery respectively. The Bluetooth base station includes at least one central module, which includes at least a Bluetooth connection module, a processor module, and a server connection module. The processor module is connected to the Bluetooth acquisition module through the Bluetooth connection module, and the processor module is connected to the data acquisition server through the server connection module.

[0035] The sensor equipment and explosion-proof camera of the tunnel boring machine excavation status perception system are connected to a Bluetooth base station through a Bluetooth acquisition module, the Bluetooth base station is connected to a data acquisition server, and the data acquisition server is connected to a management terminal computer. The video signal, sound signal, load of the tunnel boring machine, and working face environment data are transmitted to the Bluetooth base station via Bluetooth through the Bluetooth acquisition module underground, and further transmitted to the data acquisition server on the ground through the Bluetooth base station, and operated through the management terminal computer connected to the data acquisition server, thereby realizing the monitoring, control and management of the working status of the tunnel boring machine.

[0036] The video signal provided by the explosion-proof camera can be displayed on the monitoring screen of the ground-based integrated excavation command center. The staff at the command center can supervise and guide the excavation site through the monitoring screen, effectively reducing the possibility of illegal operations. At the same time, it can monitor the methane content of the excavation working face in real time to prevent explosion accidents.

[0037] The tunneling information processing system can intelligently and quickly process the information provided by the tunneling status perception system through the CPU. It can adaptively control the swing speed of the cutting arm through the cutting motor load, the vibration spectrum of the tunneling machine, and the size of the sound waves generated by tunneling, and determine the current tunneling state of the tunneling machine. By analyzing the load size of the cutting tunneling machine motor, the type of the tunneling machine vibration spectrum, and the size of the sound waves generated by tunneling, fuzzy PID control is adopted to adaptively adjust the motor speed according to the hardness and type of the tunneling rock formation. When encountering soft coal seams, the motor can run at high speed and tunnel quickly; when encountering hard rock, the speed can be reduced to obtain a larger cutting torque to ensure the safety of the tunneling process and reduce equipment loss.

[0038] The remote visualization intelligent control system can realize the remote control operation function of the tunneling process of the tunnel boring machine. Under the premise of automatic adjustment of the tunneling status of the tunnel boring machine by the tunneling information processing system, the real-time situation of the working face can be sent to the remote control of the tunnel at least 100m behind the tunnel boring machine. The tunnel boring machine operator at the remote control of the tunnel can perform remote manual control to realize the forward and backward swing arm of the tunnel boring machine and other operations that previously needed to be performed at the tunnel boring machine, greatly improving the working environment of the operator.

[0039] The intrinsically safe camera for mining can transmit the situation of the excavation face to the centralized control center in real time to realize remote monitoring, and the infrared sensor can sense personnel to realize the alarm function of personnel approaching the dangerous area. When personnel approach the excavator within a certain distance during the excavation work, the equipment will automatically alarm or even shut down.

[0040] The intelligent rapid underground tunneling system of coal mines will be connected to a comprehensive intelligent integrated management and control platform. The staff can coordinate and control the entire system on the management and control platform, which greatly improves the automation level of coal mines, reduces the burden on staff, and improves the intelligence level of coal mines.

[0041] After the remote visual intelligent control system is connected to the mine's intelligent comprehensive management and control platform, it can monitor the excavation working face in real time and realize basic control such as starting and stopping the tunnel boring machine on the ground. The relevant data information of the mine's intelligent comprehensive management and control platform can be sent to the mobile APP to help managers understand the excavation speed and other working conditions of the excavation working face in real time, plan work tasks, and at the same time realize the issuance of APP tasks, and quickly send relevant production tasks to the staff's mobile devices.

[0042] The intelligent rapid excavation system in underground coal mines has greatly reduced the workload of workers at the excavation face, achieved rapid and safe excavation of mine tunnels, and improved the automation level of the mine while ensuring excavation efficiency.

[0043] The above description is only a 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. An intelligent rapid excavation method for underground coal mines, characterized in that: include: A sensor arrangement box is installed on the tunnel boring machine. The methane gas concentration at the tunnel boring face is monitored through a methane sensor to prevent explosion accidents caused by excessive methane concentration. The relevant information provided by the vibration sensor, acoustic wave sensor, tunnel boring motor current and voltage identifier is transmitted to the tunnel boring information processing system through a mobile Bluetooth transmission module for processing. The tunnel boring state of the tunnel boring machine is intelligently judged. The cutting feed speed is automatically adjusted according to the tunnel boring state of the tunnel boring machine and the corresponding tunnel boring mode is selected. The tunnel boring machine speed is adjusted and the cutting feed speed is autonomously adjusted, thereby realizing intelligent and rapid tunnel boring of the tunnel boring machine. During the excavation process, the excavation working face environment is complex, and the sensors are easily damaged by dust, water, and falling coal and rock. Therefore, a sensor arrangement box is designed to gather the sensors in an orderly manner and protect the sensors from the influence of adverse environments while ensuring the normal operation of the sensors. The intelligent rapid tunneling system in underground coal mines mainly includes three subsystems: tunneling state perception system of tunneling machine, tunneling information processing system, and remote visualization intelligent control system. At the same time, the whole system is connected to the intelligent comprehensive management and control platform of the mine, which can be coordinated and controlled by the management and control platform; The tunneling state sensing system of the roadheader is composed of multiple sensors including acoustic wave sensors, methane sensors, current and voltage identifiers of the roadheader motor, and a mine intrinsically safe camera. It can identify the sound signals generated by the roadheader during the tunneling process, the load of the roadheader, and the working face environment in real time. The tunneling information processing system can obtain the signals collected by the tunneling state perception system in real time, optimize the collected information through the central processor, and then send the processed information to the remote visual intelligent control system in real time to achieve real-time control of the tunneling machine, so that the cutting mode of the tunneling machine is adapted to the actual situation, achieve the best cutting effect, and ensure the intelligent and rapid tunneling of the tunneling machine; The remote visualization intelligent control system can realize the remote control operation function of the tunnel boring machine's excavation process, and realize remote visualization control of the tunnel boring machine at least 100 meters behind the tunnel boring machine, thereby ensuring the personal safety of on-site workers and improving production efficiency. At the same time, the tunnel boring machine can also be controlled by the ground control center.

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