A mine filling body intelligent online monitoring system laying device

Abstract

The application relates to a mine filling body intelligent online monitoring system layout device, belongs to the technical field of mine safety production monitoring, and solves the problems that the existing technology cannot realize accurate control of the positions and postures of sensors and lacks a sensor arrangement and online monitoring system and scheme in a large space. The device comprises a walking steel cable arranged on a rock drilling roadway roof of a mine room, a walking module is slidably arranged on the walking steel cable, a balance lifting module is rotatably arranged below the walking module, a plurality of groups of sensor fixing modules are connected to the balance lifting module through steel wires, and a working condition monitoring module capable of lifting is rotatably arranged between the balance lifting module and the walking module. The device has the advantages of reasonable design, compact structure, safe operation mode, precise control technology, precise positions and postures of various types of sensors arranged in high-risk spaces and filling bodies, and long-term and accurate monitoring of various physical parameter indexes in the filling bodies.

Description

Technical Field

[0001] This invention belongs to the field of mine safety production monitoring technology, specifically relating to a deployment device for an intelligent online monitoring system for mine backfill bodies. Background Technology

[0002] Mine backfilling primarily refers to the process of transporting backfill material to the mined-out stope after mining is completed. Once solidified, the backfill material serves as surrounding rock for the next stage of mining or as a permanent support structure, bearing permanent structural loads and controlling rock movement and surface subsidence. Furthermore, with the mandatory implementation of backfilling mining methods in the national "Safety Regulations for Metal and Non-metal Mines," this process has become the standard operating procedure for underground mining. Therefore, the strength and stability of the backfill are crucial to the safety of subsequent mining operations. During the colloidal solidification process of the backfill, a large amount of heat of hydration (temperatures can reach 80–120℃) is generated, often resulting in heat hazards in underground mines. Deformation of the surrounding rock or roof subsidence can cause redistribution of triaxial stress within the backfill, and blasting operations during secondary mining can cause vibration and impact on the backfill. Real-time online monitoring data of this kind is a crucial source of raw data in the process of intelligent mine construction, serving as an important basis for safety monitoring, analysis, and adjustment of blasting parameters to reduce vibration and impact.

[0003] Large mine open spaces typically range in size from 20 to 80 meters in length and width, and 60 to 120 meters in height, equivalent to dozens of stories high. During the filling process, embedding specialized sensor systems at specific positions and orientations within the ideal area is an extremely dangerous, even improbable, task. Therefore, existing mining practices generally avoid pre-burying these large spaces, opting instead for an outdated method: after the filling material has solidified, locally opening the edges and temporarily embedding simple sensors for spot checks to infer the stress and stability of the filling material. However, due to boundary effects, this method is extremely limited in its safety analysis of the filling material. Stress measurement errors can sometimes exceed 40%, making it difficult to obtain accurate information on the mechanics, temperature, and vibration interference within the filling material, and even more difficult to obtain information on changes in physical parameters during the solidification and production processes.

[0004] Therefore, the only solution is to pre-place sensors for physical quantities such as stress, temperature, and vibration in the unfilled mine block using flexible suspension and precise control, ensuring ideal positions, orientations, and attitudes. Then, filling and solidification can be carried out to achieve effective long-term online monitoring. However, since mine blocks are typically tens of meters high and the filling process is continuous, conventional suspension methods cannot achieve precise control of sensor positions and attitudes. Currently, there is a lack of systems and solutions for sensor deployment and online monitoring in large spaces in the mining and related industries. Therefore, it is necessary to improve the deployment methods and devices of existing mine filling body online monitoring systems. Summary of the Invention

[0005] This invention addresses the aforementioned problems by providing a mine backfill intelligent online monitoring system deployment device. This system utilizes a complete modular and intelligent mechatronics device system, employing safe operating modes and precise control technology, to precisely position and position various types of sensors and other monitoring equipment within high-risk spaces and backfill bodies, enabling long-term and accurate monitoring of various physical parameters within the backfill body.

[0006] The technical solution adopted in this invention is as follows: The deployment device of the intelligent online monitoring system for mine backfill includes a walking steel cable installed on the roof of the rock drilling roadway at the top of the mine stope. A walking module is slidably installed on the walking steel cable. A balance lifting module is rotatably installed below the walking module through a rigid connector. Several sets of sensor fixing modules, arranged layer by layer from top to bottom, are connected below the balance lifting module through steel wire ropes. Pressure sensors, vibration sensors, temperature sensors, and attitude sensors are respectively installed in the sensor fixing modules. Furthermore, a working condition monitoring module that can be raised and lowered is rotatably installed at the connection between the balance lifting module and the walking module.

