Goaf filling method and device

Abstract

The invention relates to a goaf filling method and device.The goaf filling method comprises the steps that the designed filling amount of a goaf is obtained in advance, a material distributing machine is used for conducting primary grouting on the goaf, when the slurry conveying amount is equal to the designed filling amount, slurry conveying to the goaf is stopped, a vibrating assembly is placed in a preset position in a drill hole, and the goaf is filled with slurry; the vibrating assembly is arranged in the goaf, so that a vibrator, a temperature sensor and a humidity sensor of the vibrating assembly extend into the slurry of the goaf, the vibrating time of the vibrator is determined according to the slurry temperature monitored by the temperature sensor, vibrating is conducted, and the humidity of the slurry of secondary grouting is adjusted according to the humidity of the slurry of primary grouting monitored by the humidity sensor. And secondary grouting is conducted on the goaf after vibration of the vibrator is finished, secondary vibration is conducted on the grout through the vibrator after secondary grouting is finished, and filling is completed after vibration is finished. According to the goaf filling method, grout in the goaf can be evenly distributed, and the roof contact rate after grout solidification is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of gob area treatment, and particularly relates to a gob area filling method and device. Background Art

[0002] A gob area refers to the underground space generated after coal seam mining. The existence of the gob area makes the strata above the gob area prone to settlement, affecting the safety of mining. In related technologies, slurry is mostly injected into the gob area to reduce the volume of the gob area.

[0003] However, in related technologies, the slurry distribution in the gob area is uneven, resulting in a low roof contact rate after the slurry solidifies. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems in related technologies to some extent. To this end, an embodiment of the present invention provides a gob area filling method, which can make the slurry in the gob area evenly distributed and improve the roof contact rate after the slurry solidifies.

[0005] An embodiment of the present invention also provides a gob area filling device.

[0006] The gob area filling method according to the embodiment of the present invention includes: pre-obtaining the designed filling volume of the gob area; using a distributing machine to conduct primary grouting into the gob area, and stopping transporting the slurry to the gob area when the transport volume of the slurry is equal to the designed filling volume; placing the vibrating assembly at a preset position in the borehole so that the vibrator, temperature sensor, and humidity sensor of the vibrating assembly extend into the slurry in the gob area; determining the vibrating time of the vibrator according to the slurry temperature monitored by the temperature sensor, and vibrating according to the vibrating time; adjusting the humidity of the slurry for secondary grouting according to the humidity of the slurry for primary grouting monitored by the humidity sensor, and after the vibrator finishes vibrating, using the distributing machine to conduct secondary grouting into the gob area; after the secondary grouting is completed, using the vibrator to conduct secondary vibration on the slurry in the gob area, and after the vibration is completed, the filling is completed.

[0007] The gob area filling method according to the embodiment of the present invention can make the slurry in the gob area evenly distributed and improve the roof contact rate after the slurry solidifies.

[0008] In some embodiments, the determining the vibrating time of the vibrator according to the slurry temperature monitored by the temperature sensor includes: when the slurry temperature monitored by the temperature sensor is greater than the preset temperature, determining the vibrating time as the first vibrating time; when the slurry temperature monitored by the temperature sensor is less than or equal to the preset temperature, determining the vibrating time as the second vibrating time, and the second vibrating time is less than the first vibrating time.

[0009] In some embodiments, adjusting the humidity of the grout for secondary grouting according to the humidity of the grout for primary grouting monitored by the humidity sensor includes: when the humidity of the grout monitored by the humidity sensor is greater than the preset humidity, reducing the humidity of the grout for secondary grouting; when the humidity of the grout monitored by the humidity sensor is less than or equal to the preset humidity, not adjusting the humidity of the grout for secondary grouting.

[0010] In some embodiments, secondary vibrating the grout in the gob area by using a vibrator includes: passing the lower end of the vibrator of the vibration assembly through the top surface of the primary grouting; using the vibrator to vibrate the grout.

