Mining advanced detection convenient moving-in system and method while excavating and detecting

Abstract

The invention provides a mining while-digging and while-exploration advanced detection convenient moving-in system and method, and belongs to the technical field of mining machinery, and the system comprises a mining while-digging and while-exploration advanced detection convenient moving-in device which is used for collecting roadway data; the data processing device is used for processing the collected data and generating a three-dimensional geologic model; the mining advanced detection convenient moving-in device while digging and exploration comprises a plurality of geological detection modules, and each geological detection module comprises a fixing mechanism fixed in a roadway hole; the detection mechanisms are connected with the fixing mechanism and used for detecting a roadway, a geological radar, a seismic wave detector, an electromagnetic induction instrument and an infrared detector are integrated on each detection mechanism, and the detection mechanisms are connected through sensor connecting wires. The detection precision and the detection efficiency can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mining machinery, and in particular to a mining excavation and exploration, advance detection and convenient moving system and method. Background Art

[0002] As coal mining continues to advance to deeper levels and into more complex geological conditions, traditional seismic exploration technology faces numerous challenges. Traditional seismic exploration primarily relies on explosive sources, which have significant drawbacks: first, it requires the suspension of excavation operations, resulting in low efficiency; second, it carries high safety risks; and third, the low frequency of explosive sources makes it difficult to accurately detect complex geological structures.

[0003] In recent years, seismic wave advance detection technology based on the rock-breaking noise source of roadheaders has attracted much attention as an emerging exploration method. However, it still has the following shortcomings:

[0004] Low accuracy: In actual applications, some detection devices are affected by factors such as geological conditions and detection technology, resulting in insufficient detection data accuracy, making it difficult to meet detection needs under complex geological conditions.

[0005] Slow detection speed: Some detection devices have slow detection speeds and cannot achieve real-time rapid detection, affecting production efficiency.

[0006] Complex operation: The operation interface of some detection devices is not user-friendly, the operation process is cumbersome, and the technical requirements for the operator are high.

[0007] Insufficient data processing and analysis capabilities: Existing detection devices have deficiencies in data processing and analysis, making it difficult to achieve rapid and accurate analysis of large amounts of detection data. Summary of the Invention

[0008] The purpose of the present invention is to overcome at least one of the above-mentioned shortcomings of the prior art and to provide a mining-use system and method for advanced detection and convenient movement.

[0009] Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

[0010] According to one aspect of the present invention, a mining-use system for advanced detection and convenient movement is provided, comprising:

[0011] A convenient mobile device for mining-based advance detection and exploration, used to collect tunnel data;

[0012] A data processing device for processing the collected data and generating a three-dimensional geological model;

[0013] The mining-use device for advanced detection and convenient movement comprises a plurality of geological detection modules, each of which comprises:

[0014] A fixing mechanism, fixed in the tunnel hole;

[0015] The detection mechanism is connected to the fixing mechanism and is used to detect the tunnel. In addition, the detection mechanism is integrated with a geological radar, a seismic wave detector, an electromagnetic induction instrument and an infrared detector. The detection mechanisms are connected through sensor connecting lines.

[0016] In some exemplary embodiments of the present invention, based on the aforementioned solution, the detection mechanism and the fixing mechanism are connected via a coupling bayonet.

[0017] In some exemplary embodiments of the present invention, based on the above solution, the detection mechanism further includes:

[0018] The sensor tail cone has one end connected to the coupling bayonet and the other end connected to the sensor body;

[0019] A sensor body, having a data transmission module disposed on one end away from the tail vertebra of the sensor, and the geological radar, the seismic wave detector, the electromagnetic induction instrument and the infrared detector integrated in the sensor body;

[0020] a data transmission module, connected to the sensor connection line, for transmitting each collected data in the sensor body to the data processing device;

[0021] In some exemplary embodiments of the present invention, based on the above solution, the detection mechanism further includes:

[0022] A level is provided at one end of the data transmission module away from the sensor body to ensure the horizontality of the detection mechanism.

[0023] In some exemplary embodiments of the present invention, based on the aforementioned solution, the fixing mechanism includes:

[0024] Anchor

[0025] The long anchor nut is connected to the anchor, and a three-way fixer is provided at one end away from the anchor, and the three-way fixer is used to extend into the tunnel wall.