[0007] The walking module includes a walking shell, inside which a base fixed beam is fixedly installed. A ring-shaped fixed walking synchronous belt is installed in the middle of the front side of the base fixed beam. The two ends of the ring-shaped fixed walking synchronous belt are rotatably connected to the base fixed beam through fixed walking pulleys, and the fixed walking synchronous belt is located above the walking steel cable. The drive end of the fixed walking pulley is connected to the output end of the walking servo motor installed at the rear side of the base fixed beam through a walking synchronous belt transmission gear and a worm gear reducer. A locking lifting beam is also movably installed below the base fixed beam. A ring-shaped lifting walking synchronous belt is installed in the middle of the front side of the locking lifting beam. The two ends of the ring-shaped lifting walking synchronous belt are rotatably connected to the locking lifting beam through lifting walking pulleys, and the lifting walking synchronous belt is located below the walking steel cable. The system utilizes the upward movement of the lifting and locking timing belt along with the locking lifting beam. This causes the lifting and locking timing belt to compress and lock the traveling cable located between them onto the fixed timing belt on the foundation fixed beam. Furthermore, a traveling servo motor and a worm gear reducer drive the fixed traveling pulley, which is connected to the traveling timing belt's transmission gear, to rotate continuously. This, in turn, drives the fixed traveling timing belt to rotate. The movement of the entire deployment device is achieved through the friction between the fixed traveling timing belt, the lifting and locking timing belt, and the traveling cable. When the traveling servo motor stops rotating, the reverse locking function of the worm gear reducer locks the rotation of the traveling pulley and the traveling timing belt, thus achieving the functions of stopping and stabilizing the moving position.

[0008] The interlocking lifting beam is slidably mounted inside the traveling housing via lifting guide rods. Vertically arranged, upward-facing lifting locking racks are located at both ends of the interlocking lifting beam. A flip-locking cover is located on the front side of the traveling housing. The upper side of the flip-locking cover is rotatably connected to the upper end of the traveling housing via a flip-cover pivot. A lifting locking gear is also mounted on the flip-cover pivot, meshing with the lifting locking racks. When the flip-locking cover is closed, the lifting locking gear on the flip-cover pivot drives the meshing lifting locking racks upward, causing the interlocking lifting beam to move upward along the two sets of lifting guide rods. This causes the lifting synchronous belt on the interlocking lifting beam and the fixed synchronous belt on the foundation fixed beam to press firmly against the traveling steel cable, creating sufficient traveling friction.

[0009] Two sets of fixed groove pulleys are respectively installed on the left and right sides of the fixed travel timing belt on the foundation fixed beam; correspondingly, a set of lifting groove pulleys is respectively installed on the left and right sides of the lifting travel timing belt on the interlocking locking lifting beam; the fixed groove pulleys and lifting groove pulleys are located above and below the travel steel cable, respectively. By using the lifting groove pulleys on both sides of the interlocking locking lifting beam and the fixed groove pulleys on both sides of the foundation fixed beam, a load-bearing structure is formed that can both assist in locking the travel steel cable and allow it to roll, thereby ensuring that the travel steel cable cannot come out before the flip-locking cover of the travel module is manually opened.

[0010] The balancing lifting module includes a lifting housing, which is connected to the lower part of the walking module via a rigid connector at the top. Sensor wire rope winches are respectively installed at the left and right ends inside the lifting housing. The control terminals of the two sensor wire rope winches are electrically connected to two sets of control hosts and drive electrical modules, respectively. The lower ends of the sensor lifting wire ropes on the sensor wire rope winches are connected to sensor fixing modules arranged layer by layer. The two sets of control hosts and drive electrical modules are used to drive the two sensor wire rope winches inside the lifting housing, and then, based on the data sensed by the attitude sensors within the sensor fixing modules, drive the two sensor wire rope winches to produce differential rotation, thereby controlling and adjusting the pitch angle of the suspended sensor fixing modules below.

[0011] The lifting housing is movably connected to a rigid connector via a crossed roller bearing. The lower end of the crossed roller bearing is connected to the extension end of a yaw angle adjustment push rod motor located at the top inner side of the lifting housing. The precise extension and retraction of the yaw angle adjustment push rod motor changes the rotation angle of the balance lifting module relative to the rigid connector, thereby adjusting the yaw angle of the sensor.

[0012] An electrically controlled release device is installed at the lower end of the sensor lifting wire rope on the sensor wire rope winch motor. This device is connected to the upper part of the layered sensor fixing modules. During subsequent filling of the mine stope, once the filling material completely covers the sensor fixing modules, the electrically controlled release device is activated, thereby detaching the sensor lifting wire rope from all the sensor fixing modules and the sensors.