[0011] In some embodiments, the grout of the primary grouting forms a primary filling body after solidification, and the grout of the secondary grouting forms a secondary filling body after solidification, and the strength of the secondary filling body is greater than that of the primary filling body.

[0012] In some embodiments, placing the vibration assembly at a preset position in the drill hole includes: placing the vibration assembly at a preset position in the drill hole and expanding the airbag of the vibration assembly to abut against the inner wall surface of the drill hole.

[0013] The gob area filling device according to an embodiment of the present invention includes: a filling assembly, the filling assembly includes a distributing machine and a grouting pipe, one end of the grouting pipe extends into the gob area, and the distributing machine is used to receive the grout and convey the grout to the gob area by using the grouting pipe; a vibration assembly, the vibration assembly includes a vibrator, a temperature sensor and a humidity sensor, the temperature sensor and the humidity sensor are installed on the vibrator, and the vibrator is used to vibrate the grout; a controller, the controller is respectively connected to the distributing machine, the vibrator, the temperature sensor and the humidity sensor, the controller is used to respectively control the working states of the distributing machine and the vibrator, and determine the vibration time of the vibrator according to the grout temperature monitored by the temperature sensor, and adjust the humidity of the grout for secondary grouting according to the humidity of the grout for primary grouting monitored by the humidity sensor.

[0014] The gob area filling device according to an embodiment of the present invention can make the grout in the gob area evenly distributed and improve the roof contact rate after the grout solidifies.

[0015] In some embodiments, the vibration assembly further includes an airbag, the airbag is sleeved on the vibrator, and the airbag can be expanded to abut against the inner wall surface of the drill hole.

[0016] In some embodiments, the vibration assembly further includes a camera, the camera is installed on the vibrator, and the camera is used to obtain real-time photos in the gob area.

[0017] In some embodiments, the goaf filling device further includes a cable. The controller is located outside the borehole, and the cable is connected to the controller and the vibrating assembly respectively. Description of the Drawings

[0018] Figure 1 is a schematic flow chart of the goaf filling method according to an embodiment of the present invention.

[0019] Figure 2 is a schematic diagram of the goaf filling device according to an embodiment of the present invention.

[0020] Figure 3 is a schematic diagram of the vibrating assembly of the goaf filling device according to an embodiment of the present invention.

[0021] Reference Signs:

[0022] Coal seam 100, borehole 200, goaf 300, primary filling body 410, secondary filling body 420, slurry production station 500,

[0023] Filling assembly 1, distributer 11, grouting pipe 12,

[0024] Vibrating assembly 2, vibrator 21, temperature sensor 22, humidity sensor 23, airbag 24, camera 25, mounting seat 26,

[0025] Controller 3,

[0026] Cable 4. Detailed Embodiments

[0027] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the drawings. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0028] As Figure 1As shown in the figure, the gob filling method according to the embodiment of the present invention includes: pre-obtaining the designed filling volume of the gob 300; initially grouting the gob 300 using a distributing machine 11, and stopping delivering the grout to the gob 300 when the delivery volume of the grout is equal to the designed filling volume; placing the vibrating assembly 2 at a preset position in the borehole 200 so that the vibrator 21, temperature sensor 22, and humidity sensor 23 of the vibrating assembly 2 extend into the grout in the gob 300; determining the vibrating time of the vibrator 21 according to the grout temperature monitored by the temperature sensor 22, and vibrating according to the vibrating time; adjusting the humidity of the grout for secondary grouting according to the humidity of the grout for the initial grouting monitored by the humidity sensor 23, and after the vibrator 21 finishes vibrating, performing secondary grouting on the gob 300 using the distributing machine 11; after the secondary grouting is completed, using the vibrator 21 to perform secondary vibration on the grout in the gob 300, and after the vibration is completed, the filling is finished.