[0026] In some exemplary embodiments of the present invention, based on the aforementioned solution, the three-way fixator includes X-direction fixation;

[0027] The fixing mechanism further includes a slide rail, which is arranged between the X-direction fixation and the anchor rod long nut.

[0028] According to another aspect of the present invention, a detection method based on the above-mentioned mining-use simultaneous exploration and advance detection convenient moving system is provided, the detection method comprising:

[0029] Determine the location and number of tunnel holes according to the tunnel excavation plan and geological forecast requirements;

[0030] Drilling is performed at predetermined locations to obtain tunnel holes;

[0031] Arrange the fixing mechanism in the tunnel hole;

[0032] coupling the fixing mechanism and the detecting mechanism;

[0033] using the sensor body to collect tunnel data within the tunnel hole;

[0034] Performing feature extraction on the lane data to obtain feature data;

[0035] constructing a three-dimensional geological model based on the characteristic data;

[0036] The geological structure ahead of the tunnel is identified based on the three-dimensional geological model.

[0037] In some example embodiments of the present invention, based on the aforementioned solution, constructing a three-dimensional geological model according to the characteristic data includes:

[0038] identifying different geological layers based on the characteristic data;

[0039] Create a separate data model for each geological layer;

[0040] According to the characteristic data, corresponding physical properties and mechanical parameters are assigned to each data model to obtain a single-layer three-dimensional model;

[0041] All single-layer three-dimensional models are fitted to obtain the three-dimensional geological model.

[0042] In some exemplary embodiments of the present invention, based on the aforementioned solution, the physical properties include density, resistivity, and elastic modulus;

[0043] The mechanical parameters include compressive strength, tensile strength and Poisson's ratio.

[0044] In some example embodiments of the present invention, based on the aforementioned solution, identifying the geological structure ahead of the roadway according to the three-dimensional geological model includes:

[0045] The three-dimensional geological model is used to identify the geological structure in front of the tunnel using the marching cube algorithm. As can be seen from the above technical solution, the present invention has at least one of the following advantages and positive effects:

[0046] 1. The mining-use simultaneous exploration and advance detection convenient mobile system provided by the present invention integrates geological radar, seismic wave detector, electromagnetic induction instrument and infrared detector in the detection mechanism. Therefore, it can detect the tunnel from different physical characteristics and obtain comprehensive geological information.

[0047] 2. The existence of multiple geological detection modules increases the coverage and density of detection, enabling a more detailed understanding of the geological conditions at different locations in the tunnel, reducing detection blind spots, and thus providing a more reliable basis for subsequent analysis and decision-making;

[0048] 3. The fixing mechanism can be firmly fixed in the tunnel hole to ensure the stability of the detection mechanism during operation;

[0049] 4. The data processing device can process the collected data in real time and generate a three-dimensional geological model in a timely manner. The three-dimensional geological model can intuitively display the geological structure and potential geological risks around the tunnel, so that workers can quickly understand the geological conditions ahead during the excavation process, provide timely reference for construction decisions, avoid safety accidents and project delays caused by unknown geology, and improve construction efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The above and other features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the accompanying drawings.

[0051] Figure 1 This is a structural diagram of an embodiment of a mining-based advanced detection and convenient moving system according to the present invention;

[0052] Figure 2 yes Figure 1 A schematic structural diagram of an embodiment of a convenient moving device for simultaneous exploration and advance detection in a medium-sized mine;

[0053] Figure 3 It is a flow chart of an embodiment of the detection method of the present invention.

[0054] Description of Reference Numerals

[0055] 1. Anchor rod; 2. Anchor rod long nut; 3. Y-axis fixation; 4. Slide rail; 5. X-axis fixation; 6. Z-axis fixation; 7. Coupling bayonet; 8. Sensor tail cone; 9. Data transmission line; 10. Sensor body; 11. Data transmission module; 12. Level; 13. Cover plate; 14. Mining excavation and exploration advance detection convenient moving device; 15. Sensor connecting line; 16. Tunnel hole. DETAILED DESCRIPTION

[0056] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be embodied in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art. Like reference numerals in the figures represent like or similar structures, and thus their detailed description will be omitted.

[0057] The features, structures or characteristics described above can be combined in one or more embodiments in any suitable manner, and if possible, the features discussed in each embodiment are interchangeable. In the above description, many specific details are provided to provide a full understanding of the embodiments of the present invention. However, it will be appreciated by those skilled in the art that the technical solutions of the present invention can be put into practice without one or more of the specific details, or other methods, components, materials, etc. can be adopted. In other cases, known structures, materials or operations are not shown or described in detail to avoid blurring the various aspects of the present invention.

