Drilling and anchoring task allocation method and device and storage medium

Abstract

The invention discloses a drilling and anchoring task distribution method and device and a storage medium. The drilling and anchoring task distribution device determines a drilling and anchoring task set and a drilling machine set of a current operation roadway; constructing an optimization model based on the drilling and anchoring task set and the drilling machine set; generating an initial task allocation scheme population based on the optimization model and a preset constraint condition; performing non-dominated sorting on the initial task allocation scheme population to obtain a non-dominated sorting result; generating an updated task allocation scheme population based on the non-dominated sorting result and the congestion degree distance of each task allocation scheme in the non-dominated sorting result; under the condition that the updated task allocation scheme population meets a termination condition, determining a target task allocation scheme according to the updated task allocation scheme population; otherwise, continuing to execute the task allocation scheme population updating process until a first allocation scheme population meeting the termination condition is obtained, and determining a target task allocation scheme according to the first allocation scheme population.

Description

Technical Field

[0001] This application relates to the field of coal mining technology, specifically to a method, apparatus, and storage medium for allocating drilling and anchoring tasks. Background Technology

[0002] In the process of coal mine roadway excavation, the problems of "fast mining but slow excavation" and "fast excavation but slow support" have long been core pain points in the industry, severely restricting coal mine production efficiency. As a key link in roadway support, the efficiency of drilling and anchoring operations directly affects the overall progress of roadway excavation.

[0003] Currently, multi-rig task allocation relies heavily on traditional experience-based zoning methods, which suffer from uneven load distribution, low coordination efficiency, and high risks of spatial interference. Traditional experience-based design methods are ill-suited to the dynamic task requirements under complex geological conditions and lack task allocation schemes based on precise spatial positioning and intelligent optimization algorithms. This leads to a mismatch between drilling and anchoring operation times and cutting times, making it impossible to achieve parallel coordination between cutting and drilling / anchoring. Therefore, a drilling and anchoring task allocation method capable of achieving efficient coordination among multiple drilling rigs is urgently needed. Summary of the Invention

[0004] This application provides a method, apparatus, and storage medium for allocating drilling and anchoring tasks, which can minimize the time required for multiple drilling rigs to collaboratively execute drilling and anchoring tasks, thereby improving the efficiency and safety of drilling and anchoring operations.

[0005] To achieve the above objectives, this application provides the following technical solution: In a first aspect, embodiments of this application provide a method for allocating drilling and anchoring tasks, comprising: Determine the drilling and anchoring task set and drilling rig set for the current working roadway; whereby, the drilling and anchoring task set represents the set of coordinates of points in the previous working roadway section where anchor bolts and anchor cables need to be installed; the drilling rig set represents the set of coordinates of the drilling rigs performing drilling and anchoring tasks in the current working roadway. An optimization model is constructed based on the set of drilling and anchoring tasks and the set of drilling rigs; the optimization model aims to minimize the time required for drilling rigs to collaboratively execute drilling and anchoring tasks. An initial task allocation scheme population is generated based on the optimization model and preset constraints; The initial task allocation scheme population is subjected to non-dominated sorting to obtain the non-dominated sorting result; where the non-dominated sorting result represents the set of non-dominated hierarchies divided according to Pareto dominance relationship; Based on the crowding distance of each task allocation scheme in the non-dominated sorting results, an updated task allocation scheme population is generated. If the updated task allocation scheme population meets the termination condition, the target task allocation scheme is determined based on the updated task allocation scheme population; otherwise, the process of updating the task allocation scheme population continues until the first allocation scheme population that meets the termination condition is obtained, and the target task allocation scheme is determined based on the first allocation scheme population.

[0006] Secondly, embodiments of this application provide a drilling and anchoring task allocation device, including a processor and a memory storing processor-executable instructions; when the instructions are executed by the processor, the above-mentioned drilling and anchoring task allocation method is implemented.