[0013] The working condition monitoring module includes a lifting mechanism connecting shell. The top of the lifting mechanism connecting shell is rotatably connected to the connection between the monitoring module hoisting cantilever and the balance lifting module and the walking module via a connection point. Inside the lifting mechanism connecting shell is a monitor wire rope winch motor. At the lower end of the monitor lifting wire rope on the monitor wire rope winch motor is a monitoring sensor fixing box, which houses a camera, a lighting lamp, and a laser rangefinder. The system allows observation of images transmitted from the freely lifting working condition monitoring module and data transmitted from each sensor on a portable remote control console, thereby determining the spatial position and attitude setting of the sensor fixing module, facilitating intelligent online monitoring after filling.

[0014] A crossed roller bearing is installed at the connection between the balancing lifting module and the traveling module. The lifting cantilever drive gear at the end of the monitoring module's lifting cantilever is connected to the crossed roller bearing, and the lifting cantilever drive gear meshes with the servo motor transmission gear at the output end of the lifting cantilever servo motor on the balancing lifting module. The lifting cantilever servo motor drives the lifting cantilever drive gear meshing with the servo motor transmission gear, and the monitoring module's lifting cantilever rotates together. This causes the entire monitoring module to rotate with the monitoring module's lifting cantilever, allowing for flexible selection of appropriate observation directions and angles in the dark mine space, facilitating the deployment of the device.

[0015] The sensor mounting module includes a sensor mounting frame, which adopts a hollow large-mesh structure assembled from profiles. Hollow square slots are provided on both sides of the sensor mounting frame, through which connecting steel cables for connecting two adjacent sets of sensor mounting modules pass, and power and communication cables for powering and communicating with each sensor also pass through the hollow square slots. A pressure sensor is fixedly installed in the length, width, and height directions inside the sensor mounting frame to monitor pressure in the X, Y, and Z directions. A vibration sensor and a temperature sensor are fixedly installed in the center of the sensor mounting frame, and an attitude sensor is installed at the bottom inside the sensor mounting frame. Simultaneously, the hollow large-mesh structure of the sensor mounting frame facilitates the inflow of filling material to cover the various sensors that need to be pre-embedded.

[0016] The beneficial effects of this invention are as follows: Because this invention employs a walking steel cable mounted on the roof of the drilling roadway at the top of the mine stope, with a walking module slidably mounted on the cable, and a rotatable balancing lifting module mounted below the walking module via rigid connectors, and several sets of sensor fixing modules arranged layer by layer from top to bottom connected below the balancing lifting module via steel wire ropes, each sensor fixing module contains a pressure sensor, vibration sensor, temperature sensor, and attitude sensor, respectively. The connection between the balancing lifting module and the walking module is rotatably fitted with a condition monitoring module that can be raised and lowered. Therefore, its design is reasonable and compact. It can safely suspend the sensor assembly composed of pressure, vibration, temperature, and attitude sensors in advance into the empty space of the mine stope to be filled through safe remote control from the work point and intelligent adaptive control within the equipment, and can be arranged in multiple layers vertically. This enables long-term real-time ideal position monitoring during and after the filling material solidifies, achieving the acquisition and storage of physical parameters such as triaxial stress, temperature, and vibration, realizing big data application and analysis in intelligent mines, and achieving safe monitoring and analysis evaluation of the filling material group. Furthermore, the proposed intelligent online monitoring system deployment device for mine backfill is based on a modular design, allowing the main structure to be reused after the sensors are placed and fixed. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of one structure of the present invention.

[0018] Figure 2 yes Figure 1 A schematic diagram of the walking module in the image.

[0019] Figure 3 yes Figure 2 Side view.

[0020] Figure 4 yes Figure 2 A schematic diagram of the internal structure after removing the outer casing and flipping the locking cover.

[0021] Figure 5 yes Figure 1 A schematic diagram of the balance lifting module in the process.

[0022] Figure 6 yes Figure 1 A schematic diagram of the working condition monitoring module in the system.

[0023] Figure 7 yes Figure 1 A schematic diagram of a sensor fixing module in a device.

[0024] Figure 8 This is a schematic diagram of one embodiment of the present invention.

[0025] Explanation of the numbers in the diagram: 1. Traveling cable; 2. Traveling module; 3. Balance lifting module; 4. Sensor fixing module; 5. Working condition monitoring module; 6. Traveling housing; 7. Foundation fixing beam; 8. Fixed traveling timing belt; 9. Fixed traveling pulley; 10. Fixed grooved pulley; 11. Engaging locking lifting beam; 12. Lifting guide rod; 13. Lifting traveling timing belt; 14. Lifting traveling pulley; 15. Lifting grooved pulley; 16. Lifting locking rack; 17. Flipping locking cover plate; 18. Lifting locking gear; 19. Traveling servo motor; 20. Worm gear reducer; 21. Traveling timing belt transmission gear; 22. Lifting housing; 23. Housing cover plate; 24. Sensor wire rope winch motor; 25. Control host and drive electrical module; 26. Sensor lifting. Wire rope, 27 Electrically controlled unhooking device, 28 Rigid connector, 29 Crossed roller bearing, 30 Monitoring module lifting cantilever, 31 Lifting cantilever drive gear, 32 Servo motor transmission gear, 33 Lifting cantilever servo motor, 34 Yaw angle adjustment push rod motor, 35 Lifting mechanism connecting housing, 36 Monitor wire rope winch motor, 37 Monitor lifting wire rope, 38 Monitor sensor fixing box, 39 Sensor mounting frame, 40 Hollow square groove, 41 Connecting wire rope, 42 Power supply and communication cable, 43 Pressure sensor, 44 Vibration sensor, 45 Temperature sensor, 46 Attitude sensor, 47 Mine stope roof, rock drilling tunnel roof, 48 Surrounding rock, 49 Mine stope open space, 50 Portable remote control for monitoring system. Detailed Implementation

