Method and device for filling a mined-out area

Abstract

The application relates to a goaf filling method and device, the goaf filling method comprises the following steps: obtaining a designed filling amount of a goaf in advance, using a distributing machine to carry out primary grouting to the goaf, and stopping the grouting to the goaf when the grouting amount of the slurry is equal to the designed filling amount; placing a vibrating assembly into a preset position in a drill hole, so that a vibrator, a temperature sensor and a humidity sensor of the vibrating assembly are inserted into the slurry in the goaf; determining the vibrating time of the vibrator according to the slurry temperature monitored by the temperature sensor and vibrating; adjusting the humidity of the slurry of secondary grouting according to the slurry humidity of the primary grouting monitored by the humidity sensor; carrying out secondary grouting to the goaf after the vibrating of the vibrator is completed; carrying out secondary vibrating to the slurry by using the vibrator after the secondary grouting is completed; and completing the filling after the vibrating is completed. The goaf filling method can make the slurry in the goaf uniformly distributed and improve the roof contact rate after the slurry is solidified.

Description

Technical Field

[0001] This invention relates to the field of goaf management technology, specifically to a goaf filling method and apparatus. Background Technology

[0002] A goaf is an underground space created after coal seam mining. The existence of a goaf makes the strata above it prone to subsidence, affecting the safety of mining operations. Related technologies often involve injecting slurry into the goaf to reduce its volume.

[0003] However, in related technologies, the uneven distribution of slurry in the goaf leads to a low roof contact rate after the slurry solidifies. Summary of the Invention

[0004] This invention aims to at least partially solve one of the technical problems in related technologies. To this end, embodiments of this invention propose a goaf filling method that can ensure uniform distribution of slurry within the goaf and improve the roof contact rate after slurry solidification.

[0005] This invention also proposes a goaf filling device.

[0006] The goaf filling method of this invention includes: pre-obtaining the designed filling volume of the goaf; using a concrete placing boom to perform initial grouting into the goaf, and stopping the grout delivery to the goaf when the grout delivery volume equals the designed filling volume; placing a vibrating assembly into a preset position in the borehole, so that the vibrator, temperature sensor, and humidity sensor of the vibrating assembly extend into the grout in the goaf; determining the vibration time of the vibrator based on the grout temperature monitored by the temperature sensor, and performing vibration according to the vibration time; adjusting the humidity of the grout for secondary grouting based on the humidity of the grout from the initial grouting monitored by the humidity sensor; performing secondary grouting into the goaf using a concrete placing boom after the vibrator finishes vibration; performing secondary vibration of the grout in the goaf using a vibrator after the secondary grouting; and completing the filling after the vibration is completed.

[0007] The goaf filling method of this invention can make the slurry in the goaf evenly distributed and improve the roof connection rate after the slurry solidifies.

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

[0009] In some embodiments, adjusting the humidity of the grout for secondary grouting based on the humidity of the grout from the initial grouting as monitored by the humidity sensor includes: reducing the humidity of the grout for secondary grouting when the humidity of the grout monitored by the humidity sensor is greater than a preset humidity; and not adjusting 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.

[0010] In some embodiments, the secondary vibration of the slurry in the goaf using a vibrator includes: passing the lower end of the vibrator of the vibration assembly through the top surface of the initial grouting; and using the vibrator to vibrate the slurry.

[0011] In some embodiments, the grout from the initial grouting solidifies to form a primary filling body, and the grout from the secondary grouting solidifies to form a secondary filling body, wherein the strength of the secondary filling body is greater than that of the primary filling body.

[0012] In some embodiments, placing the vibratory component into a preset position within the borehole includes: placing the vibratory component into the preset position within the borehole and inflating the air bladder of the vibratory component until it abuts against the inner wall of the borehole.

[0013] The goaf filling device of this invention includes: a filling assembly, which includes a concrete placing machine and a grouting pipe, one end of which extends into the goaf; the concrete placing machine is used to receive grout and transport the grout to the goaf using the grouting pipe; a vibration assembly, which includes a vibrator, a temperature sensor, and a humidity sensor, the temperature sensor and the humidity sensor being installed on the vibrator; and a controller, which is connected to the concrete placing machine, the vibrator, the temperature sensor, and the humidity sensor respectively; the controller is used to control the working state of the concrete placing machine and the vibrator respectively, determine the vibration time of the vibrator based on the grout temperature monitored by the temperature sensor, and adjust the humidity of the grout for secondary grouting based on the humidity of the grout from the initial grouting monitored by the humidity sensor.