[0029] In the gob filling method according to the embodiment of the present invention, after initially injecting the grout with the designed filling volume into the gob 300, the vibrator 21 is used to vibrate the grout. Under the vibrating action of the vibrator 21, while increasing the diffusion radius of the grout, the air bubbles in the grout are reduced, making the distribution of the grout more uniform. After the vibration is completed, secondary grouting is performed on the gob 300, increasing the contact area between the grout and the top wall surface of the gob 300, and performing secondary vibration after the secondary grouting to further improve the uniformity of the grout distribution, thereby improving the roof contact rate after the grout solidifies.

[0030] Furthermore, since the grout is grouted simultaneously through multiple boreholes 200, the roof contact rate at the edge of the diffusion radius of the grout injected into adjacent boreholes 200 is the lowest, resulting in the least amount of grout filling at this location. In this embodiment, the vibrator 21 is used to vibrate the grout in multiple regions of the gob 300 corresponding to multiple boreholes 200, improving the fluidity of the grout to increase the diffusion radius of the grout, improving the uniformity of the grout distribution, and thereby increasing the amount of grout filling at the edge of the grout diffusion radius. The roof contact rate can be increased to more than 90%.

[0031] Furthermore, in the embodiment of the present invention, by installing a temperature sensor 22 and a humidity sensor 23 on the vibrator 21, the temperature and humidity of the grout are monitored in real time during the vibration of the grout, providing data support for the evaluation of the gob filling effect. Moreover, the vibrating time of the vibrator 21 is adjusted according to the temperature of the grout for the first grouting, and the humidity of the secondary grouting is adjusted according to the humidity of the grout for the first grouting. By adjusting the temperature of the first grouting through the vibrating time and adjusting the humidity of the secondary grouting, the quality of the grout is improved, and thereby the strength of the filling body after the grout solidifies is improved.

[0032] Furthermore, in this embodiment, vibration is carried out before the initial setting of the slurry in the primary grouting, the data of the grouting process is visualized, and the unevenness of the slurry is reduced through vibration, so as to improve the solidification quality of the slurry in the goaf 300, optimize the roof contact effect of the grouting surface in the goaf 300, thereby avoiding ground subsidence in the goaf 300 and improving the safety of operators.

[0033] It should be noted that the goaf 300 is an underground cavity formed by the excavation of the coal seam 100. Before filling the goaf 300, boreholes 200 need to be drilled above the goaf 300 first. After the completion of the boreholes 200, detailed three-dimensional space parameters of the goaf 300 are obtained through methods such as borehole 200 TV and three-dimensional laser scanning. A filling plan is designed according to the parameters of the goaf 300, and the designed filling volume of the goaf 300 is calculated. Due to the complexity inside the goaf 300 and the vibration carried out in this application after the primary grouting, under the action of increasing the diffusion radius of the slurry and reducing the bubbles in the slurry, that is, the slurry is more evenly distributed after vibration, there will be a remaining filling area above the goaf 300. The designed filling volume of the goaf 300 calculated is often less than the actual filling volume. After re-vibration, secondary grouting is carried out to increase the filling volume of the slurry, thereby improving the roof contact rate of the slurry.

[0034] Optionally, the feeding end of the distributor 11 is communicated with the slurry source, and the discharging end of the distributor 11 is communicated with the grouting pipe 12. The slurry is transported into the goaf 300 by using the grouting pipe 12. The slurry can be made by the slurry production station 500 and then transported to the distributor 11.

[0035] Optionally, after the primary grouting, the vibration component 2 is lowered to a preset position in the borehole 200, and the slurry is vibrated by the vibrator 21 of the vibration component 2. The lower end of the vibrator 21 can contact the bottom surface of the goaf 300 to ensure that the vibrator 21 vibrates the slurry sufficiently, and more than 95% of the bubbles in the slurry can be reduced; the temperature and humidity of the slurry are monitored by the temperature sensor 22 and the humidity sensor 23 of the vibration component 2.