[0026] according to Figures 1-8 The specific structure of this invention is described in detail. The deployment device of the intelligent online monitoring system for mine backfill includes a traveling steel cable 1, which is suspended from the roof slab 47 of the rock drilling roadway at both ends by expansion bolts and is taut. A traveling module 2 is slidably mounted on the traveling steel cable 1. The traveling module 2 includes a traveling outer shell 6, and a foundation fixing beam 7 is fixedly mounted inside the traveling outer shell 6. An annular fixed traveling synchronous belt 8 is mounted in the middle of the front side of the foundation fixing beam 7. Both ends of the annular fixed traveling synchronous belt 8 are rotatably connected to the foundation fixing beam 7 via fixed traveling pulleys 9. Furthermore, the fixed traveling synchronous belt 8 is located above the traveling steel cable 1, and the drive end of the fixed traveling pulleys 9 is connected to the output end of a traveling servo motor 19 mounted on the rear side of the foundation fixing beam 7 via a traveling synchronous belt transmission gear 21 and a worm gear reducer 20.

[0027] Below the base fixed beam 7 of the walking module 2, a locking lifting beam 11 is movably installed. A ring-shaped lifting and walking synchronous belt 13 is located in the middle of the front side of the locking and walking lifting beam 11. Both ends of the ring-shaped lifting and walking synchronous belt 13 are rotatably connected to the locking and walking lifting beam 11 via lifting and walking pulleys 14, and the lifting and walking synchronous belt 13 is located below the walking steel cable 1. The locking and walking lifting beam 11 is slidably installed inside the walking housing 6 via a lifting guide rod 12. Vertically arranged, upward-facing lifting locking racks 16 are provided at both ends of the locking and walking lifting beam 11. A flip-locking cover plate 17 is provided on the front side of the walking housing 6. The upper side of the flip-locking cover plate 17 is rotatably connected to the upper end of the walking housing 6 via a flip-cover pivot. A lifting locking gear 18 is also provided on the flip-cover pivot, and the lifting locking gear 18 meshes with the lifting locking rack 16. Furthermore, when the flip-locking cover 17 is closed, the lifting locking gear 18 set on the flip-cover shaft drives the lifting locking rack 16 meshing with it to move upward, so that the biting locking lifting beam 11 moves upward along the two sets of lifting guide rods 12. With the upward movement of the biting locking lifting beam 11, the lifting walking synchronous belt 13 on the biting locking lifting beam 11 and the fixed walking synchronous belt 8 on the foundation fixed beam 7 press against the walking steel cable 1 from top to bottom, that is, the walking steel cable 1 located between the two is squeezed and locked to form sufficient walking friction. Furthermore, the fixed travel pulley 9, which is connected to the travel timing belt transmission gear 21, is continuously rotated by the travel servo motor 19 and the worm gear reducer 20, thereby driving the fixed travel timing belt 8 to rotate. The movement of the entire deployment device is achieved by the friction between the fixed travel timing belt 8, the lifting travel timing belt 13 and the travel cable 1. When the travel servo motor 19 stops rotating, the reverse locking function of the worm gear reducer 20 will lock the rotation of the travel pulley and the travel timing belt, thereby achieving the function of stopping and stabilizing the movement position.

[0028] Meanwhile, two sets of fixed groove pulleys 10 are respectively provided on the foundation fixed beam 7 of the walking module 2 and on the left and right sides of the fixed walking synchronous belt 8; correspondingly, a set of lifting groove pulleys 15 are respectively provided on the left and right sides of the biting locking lifting beam 11 and the lifting walking synchronous belt 13; and the fixed groove pulleys 10 and the lifting groove pulleys 15 are respectively located above and below the walking steel cable 1; thus, by using the lifting groove pulleys 15 provided on both sides of the biting locking lifting beam 11 and the fixed groove pulleys 10 provided on both sides of the foundation fixed beam 7, a load-bearing structure is formed that can both assist in locking the walking steel cable 1 and allow it to roll, so as to ensure that the walking steel cable 1 cannot come out before the flip locking cover 17 of the walking module 2 is manually opened, thereby improving the safety of the device.