[0058] Although relative terms such as "upper" and "lower" are used herein to describe the relationship of one illustrated component to another, these terms are used herein for convenience only, such as in accordance with the orientation of the illustrations in the accompanying drawings. It will be understood that if the illustrated device is flipped upside down, the component described as "upper" would become the component "lower." Other relative terms such as "higher," "lower," "top," "bottom," "front," "back," "left," and "right" have similar meanings. When a structure is "on" another structure, it may mean that the structure is integrally formed on the other structure, that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through the other structure.

[0059] In the present invention, the terms "a", "an", "the", "said" and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "comprising", "including" and "having" are used to express open-ended inclusion and mean that additional elements / components / etc. may exist in addition to the listed elements / components / etc.

[0060] According to one aspect of the present invention, referring to Figure 1 and Figure 2 As shown, a mining-use advanced detection and convenient moving system is provided, comprising:

[0061] A convenient mobile device for mining-based advance detection and exploration, used to collect tunnel data;

[0062] A data processing device for processing the collected data and generating a three-dimensional geological model;

[0063] The mining-use device for advanced detection and convenient movement comprises a plurality of geological detection modules, each of which comprises:

[0064] A fixing mechanism, fixed in the tunnel hole;

[0065] The detection mechanism is connected to the fixing mechanism through a coupling bayonet and is used to detect the tunnel. In addition, the detection mechanism is integrated with a geological radar, a seismic wave detector, an electromagnetic induction instrument and an infrared detector. The detection mechanisms are connected through sensor connecting lines.

[0066] The convenient, mobile, and simultaneous exploration and advance detection system for mining provided by the present invention integrates a geological radar, a seismic wave detector, an electromagnetic induction instrument, and an infrared detector into its detection mechanism. Therefore, it can detect tunnels from different physical characteristics and comprehensively acquire geological information. Specifically, the geological radar can detect shallow geological structures and anomalies; the seismic wave detector can detect structural and lithologic changes in deeper strata; the electromagnetic induction instrument can detect the distribution of underground electromagnetic fields, which helps to discover areas of abnormally conductive conduction; and the infrared detector can determine temperature differences by detecting infrared radiation from objects, making preliminary judgments on possible groundwater, heat sources, and the like. The integration of multiple instruments enables more comprehensive data collection and improves the accuracy of judgments on the geological conditions of the tunnels.

[0067] The existence of multiple geological detection modules can increase the coverage of detection, so that operators can understand the geological conditions of different locations in the tunnel more carefully, reduce detection blind spots, and provide a more reliable basis for subsequent analysis and decision-making.

[0068] The fixing mechanism can be firmly fixed in the tunnel hole to ensure the stability of the detection mechanism during operation.

[0069] Each detection mechanism is connected by a sensor cable, facilitating data transmission and synchronous acquisition. This connection method allows for quick adjustment and arrangement of detection mechanisms during the movement process, improving the flexibility and adaptability of the system.

[0070] In addition, the data processing device can process the collected data in real time and generate a three-dimensional geological model in a timely manner. The generated three-dimensional geological model can intuitively display the geological structure and potential risks around the tunnel, helping workers to quickly understand the geological conditions ahead during excavation, providing timely reference for construction decisions, and avoiding safety accidents and project delays due to unknown geology.

[0071] The present invention does not impose any specific limitation on the connection method between the fixing mechanism and the detection mechanism. In some embodiments, the fixing mechanism and the detection mechanism can be magnetically connected, snap-fit ​​connected, latched connected, or threaded connected.

[0072] Magnetic connections may be affected by the surrounding magnetic field or easily separated when impacted by a certain external force; snap connections may be difficult to operate due to the large insertion or ejection force, and may even cause certain wear and tear on the equipment; pin connections require cumbersome plugging and unplugging actions, resulting in a shorter service life; and threaded connections may take a long time to install and disassemble, and the narrow space in the lane may increase the difficulty of operating the threaded connection. Therefore, considering the convenience, stability and adaptability of the connection, in the embodiment of the present invention, the connection method between the fixing mechanism and the detection mechanism is set as a coupling bayonet connection.