[0036] It can be understood that the temperature and humidity of the slurry directly affect the strength of the filling body formed after the slurry solidifies. By monitoring the temperature and humidity of the slurry, the data visualization of the slurry is realized, and the filling quality of the slurry in the goaf 300 is visually displayed.

[0037] In some embodiments, determining the vibration time of the vibrator 21 according to the slurry temperature monitored by the temperature sensor 22 includes: when the slurry temperature monitored by the temperature sensor 22 is greater than the preset temperature, determining the vibration time as the first vibration time; when the slurry temperature monitored by the temperature sensor 22 is less than or equal to the preset temperature, determining the vibration time as the second vibration time, and the second vibration time is less than the first vibration time.

[0038] In this embodiment, the vibration time of the vibrator 21 is confirmed based on the slurry temperature monitored by the temperature sensor 22, and the slurry temperature is adjusted by the length of the vibration time of the vibrator 21, thereby improving the quality of the slurry.

[0039] Optionally, after the first grouting, the vibrator 21 and the temperature sensor 22 of the vibration assembly 2 are inserted into the slurry of the first grouting to monitor the temperature of the slurry of the first grouting. When the slurry temperature is greater than the preset temperature, since the slurry temperature is too high, the slurry is cooled by increasing the vibration time; when the slurry temperature is less than or equal to the preset temperature, the default vibration time is maintained as the vibration time.

[0040] Optionally, after the second grouting, the vibrator 21 and the temperature sensor 22 of the vibration assembly 2 are inserted into the slurry of the second grouting to monitor the temperature of the slurry of the second grouting. When the slurry temperature is greater than the preset temperature, since the slurry temperature is too high, the slurry is cooled by increasing the vibration time; when the slurry temperature is less than or equal to the preset temperature, the default vibration time is maintained as the vibration time.

[0041] For example, the temperature sensor 22 monitors the central temperature of the slurry, and the temperature sensor 22 can also reflect the temperature drop gradient before the initial setting of the slurry in real time, providing data support for the evaluation of the quality effect of the slurry.

[0042] For example, the preset temperature is 80°, the first vibration time is 40s, and the second vibration time is 30s.

[0043] In some embodiments, the humidity of the slurry for the second grouting is adjusted according to the humidity of the slurry for the first grouting monitored by the humidity sensor 23, including: when the humidity of the slurry monitored by the humidity sensor 23 is greater than the preset humidity, reducing the humidity of the slurry for the second grouting; when the humidity of the slurry monitored by the humidity sensor 23 is less than or equal to the preset humidity, not adjusting the humidity of the slurry for the second grouting.

[0044] In this embodiment, the humidity of the slurry for the second grouting is adjusted according to the humidity of the slurry monitored by the humidity sensor 23, avoiding the influence of excessive or too small humidity of the slurry on the quality of the slurry. By adjusting the humidity of the secondary slurry, the humidity of the slurry in the goaf 300 is adjusted, improving the overall quality of the slurry.

[0045] It can be understood that the goaf 300 is mostly relatively humid. The slurry is transported to the goaf 300 through the grouting pipe 12 for filling, and the humidity of the slurry in the goaf 300 generally increases, that is, the humidity of the slurry for the first grouting in the goaf 300 is greater than the preset humidity. By reducing the humidity of the slurry for the second grouting (such as reducing the water in the secondary slurry or adding a water reducing agent to the secondary slurry), it is ensured that the humidity of the overall slurry is within the range, improving the quality of the slurry.

[0046] When the humidity of the slurry for the primary grouting in the gob area 300 is less than or equal to the preset humidity, the humidity of the slurry for the secondary grouting is not adjusted. This is mainly considering the generally humid phenomenon in the gob area 300. Of course, in some other embodiments, the humidity of the slurry for the secondary grouting can also be increased. This embodiment does not limit this. When the humidity of the slurry for the primary grouting is less than or equal to the preset humidity, the humidity of the slurry for the secondary grouting can be increased, or the humidity of the slurry for the secondary grouting can also not be adjusted.

