Intelligent tunneling system based on tunneling and anchoring all-in-one machine

Abstract

The invention discloses an intelligent tunneling system based on a tunneling and anchoring all-in-one machine, and belongs to the technical field of coal mine tunnel intelligent tunneling equipment. The tunneling and anchoring all-in-one machine, a self-moving machine tail, a two-conveying reversed loader, an eight-combination switch, an intelligent centralized control center, a long-pressure short-pumping intelligent ventilation device and a belt conveyor are sequentially arranged from the head end to the tail end; the digging and anchoring all-in-one machine integrates cutting and supporting functions, a cutting part adopts a hollow shaft transmission structure, and a laser distance measuring sensor is mounted on the inner side of a shield to monitor roadway contour deviation in real time; an inertial navigation and vision measurement positioning system and an intelligent tunneling control system are arranged in the system; through deep integration of multi-equipment integration and an intelligent control technology, automatic cutting, remote control and multi-process linkage are achieved, the problems that a traditional process is low in safety, high in manual dependence degree and poor in process continuity are solved, and roadway tunneling efficiency, safety and environmental friendliness are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent tunneling equipment for coal mine tunnels, and in particular to an intelligent tunneling system based on an integrated tunneling and anchoring machine that integrates the entire process of tunneling, supporting, transporting, communicating and controlling. Background Art

[0002] Coal mine tunneling is a key step in coal mining. Its efficiency and safety directly affect the mine's production capacity and the safety of workers. The traditional tunneling process uses a split operation mode of "tunneling machine + support equipment + transportation equipment", which has the following significant defects:

[0003] High reliance on manual labor: Cutting path adjustment, anchor positioning, and equipment relocation require manual operation, requiring workers to come into close contact with the excavation face, exposing them to risks such as roof collapse and excessive gas (refer to the 2022 edition of the Coal Mine Safety Regulations);

[0004] Poor equipment coordination: The connection between excavation, support, and transportation processes relies on manual scheduling, which often leads to idle work due to equipment waiting (for example, manually pushing the tail of the machine takes 10 minutes each time);

[0005] Environmental control is difficult: dust concentration is high (the emission concentration of traditional wet dust removal is 50-100mg / m 3 ), high risk of gas accumulation (local gas concentration is likely to exceed 1.0% LEL);

[0006] Weak anti-interference ability: Under complex geological conditions (such as hard rock and faults), the error of the traditional positioning system (single inertial navigation) is greater than 50mm, resulting in excessive deviation of the tunnel profile (>30mm). Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide an intelligent tunneling system based on an integrated drilling and anchoring machine. Through the deep integration of multi-device integration and intelligent control technology, automatic cutting, remote control, and multi-process linkage are realized, thereby solving the problems of low safety, high dependence on manual labor, and poor process continuity of traditional processes, and improving the efficiency, safety and environmental friendliness of tunnel excavation.

[0008] To achieve the above object, the present invention adopts the following technical solutions:

[0009] An intelligent tunneling system based on an integrated tunneling and anchoring machine, including the following core equipment and subsystems:

[0010] 1. EBZ230M-2 Central Axis Positioning Intelligent Anchoring and Drilling Machine

[0011] This device is the core execution unit of the system, integrating cutting and support functions. The key structure is as follows:

[0012] Cutting part: adopts Φ230mm hollow shaft transmission structure (the cutting motor directly drives the cutting head through the hollow shaft) to reduce eccentric load vibration; a laser ranging sensor (accuracy ±2mm) is installed on the inside of the shield to monitor the tunnel contour deviation in real time.

[0013] Support Department: The anchor drilling vehicle is integrated with 8 hydraulic anchor machines (model MYT-140 / 320), and is equipped with an industrial camera (resolution 20 million pixels) + AI algorithm visual recognition system on the top to automatically identify the anchor hole positions of the top plate / side (positioning accuracy ±5mm).

[0014] Positioning system: Built-in inertial navigation + visual measurement positioning system to achieve accurate positioning of the cutting head posture and fuselage position.

[0015] Intelligent control system: integrated intelligent tunneling control system, outputs control instructions such as cutting head speed (50-200r / min), lifting cylinder stroke (0-3000mm), left and right swing angle (-30°~+30°), etc.