[0073] The coupling bayonet connection is usually designed with a specific locking structure to ensure that the detection mechanism is firmly and reliably connected to the fixing mechanism, and will not become loose or accidentally separated during operation. In the tunnel, there may be various influencing factors such as vibration and airflow. The coupling bayonet connection can effectively resist these interferences and ensure that the detection mechanism is always stably fixed to the fixing mechanism, thereby ensuring the accuracy and reliability of the detection data. The coupling bayonet connection can be customized according to the size and shape of different detection mechanisms and fixing mechanisms, and has strong adaptability. Whether it is different models of detection mechanisms or different types of tunnel wall fixing mechanisms, they can be connected by designing appropriate coupling bayonets, which improves the versatility and flexibility of the entire system and can meet various complex mining detection needs.

[0074] The present invention does not impose any restrictions on the specific structure of the detection mechanism. It can detect tunnels and integrate a geological radar, a seismic wave detector, an electromagnetic induction instrument, and an infrared detector. For example, in some embodiments, the detection mechanism can be set to a rectangular shape, and different detection instruments are installed on its four sides. The geological radar is installed on one side, and its antenna part faces the tunnel wall or the front to transmit and receive electromagnetic waves. The seismic wave detector can be installed on the opposite side to excite and receive seismic waves through a sensor in contact with the tunnel wall. The electromagnetic induction instrument and the infrared detector are respectively installed on the other two sides, with the coil or probe of the electromagnetic induction instrument facing outward to detect changes in the underground electromagnetic field, and the lens of the infrared detector is aimed at the front of the tunnel or the surrounding environment to detect infrared radiation of the object.

[0075] In other embodiments, the detection mechanism can also be set to a cylindrical shape, that is, the geological radar, seismic wave detector, electromagnetic induction instrument and infrared detector are installed along the axial or circumferential direction of the cylinder. For example, the geological radar can be installed at one end of the cylinder with its antenna facing the front of the tunnel. The sensors of the seismic wave detector can be distributed on the side of the cylinder to detect seismic waves by contact with the tunnel wall. The coil of the electromagnetic induction instrument can be wound on the surface of the cylinder, and the lens of the infrared detector can be installed on the top or side of the cylinder to achieve detection in a specific direction. The cylindrical detection mechanism is easy to move and operate in the tunnel, and can also be rotated and adjusted as needed to obtain detection data at different angles.

[0076] In some exemplary embodiments of the present invention, based on the above solution, the detection mechanism further includes:

[0077] The sensor tail cone has one end connected to the coupling bayonet and the other end connected to the sensor body;

[0078] A sensor body, having a data transmission module disposed on one end away from the tail vertebra of the sensor, and the geological radar, the seismic wave detector, the electromagnetic induction instrument and the infrared detector integrated in the sensor body;

[0079] The data transmission module is connected to the sensor connection line to transmit the collected data in the sensor body to the data processing device.

[0080] The sensor tail cone can be adjusted in length and material to suit different roadway environments and installation requirements. During installation and removal, the sensor tail cone provides greater operational convenience, allowing workers to quickly connect and disconnect.

[0081] Integrating geological radar, seismic wave detector, electromagnetic induction instrument and infrared detector into the sensor body can reduce the dispersion between the various instruments, making the structure of the entire detection mechanism more compact and centralized. This can improve the overall stability and reliability. The sensor body can be specially designed for protection to protect the internal instruments from the influence of the external environment and extend their service life. For example, in some embodiments, a cover is provided on the side of the sensor transmission module away from the sensor body. The presence of the cover can protect the sensor body and the sensor transmission module to ensure that the sensor body and the sensor transmission module are not affected by the outside world and improve their service life.

[0082] A data transmission module is installed at the end of the sensor body, away from the tailbone, and transmits the collected data to a data processing device via the sensor connection cable. This reduces interference and loss during data transmission, making data transmission more direct and efficient. The data transmission module can be designed to utilize advanced communication technologies, such as wireless or high-speed wired transmission, to meet real-time data transmission requirements. Furthermore, the data transmission module can be designed to perform preliminary processing and compression on the collected data, improving data transmission speed and efficiency.

[0083] Through the cooperation of the data transmission module and the sensor connection line, the connection between the detection mechanism and the data processing device is made tighter and more reliable, thereby realizing real-time data transmission and processing, enabling staff to understand the geological conditions of the tunnel in a timely manner and make accurate decisions.