[0029] A balancing lifting module 3 is rotatably mounted below the walking module 2. The balancing lifting module 3 includes a lifting housing 22, with a housing cover 23 on the front side of the lifting housing 22. The lifting housing 22 is connected to the lower part of the walking module 2 above it via a rigid connector 28 at the top. A sensor wire rope winch motor 24 is mounted on each of the left and right ends inside the lifting housing 22. The control terminals of the two sensor wire rope winch motors 24 are electrically connected to two sets of control hosts and drive electrical modules 25, respectively. The lower end of the sensor lifting wire rope 26 on the sensor wire rope winch motor 24 is connected to the connecting wire rope 41 of the layered sensor fixing modules 4. Furthermore, the two sets of control hosts and drive electrical modules 25 are used to drive the two sensor wire rope winch motors 24 inside the lifting housing 22, respectively. Based on the data sensed by the attitude sensor 46 inside the sensor fixing module 4, the two sensor wire rope winch motors 24 are driven to rotate at a differential speed, thereby controlling and adjusting the pitch angle of the suspended sensor fixing module 4 (and its various sensors).

[0030] The lower end of the sensor lifting wire rope 26 on the sensor wire rope winch motor 24 of the balancing lifting module 3 is equipped with an electrically controlled release device 27. The electrically controlled release device 27 is connected to the upper end of the connecting wire rope 41 between the layered sensor fixing modules 4. During the subsequent filling of the mine hole 49, after the filling material completely covers the sensor fixing modules 4, the electrically controlled release device 27 is opened, thereby detaching the sensor lifting wire rope 26 of the sensor wire rope winch motor 24 from all the sensor fixing modules 4 and the sensors, facilitating the reuse of the deployment device. Furthermore, the lifting housing 22 of the balancing lifting module 3 is movably connected to the rigid connecting member 28 through a cross roller bearing 29. The lower end of the cross roller bearing 29 is connected to the telescopic end of the yaw angle adjustment push rod motor 34 located on the inner top of the lifting housing 22. Furthermore, the rotation angle of the balance lifting module 3 relative to the rigid connector 28 (walking module 2) is changed by precisely extending and retracting the push rod motor 34 through the yaw angle adjustment, thereby adjusting the yaw angle of the sensor.

[0031] Below the balancing lifting module 3, several sets of sensor fixing modules 4, arranged layer by layer from top to bottom, are connected by sensor lifting wire ropes 26. The sensor fixing module 4 includes a sensor mounting frame 39 with a hollow large grid structure assembled from profiles. Hollow square grooves 40 are provided on both sides of the sensor mounting frame 39. Connecting wire ropes 41 for connecting two adjacent sets of sensor fixing modules 4 pass through the hollow square grooves 40, and the upper end of the connecting wire rope 41 is connected to the electronically controlled release hook 27 provided at the lower end of the sensor lifting wire rope 26. Furthermore, a pressure sensor 43 is fixedly installed in the length, width, and height directions of the sensor mounting frame 39 inside the sensor mounting module 4 to monitor the pressure in the X, Y, and Z directions; a vibration sensor 44 and a temperature sensor 45 are fixedly installed in the center of the sensor mounting frame 39, and an attitude sensor 46 is installed at the bottom inside the sensor mounting frame 39; the power supply and communication cables 42 for powering and communicating with each sensor also pass through the hollow square groove 40; the sensor mounting frame 39, which is a hollow large grid structure assembled from profiles, facilitates the filling material to flow in and cover the various sensors that need to be pre-embedded. In addition, the mass of the structure composed of all sensor mounting modules 4 is equally distributed on both sides of the plane formed by the two connecting steel wire ropes 41, and the roll angle is effectively constrained within ±2° by using gravity and the fixing method of the steel wire ropes to the sensor mounting module 4.

[0032] A lifting and lowering monitoring module 5 is rotatably mounted at the connection between the balancing lifting module 3 and the traveling module 2. The monitoring module 5 includes a lifting mechanism connecting housing 35. The top of the lifting mechanism connecting housing 35 is connected to a cross roller bearing 29 at the connection between the balancing lifting module 3 and the traveling module 2 via a monitoring module lifting cantilever 30. Specifically, the lifting cantilever drive gear 31 at the end of the monitoring module lifting cantilever 30 is connected to the cross roller bearing 29, and the lifting cantilever drive gear 31 meshes with the servo motor transmission gear 32 at the output end of the lifting cantilever servo motor 33 on the balancing lifting module 3. The lifting cantilever servo motor 33 then drives the lifting cantilever drive gear 31, which meshes with the servo motor transmission gear 32, and the monitoring module lifting cantilever 30 thereon to rotate together. This allows the entire monitoring module 5 to rotate with the monitoring module lifting cantilever 30, enabling flexible selection of appropriate observation directions and angles in the dark mine space, facilitating the deployment of the device.