[0016] 2. Self-moving tail

[0017] It adopts the "hydraulic cylinder + skid chassis" structure, with 4 sets of self-locking sliding wheels (friction coefficient ≤ 0.2) installed at the bottom, and a single pushing stroke of 300mm (repeat positioning accuracy ±10mm) is achieved through the hydraulic cylinder (thrust 200kN); it is connected to the tail of the second operating carrier through pin teeth, and moves forward synchronously with the progress of excavation (machine moving time ≤ 2 minutes / time).

[0018] 3. Secondary carrier

[0019] The mining and anchoring machine is connected to the permanent magnet electric roller belt conveyor, and is equipped with a planetary gear reducer (reduction ratio 1:10) and a high-strength scraper chain (pitch 80mm) to transfer the cut coal and rock to the conveyor (transfer efficiency ≥95%).

[0020] 4. Eight combination switches

[0021] It integrates eight high-voltage vacuum circuit breakers (6kV / 630A), six low-voltage feeder switches (1140V / 400A), a soft starter, and an intelligent comprehensive protection module (supporting overcurrent / overvoltage / leakage protection). It communicates with the intelligent centralized control center via the Modbus TCP protocol, uploading device status parameters (current, voltage, and temperature) in real time. It also features cable insulation aging warning (warning threshold 0.5MΩ) and fault location (locating to a specific circuit).

[0022] 5. Intelligent centralized control center

[0023] Equipped with an industrial-grade reinforced server (CPU i7-12700H, 32GB memory, 1TB storage) and six 15-inch industrial displays, it collects sensor data from each device through the OPC UA protocol (frequency 10Hz); builds a digital twin model of the excavation working condition (based on BIM design data and real-time sensor data) to map the physical equipment status in real time; and has a built-in multi-objective optimization algorithm to collaboratively control cutting parameters, loading speed, conveying rate, and ventilation conditions.

[0024] 6. Long pressure and short extraction intelligent ventilation device

[0025] It adopts the combined structure of "pressed-in air duct (length ≥150m, diameter Φ800mm) + drawn-out air duct (length ≥100m, diameter Φ600mm)"; integrated gas sensor (range 0-100%LEL), CO sensor (range 0-1000ppm) and air flow sensor (measurement wind speed 0-15m / s). When the gas concentration is greater than 0.5%LEL, the pressurized air volume is increased (basic air volume 500m 3 / min, adjustable 30%-120%), and start the exhaust fan (power 2×55kW) to enhance gas exhaust efficiency; when the CO concentration is greater than 24ppm, the local reverse air valve (opening 0-100% adjustable) is opened to ensure that the CO concentration in the working area is ≤24ppm (national standard).

[0026] 7. Permanent magnet electric roller drives 1 meter belt conveyor

[0027] It uses 3×160kW rare earth permanent magnet synchronous electric rollers (rated voltage 660V, efficiency ≥95%), and eliminates the traditional asynchronous motor + reducer structure; it is equipped with a laser rangefinder to monitor the coal flow load in real time (accuracy ±50kg / m), and combines the fuzzy PID algorithm to automatically adjust the electric roller speed (speed regulation range 50%-100%), realizing "coal flow-transportation" dynamic matching (transportation efficiency increased by 20%).

[0028] 8. Inertial navigation + visual measurement and positioning system

[0029] It includes a dual-frequency GNSS / INS integrated navigation module (relies on a fiber optic gyroscope when there is no GNSS signal, with a drift rate of 0.01° / h) and a 3D line laser scanner (scanning frequency 50Hz, accuracy ±1mm); laser reflective targets (reflectivity ≥80%) are arranged every 50m on the top of the tunnel, and a 3D point cloud map (point cloud density ≥100 points / m) is constructed using the SLAM algorithm. 2 ), combined with Kalman filtering to fuse INS data and visual SLAM results, the final positioning accuracy is ±20mm (relative to the designed axis of the lane).

[0030] 9. Intelligent tunneling control system

[0031] The system adopts a "centralized management + decentralized control" architecture, with an intelligent centralized control center as the core. It communicates with the controllers of various equipment (such as the anchoring machine PLC and conveyor PLC) via an industrial ring network (redundant design, bandwidth 1Gbps). It has the following built-in functional modules:

[0032] Automatic cutting control module: Based on the BIM model of the roadway design, it outputs parameters such as cutting head speed, lifting stroke, and swing angle, and dynamically corrects the cutting path (contour deviation ≤ 20mm);