[0084] However, the geological radar, seismic wave detectors, electromagnetic induction instruments, and infrared detectors integrated into the detection mechanism are typically designed and calibrated with horizontal installation in mind. Only in this state can they achieve optimal detection performance and obtain accurate data. Furthermore, when multiple detection mechanisms are working together, if they are not installed horizontally, data from each mechanism may deviate, introducing errors in data processing and the generation of 3D geological models.

[0085] Therefore, in some exemplary embodiments of the present invention, based on the aforementioned solution, the detection mechanism further includes a level meter, which is provided at an end of the data transmission module away from the sensor body, to ensure the horizontality of the installation of the detection mechanism.

[0086] The level not only ensures the horizontality of the detection mechanism installation, but also avoids the introduction of errors in data processing and three-dimensional geological model generation, making the data collected by different detection mechanisms more consistent and comparable, and improving the detection accuracy of the entire system.

[0087] The present invention does not limit the structure of the fixing mechanism. For example, in some embodiments, the fixing mechanism can be designed as an expansion bolt fixing structure, a clamp-type fixing mechanism, a magnetic base, etc.

[0088] However, considering the portability of exploration while digging, in some exemplary embodiments of the present invention, the fixing mechanism includes:

[0089] Anchor

[0090] The long anchor nut is connected to the anchor, and a three-way fixer is provided at one end away from the anchor, and the three-way fixer is used to extend into the tunnel wall.

[0091] Anchor rods penetrate deep into the tunnel wall, forming a secure bond with the surrounding rock. Compared to magnetic bases, they are less susceptible to magnetic interference or weakening of the magnetic force, leading to failure. Compared to expansion bolts, anchor rods provide a more reliable anchoring effect in the rock mass, especially in tunnels with complex geological conditions, better adapting to rock deformation and stress changes. Compared to clamp-type fixing mechanisms, anchor rods are not restricted by the flatness or material of the tunnel wall surface, providing more stable support.

[0092] The long anchor nut ensures a secure connection to the anchor, while the three-way fixture extends into the tunnel wall, providing support from three directions and further enhancing the stability of the fixing mechanism. This multi-directional fixing method allows the detection mechanism to maintain a stable position when subjected to external forces from different directions, such as airflow and vibration in the tunnel, ensuring the accuracy of detection data.

[0093] Anchor rods and anchor nuts are typically made of high-strength metal materials with excellent durability and corrosion resistance. They are less likely to damage or fail over time. In contrast, magnetic bases may lose their magnetic force over time, expansion bolts may corrode, reducing their anchoring force, and components of clamp-type and suction-cup fixing mechanisms may wear or age, affecting their effectiveness.

[0094] The present invention does not impose any specific limitation on the structure of the three-way fixator. For example, the three-way fixator can be configured as three telescopic rods, three spiral structures, or three rods with barbs.

[0095] It is clear that no matter what structure the three-way fixer has, it can include X-direction fixation; on this basis, the fixing mechanism also includes a slide rail, which is arranged between the X-direction fixation and the anchor rod long nut.

[0096] The presence of the slide rail allows for fine-tuning of the X-axis fixation, thus adapting to lanes of different shapes and sizes. Figure 2 As shown, it can also include Y-direction fixation and Z-direction fixation, and three-direction fixation can be achieved through X-direction fixation, Y-direction fixation and Z-direction fixation.

[0097] It is worth noting that a data transmission line can also be set between the data transmission module and the slide rail, and the slide rail can be controlled through the data obtained by the sensor body. The transmission through the data transmission line can reduce manual participation and ensure the stability of the entire system operation.

[0098] According to another aspect of the present invention, a detection method based on the above-mentioned mining-use simultaneous exploration and advance detection convenient moving system is provided, referring to Figure 3 As shown, the detection method 300 includes:

[0099] S310: Determine the location and number of tunnel holes based on the tunnel excavation plan and geological forecast requirements;

[0100] S320: Drilling at a predetermined location to obtain a tunnel hole;

[0101] S330: Setting the fixing mechanism in the tunnel hole;

[0102] S340: coupling the fixing mechanism and the detecting mechanism;

[0103] S350: using the sensor body to collect tunnel data in the tunnel hole;

[0104] S360: Extracting features from the lane data to obtain feature data;

[0105] S370: Constructing a three-dimensional geological model based on the characteristic data;

[0106] S380: Identify the geological structure ahead of the tunnel based on the three-dimensional geological model.

[0107] In S310 , the location and number of tunnel holes are determined according to the tunnel excavation plan and geological prediction requirements.