[0047] The preset humidity needs to be specifically defined according to the area where the gob area 300 is located and the specific material of the slurry, and is not limited here.

[0048] In some embodiments, a vibrator 21 is used to vibrate the slurry in the gob area 300 again, including: passing the lower end of the vibrator 21 of the vibration assembly 2 through the top surface of the primary grouting; using the vibrator 21 to vibrate the slurry.

[0049] It can be understood that during the primary grouting and the secondary grouting, the time interval between the secondary grouting and the primary grouting should be as short as possible to avoid the solidification of the slurry of the primary grouting. In this embodiment, when vibrating the secondary slurry, by passing the lower end of the vibrator 21 of the vibration assembly 2 through the top surface of the slurry of the primary grouting, a construction joint is avoided between the primary grouting and the secondary grouting, and the strength after the slurry solidifies is improved.

[0050] For example, during the secondary vibration, the lower end of the vibrator 21 can also contact the ground of the gob area 300.

[0051] In some embodiments, the slurry of the primary grouting solidifies to form a primary filling body 410, and the slurry of the secondary grouting solidifies to form a secondary filling body 420, and the strength of the secondary filling body 420 is greater than that of the primary filling body 410. In this embodiment, by setting the strength of the secondary filling body 420 to be greater than that of the primary filling body 410, on the one hand, the formation of stratification between the primary filling body 410 and the secondary filling body 420 is avoided, and the strength of the filling body is improved. On the other hand, since the secondary filling body 420 contacts the top wall surface of the gob area 300, the secondary filling body 420 is a pressure-bearing layer, and the greater the strength of the secondary filling body 420, the better the supporting effect.

[0052] In some embodiments, the vibration assembly 2 is placed at a preset position in the borehole 200, including: placing the vibration assembly 2 at a preset position in the borehole 200, and expanding the airbag 24 of the vibration assembly 2 until it abuts against the inner wall surface of the borehole 200. In this embodiment, the vibration assembly 2 is fixed in the borehole 200 by the expansion of the airbag 24, which is convenient for the vibrator 21, the temperature sensor 22 and the humidity sensor 23 to extend into the slurry, improves the stability of the vibrator 21, and ensures the normal vibration of the vibrator 21.

[0053] As Figures 2 - 3 shown, the goaf filling device according to the embodiment of the present invention includes a filling assembly 1, a vibrating assembly 2 and a controller 3. The filling assembly 1 includes a distributing machine 11 and a grouting pipe 12. One end of the grouting pipe 12 extends into the goaf 300. The distributing machine 11 is used to receive the slurry and transport the slurry to the goaf 300 through the grouting pipe 12. The vibrating assembly 2 includes a vibrator 21, a temperature sensor 22 and a humidity sensor 23. The temperature sensor 22 and the humidity sensor 23 are installed on the vibrator 21. The vibrator 21 is used to vibrate the slurry. The controller 3 is respectively connected to the distributing machine 11, the vibrator 21, the temperature sensor 22 and the humidity sensor 23. The controller 3 is used to respectively control the working states of the distributing machine 11 and the vibrator 21, determine the vibrating time of the vibrator 21 according to the slurry temperature monitored by the temperature sensor 22, and adjust the humidity of the slurry for secondary grouting according to the humidity of the slurry for primary grouting monitored by the humidity sensor 23.

[0054] The goaf filling device according to the embodiment of the present invention conducts primary grouting into the goaf 300 through the distributing machine 11 and the grouting pipe 12 of the filling assembly 1, and uses the vibrator 21 of the vibrating assembly 2 to vibrate the slurry. Under the vibrating action of the vibrator 21, while increasing the diffusion radius of the slurry, the air bubbles in the slurry are reduced, so that the slurry is more evenly distributed. After the vibration ends, secondary grouting is carried out into the goaf 300 to increase the contact area between the slurry and the top wall surface of the goaf 300, and secondary vibration is carried out after the secondary grouting to further improve the even distribution of the slurry, thereby improving the roof contact rate after the slurry solidifies.