[0033] Multi-device linkage logic: When the cutting head completes a single cycle of footage (8m), the anchor drilling vehicle is triggered to enter the support station (moving speed 0.2m / min); after the anchor support is completed (taking ≤10 minutes), the second operating carrier is automatically started (speed 50r / min) and the self-moving machine tail is simultaneously triggered to push (300mm / time);

[0034] Abnormal handling mechanism: When the cutting motor current is detected to be greater than 120% of the rated value, the cutting head speed will be immediately reduced (from 200r / min to 100r / min) and an alarm will be issued; if the gas concentration is greater than 1.0%LEL, a first-level alarm will be triggered (with sound and light prompts) and the ventilation volume will be increased (the forced air volume will be increased to 700m 3 / min); if the gas concentration is greater than 1.5%LEL, a secondary alarm (emergency shutdown) will be triggered and the power supply of the anchor and digger will be cut off.

[0035] The beneficial effects produced by the present invention are:

[0036] 1. High-precision positioning: Inertial navigation + visual measurement fusion positioning (error ≤ 20mm) solves the problem of large error (> 50mm) of traditional single navigation, and significantly improves the quality of tunnel forming;

[0037] 2. Full process automation: automatic cutting (no need for manual path adjustment), automatic support (automatic hole position identification), and automatic transportation (equipment linkage without waiting), reducing the manual intervention rate by more than 80%;

[0038] 3. Efficient collaborative operation: The response time of multi-device linkage is less than 10s (traditional manual scheduling is greater than 30s), process continuity is improved, and the average daily footage is increased from 50m to 80m;

[0039] 4. Safety environment optimization: dust concentration from 80mg / m 3 Reduced to 8 mg / m 3 (dry dust removal + intelligent speed regulation), gas concentration can be controlled in real time (≤1.0%LEL), and operational safety is significantly improved;

[0040] 5. Remote control capability: The ground monitoring center can remotely adjust the cutting head posture (swing angle accuracy ±0.5°), stop the machine with one button in an emergency, and keep operators away from dangerous areas (average distance >20m). BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 This is a schematic diagram of the layout of the intelligent tunneling system based on the integrated tunneling and anchoring machine in the tunnel;

[0043] Figure 2 This is a structural diagram of the intelligent tunneling system based on the integrated tunneling and anchoring machine;

[0044] Markings in the figure: 1-EBZ230M-2 central axis positioning intelligent anchor drilling machine; 2-self-moving tail; 3-two-operation carrier; 4-eight combination switches; 5-intelligent centralized control center; 6-long pressure and short extraction intelligent ventilation device; 7-permanent magnet electric roller driven 1-meter belt conveyor. DETAILED DESCRIPTION

[0045] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0046] like Figures 1 to 2 As shown in the figure, an intelligent tunneling system based on an integrated tunneling and anchoring machine is provided. The intelligent tunneling system consists of nine core subsystems. Each subsystem is interconnected with a 5G communication network via industrial Ethernet (redundant design, bandwidth 1Gbps), forming a "perception-decision-execution" closed-loop control system. The nine core subsystems include:

[0047] 1. EBZ230M-2 Central Axis Positioning Intelligent Anchoring and Drilling Machine

[0048] As the core execution unit of the system, it integrates cutting and support functions, and its key technological innovations are as follows:

[0049] Central axis positioning and cutting section: The cutting section adopts a Φ230mm hollow shaft transmission structure. The cutting motor (power 230kW) directly drives the cutting head (diameter 1.2m) through the hollow shaft to reduce eccentric load vibration (vibration amplitude reduced by 40%); 4 sets of laser ranging sensors (accuracy ±2mm) are installed on the inside of the shield to monitor the tunnel contour deviation (horizontal / vertical) in real time.

[0050] Intelligent support unit: The anchor drilling vehicle is integrated with 8 hydraulic anchor bolters (model MYT-140 / 320, maximum thrust 140kN, drilling depth 2.5m), and is equipped with an industrial camera (resolution 20 million pixels, frame rate 30fps) + AI visual recognition system (based on YOLOv5 algorithm training) on ​​the top to automatically identify the top plate / side anchor hole positions (positioning accuracy ±5mm) and generate the optimal drilling path.

[0051] Inertial navigation + visual measurement and positioning system: includes a dual-frequency GNSS / INS integrated navigation module (supports BDS / GPS dual-mode, switches to fiber optic gyroscope when there is no GNSS signal, and has a drift rate of 0.01° / h) and a 3D line laser scanner (scanning frequency 50Hz, accuracy ±1mm, scanning range 6m×5m); a laser reflective target (reflectivity ≥80%, spacing error ≤2mm) is arranged every 50m on the top of the tunnel, and a 3D point cloud map (point cloud density ≥100 points / m) is constructed using the SLAM algorithm. 2 ), combined with Kalman filtering to fuse INS data and visual SLAM results, the final positioning accuracy is ±20mm (relative to the designed axis of the lane).