[0108] By combining tunneling plans with geological forecast requirements, construction progress and potential geological risks can be fully considered, ensuring targeted detection. Areas of potential geological anomalies can be foreseen in advance, allowing for the rational placement of tunnel holes. This not only effectively improves the targeting and efficiency of detection, but also helps optimize resource allocation, avoid unnecessary drilling and detection work, and reduce costs.

[0109] In S320 , drilling is performed at a predetermined position to obtain a tunnel hole.

[0110] Drilling holes at predetermined locations can ensure the accuracy and stability of detection.

[0111] In S330, the fixing mechanism is set in the tunnel hole.

[0112] The fixing mechanism is set in the tunnel hole and can be firmly fixed on the tunnel wall using structures such as anchor rods, anchor rod long nuts and three-way fixers, ensuring that the detection mechanism will not loosen or shift in complex tunnel environments, thereby ensuring the reliability of data collection.

[0113] In S340 , the fixing mechanism and the detecting mechanism are coupled.

[0114] Here, the coupling fixing mechanism and the detection mechanism can firmly fix the detection mechanism in a specific position, so that the detection mechanism will not move arbitrarily due to vibration, airflow or other external forces in the tunnel, thereby ensuring the accuracy of the detection data. In addition, coupling is not only a mechanical connection, but also an electrical connection. Through coupling, a stable data transmission channel can be established between the detection mechanism and the data processing device, thereby ensuring that the collected tunnel data can be transmitted to the data processing device in a timely and accurate manner for analysis and processing. Moreover, the coupled connection usually has lower signal attenuation and interference, which can improve the efficiency and quality of data transmission, thereby facilitating the subsequent construction of a three-dimensional geological model.

[0115] The present invention does not limit the coupling method, and those skilled in the art can choose one or a combination of mechanical coupling, electrical coupling or fluid coupling according to actual conditions. In some embodiments, a combination of mechanical coupling and electrical coupling can be used for actual coupling, for example, the two can be initially fixed by means of a mechanical snap-fit. This mechanical snap-fit ​​can be designed as a high-strength metal structure with good wear resistance and impact resistance, which can ensure that it will not loosen easily in the complex environment of the tunnel. After the snap-fit ​​is tightly combined, it is further reinforced by a threaded connection, so that the connection between the detection mechanism and the fixing mechanism is more firm and reliable.

[0116] In addition to mechanical coupling, electrical coupling can be implemented. A dedicated electrical interface can be provided at the connection point, enabling electrical connection via a plug and socket. This allows data collected by the detection mechanism to be quickly transmitted to the data processing device via the electrical connection. Furthermore, to enhance the stability of the electrical connection, electromagnetic shielding technology can be employed to prevent external electromagnetic interference from affecting data transmission.

[0117] In S350, the sensor body is used to collect tunnel data in the tunnel hole.

[0118] The high-frequency electromagnetic waves emitted by the geological radar in the sensor body propagate through the various media within the tunnel bore. When encountering geological structures such as rock layers, faults, and karst caves, some of these waves are reflected back. The geological radar's receiver quickly captures these reflected waves and records information such as their timing, amplitude, and frequency. By analyzing this reflected wave data, shallow geological structures and abnormal areas surrounding the tunnel bore can be inferred.

[0119] The earthquakes generated by the seismic wave detector propagate through the rocks within and surrounding the tunnel bore. The seismic wave detector's sensors receive reflected and refracted waves. Based on the propagation speed and reflection characteristics of the seismic waves, they can detect structural and lithologic changes in deeper strata. This provides crucial information about the deep geology ahead of the tunnel, helping personnel identify potential geological risks in advance.

[0120] Electromagnetic induction instruments use changes in the electromagnetic field to detect conductive objects and geological structures within tunnel boreholes. The coil or probe of the electromagnetic induction instrument emits an electromagnetic field. When it encounters conductive objects such as metal ore bodies and groundwater, the electromagnetic field changes. By measuring these changes, the distribution of conductive objects underground can be inferred, providing a basis for determining the geological environment surrounding the tunnel borehole.

[0121] Infrared detectors detect temperature differences by detecting infrared radiation emitted by objects. Within tunnel boreholes, infrared detectors can detect areas of possible groundwater, heat sources, and other potential sources. By analyzing the intensity and distribution of infrared radiation, they can initially determine the location and extent of these areas.