[0014] The goaf filling device of this invention can make the slurry in the goaf evenly distributed and improve the roof connection rate after the slurry solidifies.

[0015] In some embodiments, the vibratory assembly further includes an air bladder fitted onto the vibrator, the air bladder being inflatable to abut against the inner wall of the borehole.

[0016] In some embodiments, the vibratory assembly further includes a camera mounted on the vibrator, the camera being used to acquire real-time photos of the goaf 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. Attached Figure Description

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

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

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

[0021] Figure label:

[0022] Coal seam 100, borehole 200, goaf 300, primary backfill 410, secondary backfill 420, slurry preparation station 500.

[0023] Filling component 1, concrete placing boom 11, grouting pipe 12,

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

[0025] Controller 3,

[0026] Cable 4. Detailed Implementation

[0027] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0028] like Figure 1As shown, the goaf filling method of this embodiment includes: pre-obtaining the designed filling volume of the goaf 300; using a concrete placing boom 11 to perform initial grouting into the goaf 300, and stopping the grout delivery into the goaf 300 when the grout delivery volume equals the designed filling volume; placing the vibrating assembly 2 into a preset position within 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 goaf 300; determining the vibration time of the vibrator 21 based on the grout temperature monitored by the temperature sensor 22, and performing vibration according to the vibration time; adjusting the humidity of the grout for secondary grouting based on the humidity of the grout from the initial grouting monitored by the humidity sensor 23; performing secondary grouting into the goaf 300 using the concrete placing boom 11 after the vibration of the vibrator 21 is completed; performing secondary vibration of the grout in the goaf 300 using the vibrator 21 after the secondary grouting is completed; and completing the filling after the vibration is completed.

[0029] The goaf filling method of this invention involves first injecting the designed amount of grout into the goaf 300, then using a vibrator 21 to vibrate the grout. Under the vibration of the vibrator 21, the diffusion radius of the grout is increased while reducing air bubbles in the grout, making the grout distribution more uniform. After the vibration is completed, a second grouting is injected into the goaf 300 to increase the contact area between the grout and the top wall of the goaf 300. A second vibration is performed after the second grouting to further improve the uniformity of the grout distribution, thereby increasing the roof connection rate after the grout solidifies.

[0030] Furthermore, since the grout is injected simultaneously through multiple boreholes 200, the grout injected in adjacent boreholes 200 has the lowest contact rate at the edge of its diffusion radius, resulting in the least amount of grout filling at that location. In this embodiment, the vibrator 21 is used to vibrate the grout in multiple areas of the goaf 300 corresponding to the multiple boreholes 200, thereby increasing the fluidity of the grout to increase its diffusion radius, improving the uniformity of grout distribution, and thus increasing the amount of grout filling at the edge of the grout diffusion radius. The contact rate can be increased to over 90%.

[0031] Furthermore, in this embodiment of the invention, by installing a temperature sensor 22 and a humidity sensor 23 on the vibrator 21, the temperature and humidity of the slurry are monitored in real time during slurry vibration, providing data support for the evaluation of the filling effect of the goaf 300. Moreover, the vibration time of the vibrator 21 is adjusted according to the temperature of the slurry injected in the first grouting, and the humidity of the slurry injected in the second grouting is adjusted according to the humidity of the slurry injected in the first grouting. By adjusting the temperature of the first grouting and the humidity of the second grouting through vibration time, the quality of the slurry is improved, thereby increasing the strength of the filling body after the slurry solidifies.

[0032] Furthermore, in this embodiment, vibration is performed before the initial setting of the grout during the initial grouting, and the grouting process data is visualized. Vibration reduces the unevenness of the grout, thereby improving the solidification quality of the grout in goaf 300, optimizing the roof connection effect of the grouting surface in goaf 300, thus avoiding ground subsidence in goaf 300 and improving the safety of workers.

[0033] It should be noted that goaf 300 is an underground cavity formed by the excavation of coal seam 100. Before filling goaf 300, borehole 200 needs to be drilled above goaf 300. After borehole 200 is completed, detailed three-dimensional spatial parameters of goaf 300 are obtained through borehole 200 television, 3D laser scanning, etc. Based on the parameters of goaf 300, a filling scheme is designed and the design filling volume of goaf 300 is calculated. Due to the complexity of the interior of goaf 300 and the vibration after the first grouting in this application, which increases the diffusion radius of the grout and reduces air bubbles in the grout, i.e., the grout distribution is more uniform after vibration, there will be an empty filling area above goaf 300. The calculated design filling volume of goaf 300 is often less than the actual filling volume. After a second vibration, a second grouting is performed to increase the filling volume of grout, thereby improving the grout roof contact rate.