[0052] Intelligent tunneling control system: adopts a "centralized management + decentralized control" architecture, with a PLC controller (Siemens S7-1500 series) as the core, outputs control instructions such as cutting head speed (50-200r / min), lifting cylinder stroke (0-3000mm), left and right swing angle (-30°~+30°); supports real-time communication with the intelligent centralized control center (communication delay ≤50ms).

[0053] 2. Self-moving tail

[0054] It adopts a "hydraulic cylinder + skid chassis" structure, with 4 sets of self-locking sliding wheels (friction coefficient ≤ 0.2) installed at the bottom, and single pushing is achieved through 2 hydraulic cylinders (thrust 200kN, stroke 300mm); the cylinder adopts a "first push and then retract" action sequence (locking the sliding wheel when pushing out and releasing it when retracting), with a repeat positioning accuracy of ±10mm; it is connected to the tail of the second operating carrier through a pin gear (pin gear module 8, number of teeth 20), and moves forward synchronously with the progress of excavation (machine moving time ≤ 2 minutes / time, 6 times faster than manual operation).

[0055] 3. Secondary carrier

[0056] The mining and anchoring machine is connected to the permanent magnet electric roller belt conveyor, and a scraper chain transfer method is adopted: it is equipped with a planetary gear reducer (reduction ratio 1:10, rated torque 12kN·m); the scraper chain is made of high-strength alloy steel (tensile strength ≥1200MPa), with a pitch of 80mm and a chain speed of 0.5m / s; the transfer efficiency is ≥95% (the efficiency of traditional scrapers is ≤85%), and the maximum transfer height is 3.5m.

[0057] 4. Eight combination switches

[0058] Integrated high-voltage / low-voltage power distribution device, key parameters are as follows:

[0059] High-voltage unit: 8-way 6kV / 630A vacuum circuit breakers (breaking capacity 63kA), supporting short-circuit and overcurrent protection;

[0060] Low-voltage unit: 6-way 1140V / 400A feeder switch (breaking capacity 30kA), built-in soft starter (supports motor soft starting, current surge ≤ 1.5 times rated current);

[0061] Intelligent comprehensive protection module: real-time acquisition of current, voltage, temperature (accuracy ±0.5%), leakage resistance (threshold 30kΩ) and other parameters, and communication with the intelligent centralized control center via Modbus TCP protocol (communication rate 100Mbps);

[0062] Fault warning: cable insulation aging warning (threshold 0.5MΩ), overload warning (threshold 110% rated current), positioning accuracy to specific circuits (such as the third low-voltage feeder switch).

[0063] 5. Intelligent centralized control center

[0064] The system's "brain" is equipped with industrial-grade hardware and software platforms:

[0065] Hardware: Reinforced server (CPU i7-12700H, memory 32GB, storage 1TB), 6 15-inch industrial displays (brightness 1000cd / m 2 , protection grade IP65), industrial ring network switch (redundant design, support STP protocol);

[0066] Software: Developed based on the Windows 10 IoT Enterprise system, it integrates the OPC UA communication protocol (supporting access to over 600 devices), a digital twin engine (developed based on Unity 3D), and a multi-objective optimization algorithm (genetic algorithm + model predictive control MPC).

[0067] Function: Real-time collection of sensor data from each device (frequency 10Hz), construction of a digital twin model of tunneling conditions (1:1 mapping with physical equipment), and coordinated control of cutting parameters, loading speed, conveying rate, and ventilation conditions.

[0068] 6. Long pressure and short extraction intelligent ventilation device

[0069] The "press-in + extract-out" composite ventilation mode solves the problems of low efficiency and gas accumulation in the traditional single ventilation mode:

[0070] Push-in air duct: length ≥150m, diameter Φ800mm (anti-static flame retardant material), supporting axial flow fan (power 2×30kW, air volume 600m 3 / min);

[0071] Extraction type air duct: length ≥100m, diameter Φ600mm (anti-static material), supporting centrifugal fan (power 2×55kW, air volume 400m 3 / min);

[0072] Sensor group: gas sensor (range 0-100%LEL, accuracy ±0.1%LEL), CO sensor (range 0-1000ppm, accuracy ±2ppm), air flow sensor (measurement of wind speed 0-15m / s, accuracy ±0.5m / s);

[0073] Control logic: When the gas concentration is greater than 0.5% LEL, increase the air volume (basic air volume 500m 3 / min, adjustable 30%-120%); when the CO concentration is greater than 24ppm, the local anti-air valve will be opened (opening 0-100% adjustable) to ensure that the gas in the working area is ≤0.8%LEL and CO is ≤24ppm (national standard).