[0007] Thirdly, embodiments of this application provide a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described method for allocating drilling and anchoring tasks. Attached Figure Description

[0008] To more intuitively illustrate the prior art and this application, several exemplary figures are provided below. It should be understood that the specific shapes and structures shown in the figures should not generally be regarded as limiting conditions for implementing this application; for example, based on the technical concept disclosed in this application and the exemplary figures, those skilled in the art are able to easily make conventional adjustments or further optimizations to the addition / reduction / classification, specific shapes, positional relationships, connection methods, size ratios, etc. of certain units (components).

[0009] Figure 1 A schematic diagram of the layout of anchor bolts and cables in a coal mine roadway; Figure 2 A schematic diagram of the implementation process of the drilling and anchoring task allocation method provided in the embodiments of this application. Figure 1 ; Figure 3 A schematic diagram of the crossover operator provided in the embodiments of this application; Figure 4 A schematic diagram of the mutation operator provided in the embodiments of this application; Figure 5 A schematic diagram of the three-dimensional spatial coordinate system of the tunnel provided in the embodiments of this application; Figure 6 A schematic diagram of the implementation process of the drilling and anchoring task allocation method provided in the embodiments of this application. Figure 2 ; Figure 7 This is a schematic diagram of the anchor bolt and cable layout in the first section of the roadway during the experimental process provided in this application embodiment; Figure 8 A schematic diagram of the anchor bolt and cable layout in the second section of the roadway during the experimental process provided in this application embodiment; Figure 9 A schematic diagram of the integrated tunneling and anchoring machine provided in the embodiments of this application; Figure 10 This is a schematic diagram showing the layout and number of drilling rigs during the experimental process provided in the embodiments of this application; Figure 11 This is a schematic diagram illustrating the actual application of tunnels during the experimental process provided in this application embodiment; Figure 12 This is a schematic diagram of the composition of the drilling and anchoring task allocation device provided in the embodiments of this application. Detailed Implementation

[0010] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. Different embodiments can be combined in any way.

[0011] Currently, intelligent mining in fully mechanized mining faces has shown initial success; however, intelligent mining in tunneling faces lags far behind. The long-standing industry problem of "fast mining, slow tunneling" and "fast tunneling, slow support" leads to an imbalance between mining and tunneling, severely impacting coal mine safety and efficiency. Furthermore, the complex geological conditions, limited working space, and heavy drilling and anchoring tasks in coal mine roadways present significant challenges for intelligent drilling and anchoring systems. Currently, the problem of limited tunneling and anchoring speed due to drilling rig task allocation issues is particularly prominent under the complex and constrained temporal and spatial conditions underground. Therefore, based on current research technologies, further in-depth research into the parallel collaborative mechanism of multiple drilling rigs in drilling and anchoring robots, and overcoming key technological bottlenecks in multi-automatic drilling rig cooperation, is of great significance for developing high-performance, high-reliability, and high-efficiency coal mine roadway drilling and anchoring robots, and will also provide strong support for the overall improvement of intelligent tunneling technology in coal mines.

[0012] Rapid tunneling systems in complex geological conditions can be functionally divided into positioning systems, cutting systems, temporary support systems, drilling and anchoring systems, transportation systems, and ventilation systems. Among them, the drilling and anchoring system mainly performs drilling and anchoring tasks to ensure the long-term stability and safety of the roadway. Drilling and anchoring tasks in coal mine roadways mainly include laying anchor mesh, drilling holes, and installing and fixing anchor bolts and cables.

[0013] Permanent support for tunnels is a crucial element in ensuring the long-term stability of underground engineering projects, such as... Figure 1 As shown, the main support methods include bolt support and cable support. After the excavation of a rectangular tunnel, due to stress redistribution, the roof and sidewalls will be subjected to the combined effects of vertical and horizontal stresses. This stress state can easily lead to instability phenomena such as rockfall or spalling. Although traditional empirical design methods have been widely used in the past, their reliance on engineering analogies and simplified calculations makes them difficult to adapt to complex and variable geological conditions and stress environments.