[0033] The lifting mechanism connecting housing 35 of the working condition monitoring module 5 houses a monitor wire rope winch motor 36. At the lower end of the monitor lifting wire rope 37 on the monitor wire rope winch motor 36, a monitoring sensor mounting box 38 is installed. The monitoring sensor mounting box 38 contains monitoring sensors such as a camera, a lighting lamp, and a laser rangefinder. Furthermore, on the portable remote control 50 of the monitoring system, located within the safe area of ​​the rock drilling roadway roof 47 at the top of the mine, the images transmitted by the freely lifting and lowering working condition monitoring module 5 and the data transmitted by each sensor are observed to determine the spatial position and attitude setting of the sensor mounting module 4, facilitating intelligent online monitoring after filling.

[0034] When using the intelligent online monitoring system for mine backfill, firstly, before the start of blasting in the stope, monitor positions A and B on the roof of the drilling roadway at the top of the stope (e.g., ...). Figure 8 (As shown in the diagram) Drill holes to install large expansion bolts, and attach and tighten the walking steel cable 1 to it; the blasting ore extraction process in the mining production process has no impact on the walking steel cable 1. After ore extraction is completed, a stope void 49 to be filled is formed, located between the surrounding rocks 48. Before filling the stope void 49 after ore extraction is completed, the intelligent online monitoring system deployment device for the mine filling body is transported to... Figure 8 At point B, a safe working position, the portable remote control 50 of the monitoring system was safely placed near point B, and the deployment of the monitoring system began.

[0035] Open the flip-locking cover 17 of the walking module 2 and position the walking cable 1 between the fixed groove pulley 10 and the lifting groove pulley 15, thereby suspending the entire device on the walking cable 1. Then, close the flip-locking cover 17. At this time, the lifting locking gear 18 on the flip-cover shaft drives the locking lifting beam 11 to move upward along the lifting guide rod 12 through the lifting locking rack 16 that meshes with it, thus securing the walking cable 1 between the fixed groove pulley 10 and the lifting groove pulley 15. This forms a support for the entire device by the cable, and the upper and lower groove pulleys can constrain the position of the walking cable 1 to prevent it from coming off. At the same time, the lifting walking synchronous belt 13 on the locking lifting beam 11 and the fixed walking synchronous belt 8 on the foundation fixed beam 7 squeeze the walking cable 1 located in the middle from above and below, thereby generating sufficient friction. The walking servo motor 19 drives the walking pulley to rotate the walking synchronous belt. The linkage between the opening and closing cover and the locking cable facilitates loading and unloading while preventing misoperation, meeting the requirements of easy operation and reliable safety of underground mining equipment.

[0036] Subsequently, based on the actual height of the mine and the required number of monitoring points, the sensor fixing modules 4 were hung layer by layer on the two sensor lifting steel wire ropes 26 of the balance lifting module 3 according to their quantity and position, and then locked. The lower end of the sensor lifting steel wire rope 26 was connected to the upper end of the connecting steel wire rope 41 between the sensor fixing modules 4 and the sensor fixing modules 4 through the electrically controlled release device 27. The electrically controlled release device 27 designed in the deployment device can reliably detach the connecting steel wire rope 41 and the sensor fixing modules 4, so as to avoid the extreme situation where the main structure of the device cannot be retracted because the sensor fixing modules 4 are buried in the filling material and cannot be detached, and personnel cannot approach them. The system is then powered on, and control commands are issued via the portable remote control 50 of the monitoring system. The control unit and drive electrical module 25 drive the walking servo motor 19 inside the walking module 2, which in turn drives the fixed walking synchronous belt 8 and the lifting walking synchronous belt 13 to rotate synchronously. The friction between the walking synchronous belts and the walking steel cable 1 enables the entire deployment device to move along the walking steel cable 1. Once the walking module 2 and the balancing lifting module 3 have moved to the suspended area, the sensor lifting steel cable 26 is manually and slowly released, causing the layered sensor fixing modules 4 to descend until they all fall into the mine's open space 49. After the steel cable and sensor fixing modules 4 are basically stable, walking control commands are issued again, causing the entire deployment device to move precisely along the walking steel cable 1 to the designated position in the center of the mine's open space 49, where it remains suspended. During this process, the deployment device achieves precise positioning along the walking steel cable 1, and the displacement data is fed back to the portable remote control 50 of the monitoring system in real time.