[0074] 7. Permanent magnet electric roller drives 1 meter belt conveyor

[0075] Replace the traditional asynchronous motor + reducer structure to achieve high efficiency, energy saving and dynamic speed regulation:

[0076] Electric roller: 3×160kW rare earth permanent magnet synchronous motor (rated voltage 660V, efficiency ≥95%, power factor ≥0.95), directly driving the conveyor belt (bandwidth 1000mm, belt speed 2.5m / s);

[0077] Load monitoring: A laser rangefinder (accuracy ±50kg / m) monitors the coal flow load in real time and feeds back to the fuzzy PID controller;

[0078] Speed ​​regulation strategy: Dynamically adjust the speed of the electric drum (speed regulation range 50%-100%) according to the cutting speed (0-8m / min) to achieve dynamic matching of "coal flow-transportation" (transportation efficiency increased by 20% and energy consumption reduced by 15%).

[0079] 8. Multi-device linkage logic

[0080] The system realizes full equipment coordination through the intelligent centralized control center. The core linkage process is as follows:

[0081] Cutting trigger: The intelligent tunneling control system outputs cutting parameters (speed 120r / min, stroke 2000mm, swing angle ±15°) based on the BIM model and starts the cutting head;

[0082] Contour correction: The laser ranging sensor provides real-time feedback on lane deviation (≤20mm) and dynamically adjusts the cutting head posture;

[0083] Support linkage: After a single cycle of 8m is completed, the anchor drilling vehicle is triggered to move (at a speed of 0.2m / min) to the support station, and the hydraulic anchor bolter is started after visual identification of the hole position (drilling → installation → pre-tightening, taking ≤8 minutes);

[0084] Transfer linkage: After the support is completed, start the second operating carrier (speed 50r / min) to transfer the coal rock to the conveyor; the conveyor monitors the coal flow load through the laser rangefinder and adjusts the speed of the electric roller (for example, when the load is 500kg / m, the speed is adjusted to 70%).

[0085] Tail push: The tail is started automatically and synchronously (the hydraulic cylinder thrust is 200kN), with a single push of 300mm (taking 2 minutes) and keeping synchronization with the conveyor;

[0086] Ventilation adjustment: The ventilation device dynamically adjusts the air volume according to the gas / dust concentration (such as dust concentration>50mg / m 3 When the exhaust air volume is increased to 500m 3 / min).

[0087] 9. Exception handling mechanism

[0088] The system has built-in three-level warning and emergency shutdown logic:

[0089] Level 1 warning (yellow): Cutting motor current > 110% rated value (220A), gas concentration 0.5%-1.0% LEL, dust concentration 50-100 mg / m 3 , triggering the sound and light alarm, the system automatically slows down (the cutting head speed drops to 100r / min);

[0090] Level 2 warning (orange): Cutting motor current > 120% rated value (240A), gas concentration 1.0%-1.5% LEL, dust concentration > 100mg / m 3 , triggering a voice alarm, pausing cutting and starting ventilation and pressurization;

[0091] Level 3 alarm (red): Gas concentration > 1.5% LEL, equipment temperature > 90°C, sensor failure, immediate emergency shutdown (cutting head stops, conveyor power off), and send the fault code to the ground monitoring center.