[0014] To address the low efficiency of drilling and anchoring tasks in current coal mining operations, this application provides a method, device, and storage medium for allocating drilling and anchoring tasks. By constructing a collaborative operation model with the shortest possible time as the core optimization objective, it significantly improves the collaborative efficiency of drilling and anchoring in coal mine roadways. This scheme unifies the modeling of drilling and anchoring task sets and drilling rig sets, achieving precise matching between roadway spatial structure and equipment layout, fundamentally solving the inefficiency problem caused by traditional experience-based allocation. A population update mechanism combining non-dominated sorting and crowding distance effectively maintains solution set diversity and avoids local optima traps. When facing complex geological conditions, it can adaptively adjust the task allocation strategy to ensure the generation of feasible solutions in the shortest possible time. This dynamic optimization mechanism significantly improves the system's responsiveness to changes in roadway conditions and reduces safety risks caused by support delays. Furthermore, the iterative optimization process of this application, through the introduction of a dynamic judgment mechanism, achieves autonomous decision-making and real-time adjustment of task allocation, reducing the need for manual intervention. In the multi-drilling rig collaborative operation mode, the workload of each drilling rig is evenly distributed, avoiding equipment idleness or overload, and extending equipment lifespan.

[0015] This application provides a method for allocating drilling and anchoring tasks, such as... Figure 2 As shown, the method for allocating drilling and anchoring tasks using the allocation device may include the following steps: Step 101: Determine the drilling and anchoring task set and drilling rig set for the current working roadway; wherein, the drilling and anchoring task set represents the set of coordinates of the points in the previous working roadway section where anchor bolts and anchor cables need to be installed; the drilling rig set represents the set of coordinates of the drilling rigs performing drilling and anchoring tasks in the current working roadway.

[0016] Furthermore, the allocation device can first determine the drilling and anchoring task set and the drilling rig set for the current working roadway; wherein, the drilling and anchoring task set represents the set of coordinates of the points in the previous working roadway section where anchor bolts and anchor cables need to be installed; the drilling rig set represents the set of coordinates of the drilling rigs performing drilling and anchoring tasks in the current working roadway.

[0017] Furthermore, the distribution device is the core decision-making and execution unit for achieving precise position and posture control. Its hardware can be in the form of a programmable logic controller (PLC), an embedded controller, or other devices with data processing and instruction output capabilities.

[0018] Furthermore, the drilling and anchoring task set can be understood as determining the specific spatial coordinates of each anchor bolt and anchor cable by considering factors such as the tunnel cross-sectional dimensions and support design requirements.

[0019] Furthermore, the drilling rig set can be understood as a set containing the initial position coordinates of all drilling rigs participating in the drilling and anchoring operation within the roadway.

[0020] Step 102: Construct an optimization model based on the drilling and anchoring task set and the drilling rig set; wherein, the optimization model takes the shortest time for drilling rigs to collaboratively execute drilling and anchoring tasks as the optimization objective.

[0021] Furthermore, after determining the drilling and anchoring task set and drilling rig set of the current working roadway, the allocation device can construct an optimization model based on the drilling and anchoring task set and drilling rig set; wherein, the optimization model takes the shortest time for drilling rigs to collaboratively execute drilling and anchoring tasks as the optimization objective.

[0022] Furthermore, the optimization model aims to minimize the time required for drilling rigs to collaboratively perform drilling and anchoring tasks. It comprehensively considers factors such as the time each drilling rig takes to perform tasks and the travel time, with the goal of minimizing the total time required for the overall collaborative operation of multiple drilling rigs.

[0023] Furthermore, the distribution device can determine the support strength information based on the support resistance provided by the anchor bolts and anchor cables; determine the roadway load information based on the rock density and burial depth of the current working roadway; and determine the drilling and anchoring task set based on the support strength information and the roadway load information.

[0024] Furthermore, the allocation device can determine the drilling rig set based on drilling rig parameters and / or drill anchor platform parameters.