[0037] Furthermore, the portable remote control 50 of the monitoring system issues control commands to drive the yaw angle adjustment push rod motor 34 inside the balance lifting module 3, rotating the sensor fixing module 4 suspended below it to a specified direction to meet the yaw angle requirements. Subsequently, it drives the two sensor wire rope winch motors 24 to lower the sensor lifting wire rope 26, lowering the sensor fixing module 4 to a specified height. At the same time, the two sensor wire rope winch motors 24 inside the balance lifting module 3 can be independently and precisely controlled to adjust the angle of the sensor fixing module 4 to achieve balanced lifting. In addition, it drives the monitor wire rope winch motor 36 inside the working condition monitoring module 5 to lower the monitoring sensor fixing box 38 suspended at the lower end of the monitor lifting wire rope 37, and then observes the images returned by the monitoring sensor and the data returned by the attitude sensor 46 on the portable remote control 50 of the monitoring system to determine the spatial position and attitude setting of the sensor fixing module 4. By controlling the individual rotation of the two sensor wire rope winch motors 24 inside the balance lifting module 3, the pitch angle of the sensor fixing module 4 can be easily adjusted to ensure that it meets the installation posture. Through the precise displacement of the walking module 2, the adjustable rotation angle between the balance lifting module 3 and the walking module 2, the independent control of the two internal sensor wire rope winch motors 24, and the fixation of the sensor fixing module 4 by the vertical tension and the wire rope, precise control of the sensor position and related attitudes, such as yaw, pitch, and roll, is achieved, meeting the necessary conditions for remotely controlling the placement of sensors. Moreover, during this process, the hoisting arm servo motor 33 can be used to drive the rotation of the monitoring module hoisting arm 30 connected to the hoisting arm drive gear 31, so that the monitoring module hoisting arm 30 can drive the condition monitoring module 5 to rotate and change the observation position, facilitating multi-angle observation. The integrated working condition monitoring module 5 provides real-time observation and adjustment functions throughout the entire process in environments with large underground working spaces, no light, and difficulty in observing the working effect. For underground mining operations, once the filling is completed, there is no opportunity to make corrections, providing important assurance for correct operation.

[0038] After adjusting the posture of each sensor fixing module 4 at the designated location, the filling operation of the mine open space 49 begins. Before this, the portable remote control 50 of the monitoring system sends control commands to drive the monitor wire rope winch motor 36 of the working condition monitoring module 5 to pre-lift the monitoring sensor fixing box 38 to the top, ensuring that it will not be covered by the filling material; at the same time, during filling, the walking module 2 is locked to the walking steel cable 1 to maintain the stability of its position and posture. When the filling material completely covers the sensor fixing modules 4, the system controls the electric release device 27 at the lower end of the two sensor lifting steel cables 26 of the balance lifting module 3 to open, thereby disengaging the connecting steel cable 41 and all the sensor fixing modules 4 from the main structure of the device (balance lifting module 3, walking module 2 and working condition monitoring module 5); at this time, the power supply and communication cable 42 used for power supply and communication remain connected. Afterwards, the portable remote control 50 of the monitoring system issues a control command, which drives the walking servo motor 19 inside the walking module 2 to perform a retraction action, allowing the walking module 2 to return to the safe working point B with the communication cables connected to each sensor. Then, the flip-locking cover 17 of the walking module 2 is opened, and the locking lifting beam 11 is released, so that the walking steel cable 1 is disengaged from the fixed groove pulley 10 and the lifting groove pulley 15, and the main structure of the device is removed and recycled as a whole; moreover, the power supply and communication cable 42 is cut and connected to the mine's overall communication network in the handover electrical control box, so that the sensor data located at various locations inside the filling body can be transmitted back to the data acquisition, monitoring and analysis center in real time.

Claims

1. A mine filling intelligent online monitoring system laying device, comprising a walking cable (1) arranged on the roof (47) of the mine room, characterized in that: A walking module (2) is slidably mounted on the walking cable (1). A balance lifting module (3) is rotatably mounted below the walking module (2) via a rigid connector (28). Several sets of sensor fixing modules (4) arranged layer by layer from top to bottom are connected below the balance lifting module (3) via steel wire ropes. Pressure sensors (43), vibration sensors (44), temperature sensors (45), and attitude sensors (46) are respectively installed in the sensor fixing modules (4). Furthermore, a working condition monitoring module (5) capable of lifting and lowering is rotatably mounted at the connection between the balance lifting module (3) and the walking module (2). The walking module (2) includes a walking shell (6). A foundation fixing beam (7) is fixedly mounted inside the walking shell (6). An annular fixed walking synchronous belt (8) is mounted in the middle of the front side of the foundation fixing beam (7). The two ends of the annular fixed walking synchronous belt (8) are rotatably connected to the foundation fixing beam (7) via fixed walking pulleys (9). The fixed walking synchronous belt (8) is located above the walking steel cable (1). The drive end of the fixed walking pulley (9) is connected to the output end of the walking servo motor (19) set on the rear side of the foundation fixed beam (7) through the walking synchronous belt transmission gear (21) and the worm gear reducer (20). A locking lifting beam (11) is also movably set below the foundation fixed beam (7). A ring-shaped lifting walking synchronous belt (13) is set in the middle of the front side of the locking lifting beam (11). The two ends of the lifting and walking synchronous belt (13) are respectively connected to the locking lifting beam (11) by the lifting and walking pulley (14), and the lifting and walking synchronous belt (13) is located below the walking steel cable (1). By using the lifting and walking synchronous belt (13) to move upward with the locking lifting beam (11), the lifting and walking synchronous belt (13) on the locking lifting beam (11) and the fixed walking synchronous belt (8) on the foundation fixed beam (7) are pressed tightly on the walking steel cable (1).