[0092] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An intelligent tunneling system based on a mining and anchoring machine. From the head end to the tail end, it is equipped with a mining and anchoring machine, a self-moving tail, a two-way running carrier, eight combination switches, an intelligent centralized control center, a long-pressure, short-extraction intelligent ventilation device, and a belt conveyor. Its characteristics are: The integrated drilling and anchoring machine integrates cutting and supporting functions. The cutting part adopts a hollow shaft transmission structure, and a laser ranging sensor is installed inside the shield to monitor the deviation of the tunnel contour in real time. The integrated anchor drilling unit is equipped with multiple hydraulic anchor bolters. The visual recognition system of industrial cameras and AI algorithms automatically locates the anchor hole positions in the roof or side. The internal inertial navigation and visual measurement positioning system and intelligent tunneling control system are also installed. The inertial navigation + visual measurement and positioning system includes a dual-frequency GNSS / INS integrated navigation module and a 3D line laser scanner. Laser reflective targets are arranged at regular intervals on the top of the tunnel. A 3D point cloud map is constructed using the SLAM algorithm. The final positioning is achieved by combining Kalman filtering to fuse INS data with visual SLAM results. The intelligent tunneling control system includes a built-in automatic cutting control module, multi-device linkage logic and exception handling mechanism; it is centered on an intelligent centralized control center and communicates with the controllers of each device through an industrial ring network.

2. The intelligent tunneling system based on the integrated tunneling and anchoring machine according to claim 1 is characterized in that: The cutting part of the integrated miner and anchor machine is driven by a hollow shaft to reduce eccentric load vibration; the laser ranging sensor inside the shield provides real-time feedback on the tunnel contour deviation, and combined with the data from the cutting head inclination sensor and vibration acceleration sensor, the cutting path is dynamically corrected, with the contour deviation control accuracy ≤20mm.

3. The intelligent tunneling system based on the integrated tunneling and anchoring machine according to claim 1 is characterized in that: The 3D line laser scanner of the inertial navigation + visual measurement and positioning system is installed on the top of the integrated miner and anchor machine. The scanning range covers the entire cross-section of the tunnel. The SLAM algorithm is used to construct a three-dimensional point cloud map of the tunnel in real time. After being integrated with the inertial navigation data, the positioning error is ≤20mm.

4. The intelligent tunneling system based on the integrated tunneling and anchoring machine according to claim 1 is characterized in that: The hydraulic cylinder of the self-moving machine tail adopts the action sequence of "first pushing and then retracting", and cooperates with the adaptive speed regulation of the second operating carrier to achieve synchronous advancement of the machine tail and the tunneling face, and the machine moving time is ≤2 minutes / time.

5. The intelligent tunneling system based on the integrated tunneling and anchoring machine according to claim 1 is characterized in that: The intelligent comprehensive protection module of the eight-combination switch uploads the current, voltage, and temperature status parameters of each device to the intelligent centralized control center in real time. In the event of a fault, a fault code is sent via the Modbus TCP protocol, with positioning accuracy down to the specific circuit.

6. The intelligent tunneling system based on the integrated tunneling and anchoring machine according to claim 1 is characterized in that: The exhaust fan and the pressure-inlet air duct of the long-pressure, short-extraction intelligent ventilation device form a "dilution-exhaust" composite ventilation mode. When the CO concentration is greater than 24 ppm, the local reverse air valve is opened in conjunction to adjust the airflow direction to ensure that the CO concentration in the working area is ≤24 ppm.

7. The intelligent tunneling system based on the integrated tunneling and anchoring machine according to claim 1 is characterized in that: The electric roller of the belt conveyor adopts a rare earth permanent magnet synchronous motor and eliminates the reducer structure; the coal flow load is monitored in real time by a laser rangefinder, and the fuzzy PID algorithm dynamically adjusts the electric roller speed according to the cutting speed.

8. The intelligent tunneling system based on the integrated tunneling and anchoring machine according to claim 1 is characterized in that: The digital twin model of the intelligent centralized control center is built based on BIM design data and real-time sensor data, mapping the status of physical equipment in real time and supporting fault prediction and virtual debugging.

9. The intelligent tunneling system based on the integrated tunneling and anchoring machine according to claim 1 is characterized in that: The multi-device linkage logic of the intelligent tunneling control system includes: when the cutting head completes a single cycle of footage, it triggers the anchor drilling vehicle to enter the support station; after the anchor support is completed, it automatically starts the second operating carrier to transfer, and simultaneously triggers the self-moving machine tail to push, to ensure process continuity.

10. The intelligent tunneling system based on the integrated tunneling and anchoring machine according to claim 1, characterized in that: The abnormal handling mechanism of the intelligent tunneling control system includes: when it is detected that the cutting motor current is greater than 120% of the rated value, the cutting head speed is immediately reduced and an alarm is issued; if the gas concentration is greater than 1.0% LEL, a first-level alarm is triggered and the ventilation volume is increased; if the gas concentration is greater than 1.5% LEL, a second-level alarm is triggered and the power supply of the drilling and anchoring machine is cut off.

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