[0034] Optionally, the feed end of the concrete placing boom 11 is connected to the slurry source, and the discharge end of the concrete placing boom 11 is connected to the grouting pipe 12, using the grouting pipe 12 to transport the slurry into the goaf 300. The slurry can be prepared by the slurry preparation station 500 and then transported to the concrete placing boom 11.

[0035] Optionally, after a grouting operation, the vibrating assembly 2 is lowered to a preset position within the borehole 200. The grout is then vibrated by the vibrator 21 of the vibrating assembly 2. The lower end of the vibrator 21 can contact the bottom surface of the goaf 300 to ensure that the vibrator 21 fully vibrates the grout, reducing air bubbles in the grout by more than 95%. The temperature and humidity of the grout are monitored by the temperature sensor 22 and humidity sensor 23 of the vibrating assembly 2.

[0036] It is understandable 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 of the slurry can be visualized, and the filling quality of the slurry in the goaf 300 can be displayed intuitively.

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

[0038] In this embodiment, the vibration time of the vibrator 21 is confirmed by the slurry temperature monitored by the temperature sensor 22. 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 a grouting, the vibrator 21 and temperature sensor 22 of the vibrating assembly 2 are inserted into the grout of the first grouting to monitor the temperature of the grout. If the grout temperature is higher than the preset temperature, the grout is cooled down by increasing the vibration time because the grout temperature is too high. If the grout temperature is less than or equal to the preset temperature, the default vibration time is maintained.

[0040] Optionally, after secondary grouting, the vibrator 21 and temperature sensor 22 of the vibrating assembly 2 are inserted into the grout of the secondary grouting to monitor the temperature of the grout. If the grout temperature is higher than the preset temperature, the grout is cooled down by increasing the vibration time because the grout temperature is too high. If the grout temperature is less than or equal to the preset temperature, the default vibration time is maintained.

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

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

[0043] In some embodiments, adjusting the humidity of the grout for secondary grouting based on the humidity of the grout for primary grouting monitored by the humidity sensor 23 includes: reducing the humidity of the grout for secondary grouting when the humidity of the grout monitored by the humidity sensor 23 is greater than a preset humidity; and not adjusting the humidity of the grout for secondary grouting when the humidity of the grout monitored by the humidity sensor 23 is less than or equal to the preset humidity.

[0044] In this embodiment, the humidity of the slurry in the secondary grouting is adjusted by monitoring the humidity of the slurry through the humidity sensor 23 to avoid the slurry being too wet or too dry, which would affect the quality of the slurry. By adjusting the humidity of the secondary slurry, the humidity of the slurry in the goaf 300 is regulated, thereby improving the overall quality of the slurry.

[0045] It is understandable that the goaf 300 is generally quite humid. The grout is transported to the goaf 300 through the grouting pipe 12 for filling. The humidity of the grout in the goaf 300 will generally increase. That is, if the humidity of the grout injected in the goaf 300 in the first grouting is greater than the preset humidity, the humidity of the grout injected in the second grouting is reduced (for example, by reducing the water in the second grout or adding a water-reducing agent to the second grout) to ensure that the overall humidity of the grout is within the range and to improve the quality of the grout.

[0046] When the humidity of the grout used for the first grouting within the goaf 300 is less than or equal to the preset humidity, the humidity of the grout used for the second grouting is not adjusted. This is mainly because the goaf 300 is generally quite humid. Of course, in some other embodiments, the humidity of the grout used for the second grouting can be increased. This embodiment does not limit this. When the humidity of the grout used for the first grouting is less than or equal to the preset humidity, the humidity of the grout used for the second grouting can be increased or not adjusted.

[0047] The preset humidity needs to be specifically limited based on the location of the goaf 300 and the specific materials of the slurry, and will not be limited here.

[0048] In some embodiments, the slurry in the goaf 300 is subjected to secondary vibration using the vibrator 21, which includes: passing the lower end of the vibrator 21 of the vibration assembly 2 through the top surface of the initial grouting; and vibrating the slurry using the vibrator 21.

[0049] Understandably, during the initial and secondary grouting processes, the time interval between the secondary and primary grouting should be as short as possible to prevent the grout from solidifying during the primary grouting. In this embodiment, when vibrating the secondary grout, the lower end of the vibrator 21 of the vibrating assembly 2 passes through the top surface of the primary grout to prevent the formation of a construction joint between the primary and secondary grouting, thereby improving the strength of the grout after solidification.