2. The deployment device for the intelligent online monitoring system of mine backfill bodies according to claim 1, characterized in that: The engagement locking lifting beam (11) is slidably disposed inside the walking shell (6) via the lifting guide rod (12), and vertically arranged, upward lifting locking racks (16) are respectively provided at both ends of the engagement locking lifting beam (11); a flip locking cover plate (17) is provided on the front side of the walking shell (6), and the upper side of the flip locking cover plate (17) is rotatably connected to the upper end of the walking shell (6) via a flip cover pivot, and a lifting locking gear (18) is also provided on the flip cover pivot, and the lifting locking gear (18) meshes with the lifting locking rack (16).

3. The deployment device for the intelligent online monitoring system of mine backfill bodies according to claim 1, characterized in that: Two sets of fixed groove pulleys (10) are respectively provided on the foundation fixed beam (7) and on the left and right sides of the fixed walking synchronous belt (8); correspondingly, a set of lifting groove pulleys (15) are respectively provided on the interlocking locking lifting beam (11) and on the left and right sides of the lifting walking synchronous belt (13); the fixed groove pulleys (10) and the lifting groove pulleys (15) are located above and below the walking steel cable (1).

4. The deployment device for the intelligent online monitoring system of mine backfill bodies according to claim 1, characterized in that: The balance lifting module (3) includes a lifting shell (22), which is connected to the lower part of the walking module (2) through a rigid connector (28) at the top. Sensor wire rope winch motors (24) are respectively installed at the left and right ends inside the lifting shell (22). The control ends of the two sensor wire rope winch motors (24) are electrically connected to two sets of control hosts and drive electrical modules (25). The lower end of the sensor lifting wire rope (26) on the sensor wire rope winch motor (24) is connected to the sensor fixing module (4) arranged layer by layer.

5. The deployment device for the intelligent online monitoring system of mine backfill bodies according to claim 4, characterized in that: The lifting housing (22) is movably connected to the rigid connector (28) via a cross roller bearing (29), and the lower end of the cross roller bearing (29) is connected to the telescopic end of the yaw angle adjustment push rod motor (34) provided on the top inner side of the lifting housing (22).

6. The deployment device for the intelligent online monitoring system of mine backfill bodies according to claim 4, characterized in that: The lower end of the sensor lifting wire rope (26) on the sensor wire rope winch motor (24) is equipped with an electric unhooking device (27), which is connected to the upper part of the sensor fixing module (4) arranged layer by layer.

7. The deployment device for the intelligent online monitoring system of mine backfill bodies according to claim 1, characterized in that: The working condition monitoring module (5) includes a lifting mechanism connecting shell (35). The top of the lifting mechanism connecting shell (35) is rotatably connected to the connection between the monitoring module hoisting cantilever (30) and the balance lifting module (3) and the walking module (2). The lifting mechanism connecting shell (35) is equipped with a monitor wire rope winch motor (36). The monitor lifting wire rope (37) on the monitor wire rope winch motor (36) is equipped with a monitoring sensor fixing box (38) at the lower end. The monitoring sensor fixing box (38) is equipped with a camera, a lighting lamp and a laser rangefinder.

8. The deployment device for the intelligent online monitoring system of mine backfill bodies according to claim 7, characterized in that: A cross roller bearing (29) is provided at the connection between the balance lifting module (3) and the walking module (2). The lifting cantilever drive gear (31) provided at the end of the monitoring module lifting cantilever (30) is connected to the cross roller bearing (29), and the lifting cantilever drive gear (31) meshes with the servo motor transmission gear (32) at the output end of the lifting cantilever servo motor (33) provided on the balance lifting module (3).

9. The deployment device for the intelligent online monitoring system of mine backfill bodies according to claim 1, characterized in that: The sensor mounting module (4) includes a sensor mounting frame (39), which adopts a hollow large grid structure made of profiles. Hollow square grooves (40) are provided on both sides of the sensor mounting frame (39). The connecting steel wire ropes (41) for connecting two adjacent sets of sensor mounting modules (4) pass through the hollow square grooves (40), and the power supply and communication cables (42) for powering and communicating with each sensor also pass through the hollow square grooves (40).

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