[0122] The various detection instruments within the sensor body work together to collect data from within the tunnel borehole from different physical characteristics. This data is promptly transmitted to the data processing device via the data transmission module, providing rich raw information for subsequent feature extraction, 3D geological model construction, and geological structure identification.

[0123] In S360, feature extraction is performed on the lane data to obtain feature data.

[0124] Here, the laneway data can be pre-processed, such as classification and sorting.

[0125] For geological radar data, by analyzing the time series and amplitude variations of electromagnetic wave reflection signals, we can extract the location characteristics of interfaces between different media, the shape and size characteristics of anomalies, and so on. For example, when electromagnetic waves encounter a cavity in rock, the reflected signal will show a significant enhancement and time delay. By extracting these characteristics, the location and approximate size of the cavity can be determined.

[0126] Seismic wave detector data, based on information such as the propagation velocity, amplitude, and phase of the seismic waves, can be used to extract information about lithologic variations in strata, as well as the location and strike of faults. For example, when seismic waves pass through strata of varying lithology, their propagation velocity changes. By analyzing these changes, the lithologic boundaries of the strata can be inferred. Furthermore, faults cause reflection and refraction of seismic waves, and by analyzing these abnormal signals, the location and strike of the fault can be determined.

[0127] Data from electromagnetic induction instruments can reveal the distribution and conductivity characteristics of underground conductive objects. For example, conductive objects, such as metal ore bodies, can cause significant changes in the electromagnetic field. By analyzing the amplitude and frequency of these changes, the location and conductivity of the conductive objects can be determined.

[0128] For infrared detector data, the main focus is extracting features of areas with abnormal temperatures. For example, groundwater and heat sources can cause temperature changes in surrounding objects. By analyzing the intensity and distribution of infrared radiation, the location and extent of the abnormal temperature area can be determined.

[0129] During the feature extraction process, data filtering and signal enhancement techniques can be used to remove noise and highlight useful feature information. Furthermore, the extracted features can be verified and optimized by combining known geological data with empirical models to improve the accuracy and reliability of the feature data. The resulting feature data will provide a critical basis for constructing 3D geological models and identifying the geological structure ahead of the roadway.

[0130] In S370, constructing a three-dimensional geological model according to the characteristic data includes:

[0131] identifying different geological layers based on the characteristic data;

[0132] Create a separate data model for each geological layer;

[0133] According to the characteristic data, corresponding physical properties and mechanical parameters are assigned to each data model to obtain a single-layer three-dimensional model;

[0134] All single-layer three-dimensional models are fitted to obtain the three-dimensional geological model.

[0135] The characteristic data may contain information from various detection instruments. By identifying different geological layers and establishing a separate data model for each layer, we can more focusedly process the characteristic data of a single geological layer and avoid interference between different layers.

[0136] Assigning corresponding physical properties and mechanical parameters to each data model allows the single-layer 3D model to more closely resemble actual geological conditions. Physical properties such as density, resistivity, and elastic modulus, and mechanical parameters such as compressive strength, tensile strength, and Poisson's ratio can be determined through experimental measurements, empirical formulas, or reference to existing geological data. Once these parameters are assigned, the single-layer 3D model not only possesses geometric shape but also possesses realistic physical and mechanical properties.

[0137] Single-layer 3D models with physical properties and mechanical parameters can provide valuable information for engineering applications. For example, during tunnel excavation, the mechanical parameters of different layers can be used to select appropriate support and construction methods, predict potential geological hazards, and implement appropriate preventive measures.

[0138] By fitting all the individual 3D models, the individual horizon models are integrated into a complete 3D geological model. The fitting process requires consideration of the connectivity between different horizons and the handling of transition regions to ensure the continuity and consistency of the entire model. Interpolation and smoothing methods can be used to handle transition regions between horizons, making the model transition more natural.

[0139] The resulting 3D geological model provides comprehensive geological information, including the distribution of strata, the location of faults, and the shapes of caves and cavities. Furthermore, because each individual layer in the 3D model possesses physical properties and mechanical parameters, the entire 3D geological model can also provide strong support for engineering design, resource development, and geological hazard prediction.

[0140] In S380 , the geological structure ahead of the tunnel is identified based on the three-dimensional geological model.

[0141] The present invention does not limit the method for identifying the geological structure in front of the tunnel. In some embodiments, a convolutional neural network can be used to train and identify the image data of the three-dimensional geological model, or a physical simulation-based method can be used for identification, or an expert system can be used for geological identification.