[0055] Furthermore, since the slurry is grouted through multiple drill holes 200 simultaneously, the roof contact rate at the edge of the diffusion radius of the slurry injected into adjacent drill holes 200 is the lowest, resulting in the least slurry filling amount at this place. In this embodiment, the vibrator 21 is used to vibrate the slurry in multiple regions of the goaf 300 corresponding to the multiple drill holes 200 simultaneously, increasing the diffusion radius of the slurry, improving the even distribution of the slurry, and thereby increasing the slurry filling amount at the edge of the slurry diffusion radius, so as to improve the roof contact rate.

[0056] Furthermore, in the embodiment of the present invention, by installing the temperature sensor 22 and the humidity sensor 23 on the vibrator 21, the temperature and humidity of the slurry are monitored in real time during the vibration of the slurry, providing data support for the evaluation of the filling effect of the goaf 300. Moreover, the controller 3 can adjust the vibrating time of the vibrator 21 according to the temperature of the slurry for primary grouting, and adjust the humidity of the secondary grouting according to the humidity of the slurry for primary grouting. By adjusting the temperature of the primary grouting through the vibrating time and adjusting the humidity of the secondary grouting, the quality of the slurry is improved, and thus the strength of the filling body after the slurry solidifies is improved.

[0057] In this embodiment, the controller 3 is used to control the working states of the placer 11 and the vibrator 21 respectively and receive the monitoring data of the temperature sensor 22 and the humidity sensor 23, so as to achieve the intelligent filling of the gob area 300.

[0058] The lower end of the grouting pipe 12 extends into the gob area 300, and the upper end of the grouting pipe 12 is connected to the distributor. The slurry is transported into the gob area 300 by using the placer 11 and the grouting pipe 12. The vibrating assembly 2 further includes a mounting seat 26. The vibrator 21, the temperature sensor 22 and the humidity sensor 23 are all mounted on the mounting seat 26. By lowering the mounting seat 26 into the borehole 200, it is convenient for the vibrator 21, the temperature sensor 22 and the humidity sensor 23 to extend into the slurry.

[0059] In some embodiments, as Figure 3 shown, the vibrating assembly 2 further includes an airbag 24. The airbag 24 is sleeved on the vibrator 21, and the airbag 24 can expand to abut against the inner wall surface of the borehole 200. The airbag 24 is sleeved on the mounting seat 26, and the airbag 24 can expand to abut against the inner wall surface of the borehole 200 to fix the vibrating assembly 2 at a preset position in the borehole 200, improve the stability of the vibrator 21, and ensure the normal vibration of the vibrator 21.

[0060] In some embodiments, as Figure 3 shown, the vibrating assembly 2 further includes a camera 25. The camera 25 is mounted on the vibrator 21, and the camera 25 is used to obtain real-time photos of the gob area 300. The camera 25 is mounted on the mounting seat 26, and the camera 25 is used to photograph the filling condition of the gob area 300. For example, it photographs the contact condition between the slurry and the top wall surface of the gob area 300 and the unfilled area. By transmitting the photographed photos to the controller 3, the controller 3 can roughly calculate the slurry roof contact rate and the area of the unfilled area, so that the staff on the ground can grasp the filling condition in the gob area 300 in real time.

[0061] In some embodiments, the gob filling device further includes a cable 4. The controller 3 is located outside the borehole 200, and the cable 4 is respectively connected to the controller 3 and the vibrating assembly 2. The cable 4 is used to supply power to the vibrator 21, the temperature sensor 22, the humidity sensor 23 and the camera 25 and transmit the data of the temperature sensor 22, the humidity sensor 23 and the camera 25 to the controller 3 in real time, which is convenient for the controller 3 to perform real-time calculation on the situation in the gob area 300.