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

[0051] In some embodiments, the grout from the initial grouting solidifies to form a primary filling body 410, and the grout from the secondary grouting solidifies to form a secondary filling body 420, wherein the strength of the secondary filling body 420 is greater than the strength of the primary filling body 410. In this embodiment, by setting the strength of the secondary filling body 420 to be greater than the strength of the primary filling body 410, on the one hand, delamination is avoided between the primary filling body 410 and the secondary filling body 420, thus increasing the strength of the filling body; on the other hand, since the secondary filling body 420 is in contact with the top wall of the goaf 300 and is a bearing layer, the greater the strength of the secondary filling body 420, the better the support effect.

[0052] In some embodiments, placing the vibratory assembly 2 into a predetermined position within the borehole 200 includes: placing the vibratory assembly 2 into the predetermined position within the borehole 200, and inflating the air bladder 24 of the vibratory assembly 2 until it abuts against the inner wall surface of the borehole 200. In this embodiment, the inflating of the air bladder 24 fixes the vibratory assembly 2 within the borehole 200, facilitating the insertion of the vibrator 21, temperature sensor 22, and humidity sensor 23 into the slurry, improving the stability of the vibrator 21, and ensuring normal vibration by the vibrator 21.

[0053] like Figures 2-3 As shown, the goaf filling device of this embodiment includes a filling component 1, a vibration component 2, and a controller 3. The filling component 1 includes a concrete placing machine 11 and a grouting pipe 12. One end of the grouting pipe 12 extends into the goaf 300. The concrete placing machine 11 is used to receive grout and transport the grout to the goaf 300 using the grouting pipe 12. The vibration component 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, which is used to vibrate the grout. The controller 3 is connected to the concrete placing machine 11, the vibrator 21, the temperature sensor 22, and the humidity sensor 23. The controller 3 is used to control the working status of the concrete placing machine 11 and the vibrator 21, determine the vibration time of the vibrator 21 based on the grout temperature monitored by the temperature sensor 22, and adjust the humidity of the grout for the secondary grouting based on the humidity of the grout for the first grouting monitored by the humidity sensor 23.

[0054] The goaf filling device of this invention performs initial grouting into the goaf 300 through the material placing machine 11 and grouting pipe 12 of the filling component 1. The grout is then vibrated by the vibrator 21 of the vibrating component 2. Under the vibration of the vibrator 21, the diffusion radius of the grout is increased while the air bubbles in the grout are reduced, making the grout distribution more uniform. After the vibration is completed, a second grouting is performed into the goaf 300 to increase the contact area between the grout and the top wall of the goaf 300. A second vibration is performed after the second grouting to further improve the uniformity of the grout distribution, thereby increasing the roof connection rate after the grout solidifies.

[0055] Furthermore, since the grout is injected simultaneously through multiple boreholes 200, the grout injected in adjacent boreholes 200 has the lowest roof contact rate at the edge of its diffusion radius, resulting in the least amount of grout filling at that location. In this embodiment, the vibrator 21 is used to simultaneously vibrate the grout in multiple areas of the goaf 300 corresponding to multiple boreholes 200, thereby increasing the diffusion radius of the grout, improving the uniformity of grout distribution, and thus increasing the amount of grout filling at the edge of the diffusion radius, thereby improving the roof contact rate.

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

[0057] In this embodiment, the controller 3 is used to control the working status of the concrete placing machine 11 and the vibrator 21 respectively, and to receive the monitoring data of the temperature sensor 22 and the humidity sensor 23, so as to realize the intelligent filling of the goaf 300.

[0058] The lower end of the grouting pipe 12 extends into the goaf 300, and the upper end of the grouting pipe 12 is connected to the concrete placing device. The concrete placing device 11 and the grouting pipe 12 are used to transport the grout into the goaf 300. The vibrating assembly 2 also includes a mounting base 26. The vibrator 21, temperature sensor 22 and humidity sensor 23 are all mounted on the mounting base 26. By lowering the mounting base 26 into the borehole 200, it is easy for the vibrator 21, temperature sensor 22 and humidity sensor 23 to extend into the grout.

[0059] In some embodiments, such as Figure 3 As shown, the vibratory compaction assembly 2 also includes an air bladder 24, which is fitted onto the vibrator 21. The air bladder 24 can inflate to abut against the inner wall of the borehole 200. The air bladder 24 is fitted onto the mounting base 26, and can inflate to abut against the inner wall of the borehole 200 to fix the vibratory compaction assembly 2 in a preset position within the borehole 200, thereby improving the stability of the vibrator 21 and ensuring normal vibration of the vibrator 21.