[0142] In the embodiment of the present invention, the marching cubes algorithm is used for recognition.

[0143] Since the marching cubes algorithm is an existing technology, it will not be described in detail in the present invention.

[0144] It should be understood that the present invention is not limited in its application to the detailed structure and arrangement of the components proposed by the present invention. The present invention is capable of other embodiments and can be implemented and carried out in a variety of ways. The aforementioned variations and modifications fall within the scope of the present invention. It should be understood that the invention disclosed and defined herein extends to all alternative combinations of two or more individual features mentioned or evident in the text and / or the drawings. All of these different combinations constitute multiple alternative aspects of the present invention. The embodiments described herein illustrate the best mode known for implementing the invention and will enable those skilled in the art to utilize the invention.

Claims

1. A mining-use advanced detection and convenient moving system, characterized by: include: A convenient mobile device for mining-based advance detection and exploration, used to collect tunnel data; A data processing device for processing the collected data and generating a three-dimensional geological model; The mining-use device for advanced detection and convenient movement comprises a plurality of geological detection modules, each of which comprises: A fixing mechanism, fixed in the tunnel hole; The detection mechanism is connected to the fixing mechanism and is used to detect the tunnel. In addition, the detection mechanism is integrated with a geological radar, a seismic wave detector, an electromagnetic induction instrument and an infrared detector. The detection mechanisms are connected through sensor connecting lines.

2. The mining simultaneous excavation and exploration advance detection convenient moving system according to claim 1 is characterized in that: The detection mechanism and the fixing mechanism are connected via a coupling bayonet.

3. The mining simultaneous excavation and exploration advance detection convenient moving system according to claim 2 is characterized in that: The detection mechanism also includes: The sensor tail cone has one end connected to the coupling bayonet and the other end connected to the sensor body; A sensor body, having a data transmission module disposed on one end away from the tail vertebra of the sensor, and the geological radar, the seismic wave detector, the electromagnetic induction instrument and the infrared detector integrated in the sensor body; The data transmission module is connected to the sensor connection line to transmit the collected data in the sensor body to the data processing device.

4. The mining simultaneous excavation and exploration advance detection convenient moving system according to claim 3 is characterized in that: The detection mechanism also includes: A level is provided at one end of the data transmission module away from the sensor body to ensure the horizontality of the detection mechanism.

5. The mining simultaneous exploration and advance detection convenient moving system according to any one of claims 1 to 4, characterized in that: The fixing mechanism comprises: Anchor The long anchor nut is connected to the anchor, and a three-way fixer is provided at one end away from the anchor, and the three-way fixer is used to extend into the tunnel wall.

6. The mining simultaneous excavation and exploration advance detection convenient moving system according to claim 5 is characterized in that: The three-way fixator includes X-direction fixation; The fixing mechanism further includes a slide rail, which is arranged between the X-direction fixation and the anchor rod long nut.

7. A detection method based on the mining simultaneous exploration and advance detection convenient moving system according to any one of claims 1 to 6, characterized in that: The detection method comprises: Determine the location and number of tunnel holes according to the tunnel excavation plan and geological forecast requirements; Drilling is performed at predetermined locations to obtain tunnel holes; Arrange the fixing mechanism in the tunnel hole; coupling the fixing mechanism and the detecting mechanism; using the sensor body to collect tunnel data within the tunnel hole; Performing feature extraction on the lane data to obtain feature data; constructing a three-dimensional geological model based on the characteristic data; The geological structure ahead of the tunnel is identified based on the three-dimensional geological model.

8. The detection method according to claim 7, characterized in that: Constructing a three-dimensional geological model based on the characteristic data includes: identifying different geological layers based on the characteristic data; Create a separate data model for each geological layer; According to the characteristic data, corresponding physical properties and mechanical parameters are assigned to each data model to obtain a single-layer three-dimensional model; All single-layer three-dimensional models are fitted to obtain the three-dimensional geological model.

9. The detection method according to claim 8, characterized in that: The physical properties include density, resistivity, and elastic modulus; The mechanical parameters include compressive strength, tensile strength and Poisson's ratio.

10. The detection method according to claim 8 or 9, characterized in that: Identifying the geological structure ahead of the roadway based on the three-dimensional geological model includes: The three-dimensional geological model is used to identify the geological structure ahead of the tunnel using a marching cubes algorithm.

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