[0062] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0063] In addition, the terms "first" and "second" are used only for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0064] In the present invention, unless otherwise clearly specified and defined, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0065] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0066] In the present invention, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. 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, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0067] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A gob filling method, characterized in that, Including: Pre-acquire the designed filling volume of the goaf; Use a placer to conduct primary grouting into the goaf, and stop delivering the grout to the goaf when the delivery volume of the grout is equal to the designed filling volume; Place the vibrating component at a preset position in the borehole so that the vibrator, temperature sensor, and humidity sensor of the vibrating component extend into the grout in the goaf; Determine the vibrating time of the vibrator according to the grout temperature monitored by the temperature sensor, and conduct vibration according to the vibrating time; Adjust the humidity of the grout for secondary grouting according to the humidity of the grout for primary grouting monitored by the humidity sensor. After the vibrator finishes vibrating, use a placer to conduct secondary grouting into the goaf; After the secondary grouting is completed, use the vibrator to conduct secondary vibration on the grout in the goaf. After the vibration is completed, the filling is completed.

2. The goaf filling method according to claim 1, wherein The determining the vibrating time of the vibrator according to the grout temperature monitored by the temperature sensor includes: When the grout temperature monitored by the temperature sensor is greater than the preset temperature, determine the vibrating time as the first vibrating time; When the grout temperature monitored by the temperature sensor is less than or equal to the preset temperature, determine the vibrating time as the second vibrating time, and the second vibrating time is less than the first vibrating time.

3. The goaf filling method according to claim 2, characterized in that, The adjusting the humidity of the grout for secondary grouting according to the humidity of the grout for primary grouting monitored by the humidity sensor includes: When the humidity of the grout monitored by the humidity sensor is greater than the preset humidity, reduce the humidity of the grout for secondary grouting; When the humidity of the grout monitored by the humidity sensor is less than or equal to the preset humidity, do not adjust the humidity of the grout for secondary grouting.

4. The goaf filling method according to claim 3, characterized in that, The using the vibrator to conduct secondary vibration on the grout in the goaf includes: Pass the lower end of the vibrator of the vibrating component through the top surface of the primary grouting; Use the vibrator to vibrate the grout.

5. The goaf filling method according to claim 1, characterized in that, The grout of the primary grouting forms a primary filling body after solidification, and the grout of the secondary grouting forms a secondary filling body after solidification, and the strength of the secondary filling body is greater than that of the primary filling body.

6. The goaf filling method according to claim 1, wherein, The placing the vibrating component at a preset position in the borehole includes: placing the vibrating component at a preset position in the borehole and expanding the airbag of the vibrating component to abut against the inner wall surface of the borehole.

7. A gob filling device, characterized in that, Including: A filling component, the filling component includes a placer and a grouting pipe, one end of the grouting pipe extends into the goaf, and the placer is used to receive the grout and transport the grout to the goaf through the grouting pipe; A vibrating component, the vibrating component includes a vibrator, a temperature sensor, and a humidity sensor, the temperature sensor and the humidity sensor are installed on the vibrator, and the vibrator is used to vibrate the grout; A controller, the controller is respectively connected to the placer, the vibrator, the temperature sensor, and the humidity sensor. The controller is used to respectively control the working states of the placer and the vibrator, determine the vibrating time of the vibrator according to the grout temperature monitored by the temperature sensor, and adjust the humidity of the grout for secondary grouting according to the humidity of the grout for primary grouting monitored by the humidity sensor.

8. The goaf filling device according to claim 7, wherein, The vibrating component further includes an airbag, the airbag is sleeved on the vibrator, and the airbag can be expanded to abut against the inner wall surface of the borehole.

9. The goaf filling device according to claim 7, characterized in that, The vibrating assembly further includes a camera, which is installed on the vibrator and is used to obtain real-time photos of the goaf area.

10. The goaf filling device according to claim 7, characterized in that, It further includes a cable. The controller is located outside the borehole, and the cable is respectively connected to the controller and the vibrating assembly.

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