[0060] In some embodiments, such as Figure 3 As shown, the vibratory compaction assembly 2 also includes a camera 25, which is mounted on the vibrator 21. The camera 25 is used to acquire real-time photos of the goaf 300. The camera 25 is mounted on the mounting base 26 and is used to photograph the filling status of the goaf 300, such as the contact between the slurry and the top wall of the goaf 300 and the unfilled areas. By transmitting the photographs to the controller 3, the controller 3 can roughly calculate the slurry contact rate with the top wall and the area of ​​the unfilled areas, so that the workers on the ground can monitor the filling status of the goaf 300 in real time.

[0061] In some embodiments, the goaf filling device further includes a cable 4, with the controller 3 located outside the borehole 200. The cable 4 is connected to both the controller 3 and the vibrating assembly 2. The cable 4 powers the vibrator 21, temperature sensor 22, humidity sensor 23, and camera 25 while simultaneously transmitting data from the temperature sensor 22, humidity sensor 23, and camera 25 to the controller 3 in real time, facilitating real-time calculation of the conditions within the goaf 300 by the controller 3.

[0062] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0063] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0064] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0065] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0066] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

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

Claims

1. A method for filling goaf areas, characterized in that, include: Pre-determine the design backfill volume of the goaf; The initial grouting is carried out in the goaf using a concrete placing boom, and the grouting is stopped when the grout delivery volume equals the designed filling volume. The vibratory assembly is placed in a preset position inside the borehole, and the air bladder of the vibratory assembly is inflated to abut against the inner wall of the borehole, so that the vibrator, temperature sensor and humidity sensor of the vibratory assembly extend into the slurry of the goaf. The vibration time of the vibrator is determined based on the slurry temperature monitored by the temperature sensor, and vibration is performed according to the vibration time. When the slurry temperature monitored by the temperature sensor is greater than the preset temperature, the vibration time is determined as the first vibration time. When the temperature of the slurry detected by the temperature sensor is less than or equal to the preset temperature, the vibration time is determined as the second vibration time, and the second vibration time is less than the first vibration time. The humidity of the grout used for secondary grouting is adjusted based on the humidity of the grout detected by the humidity sensor during the initial grouting. When the humidity of the grout detected by the humidity sensor is greater than the preset humidity, the humidity of the grout used for secondary grouting is reduced. When the humidity of the grout detected by the humidity sensor is less than or equal to the preset humidity, the humidity of the grout used for secondary grouting is not adjusted. After the vibrator has finished vibrating, a concrete placing machine is used to perform secondary grouting in the goaf. After the secondary grouting is completed, the grout in the goaf is vibrated a second time using a vibrator. The lower end of the vibrator of the vibrating assembly is passed through the top surface of the primary grouting, and the grout is vibrated using the vibrator. After the vibration is completed, the filling is finished.

2. The method for filling goaf according to claim 1, characterized in that, The grout from the initial grouting solidifies to form the primary filling body, and the grout from the secondary grouting solidifies to form the secondary filling body, with the strength of the secondary filling body being greater than that of the primary filling body.

3. A goaf filling device, used to implement the goaf filling method as described in any one of claims 1-2, characterized in that, include: A filling assembly, comprising a concrete placing machine and a grouting pipe, one end of which extends into the goaf, wherein the concrete placing machine is used to receive grout and to transport the grout to the goaf using the grouting pipe; A vibratory assembly, comprising a vibrator, a temperature sensor, and a humidity sensor, wherein the temperature sensor and the humidity sensor are mounted on the vibrator, which is used to vibrate slurry. The controller is connected to the concrete placing machine, the vibrator, the temperature sensor, and the humidity sensor. The controller is used to control the working status of the concrete placing machine and the vibrator, determine the vibration time of the vibrator based on the slurry temperature monitored by the temperature sensor, and adjust the humidity of the slurry for the secondary grouting based on the humidity of the slurry for the initial grouting monitored by the humidity sensor.

4. The goaf filling device according to claim 3, characterized in that, The vibratory assembly also includes an air bladder, which is fitted onto the vibrator and can expand to abut against the inner wall of the borehole.

5. The goaf filling device according to claim 3, characterized in that, The vibratory assembly also includes a camera, which is mounted on the vibrator and is used to acquire real-time photos of the goaf area.

6. The goaf filling device according to claim 3, characterized in that, It also includes cables, with the controller located outside the borehole, and the cables connected to both the controller and the vibrating assembly.

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