[0025] The number of drilling rigs that can be accommodated in the roof, left sidewall, right sidewall, and anchor cable operation area of ​​the current working roadway in the drilling rig set is equal to the preset total number of drilling rigs. The number of drilling rigs corresponding to the roof and the number of drilling rigs accommodated in the anchor cable operation area are determined based on the drilling rig movement width and the position requirement parameters of the drilling and anchoring system operating platform in the drilling rig parameters. The number of drilling rigs for the left sidewall and the right sidewall is determined based on the operating platform height of the drilling and anchoring robot and the drilling rig body height in the drilling rig parameters.

[0026] It is understandable that the number of drilling rigs corresponding to the roof is the same as the number of drilling rigs used for roof operations, and the number of drilling rigs for the left and right sidewalls is the same as the number of drilling rigs used for left and right sidewall operations.

[0027] Furthermore, the support strength information characterizes the support capacity of the anchor bolts and anchor cables for the surrounding rock of the roadway; furthermore, the roadway load information characterizes the pressure exerted by the surrounding rock of the roadway on the support structure.

[0028] For example, assuming the surrounding rock of the roadway is a homogeneous isotropic body; the anchoring sections of the anchor bolts and cables are located in stable rock strata; the shear deformation of the support structure is ignored; and the load is uniformly distributed on the roof; the calculation method for roadway load information can be expressed as the following formula: (1); where, This is the stress concentration factor (1.2 for soft rock, 1.5 for hard rock). Indicates the unit weight of the rock strata. This indicates the burial depth, which is the tunnel load information.

[0029] Understandably, determining the drilling and anchoring task set based on support strength information and roadway load information can ensure that the support strength can cover the roadway load.

[0030] Furthermore, drilling rig parameters may include the drilling rig's travel width, the positional requirements of the drilling and anchoring system's operating platform, the operating platform height of the drilling and anchoring robot, and the drilling rig's body height.

[0031] For example, the number of anchor bolts in each row can be expressed as ,in, This indicates the number of anchor bolts in the roof of the tunnel. Indicates the number of anchor bolts on the sidewall. Indicates the width of the alleyway. Indicates the height of the tunnel. This indicates the anchor bolt spacing; adding 1 means adding one anchor bolt to each side of the top anchor bolt. Furthermore, the total number of anchor bolts can be expressed by the following formula: (2); where, The length of the tunnel. The anchor spacing is used. The number of anchor cables in each row can be calculated using the following formula: (3); Anchor spacing This can be expressed as the following formula: (4); among which, The anchor cable spacing, If we choose 2 or 3, then the total number of anchor cables can be expressed by the following formula: (5); The support resistance of the anchor bolt can be expressed by the following formula: (6); among which, This indicates the area supported by a single anchor bolt. This indicates the tensile strength of the anchor bolt.

[0032] The support resistance of anchor cables can be expressed by the following formula: (7); among which, Indicates the area supported by a single anchor cable. This indicates the tensile strength of the anchor cable.

[0033] Furthermore, the combined support conditions can be expressed as the following formula: (8); among which, This represents the support safety factor (greater than or equal to 1.5), which is the ratio of support capacity to surrounding rock pressure. This refers to the support strength information; that is, when determining the set of drilling and anchoring tasks, it is necessary to ensure that the support strength information is greater than or equal to the product of the roadway load information and the support safety factor.

[0034] For example, when determining the drilling rig set, it can be determined by the following formula: (9); among which, This indicates the maximum number of drilling rigs that can be installed per row when completing the anchor bolting work on the top slab (the number of drilling rigs corresponding to the top slab). ; This indicates the movable width of the drilling rig within the drilling and anchoring system platform (drilling rig movement width), in mm. This indicates the width that must be left in the front and rear passageways of the drilling and anchoring system operating platform, in mm. This indicates the width occupied by the drilling rig and guide rails in the drilling and anchoring system, in mm. This indicates the maximum number of drilling rigs that can be installed in each row on the left side (the number of drilling rigs on the left side). ; This indicates the maximum number of drilling rigs that can be installed in each row on the right side (the number of drilling rigs on the right side). ; This indicates the usable height on the drilling and anchoring robot's operating platform (operating platform height), in mm. This indicates the height occupied by the drilling robot body when it is in standby mode (drilling rig body height), in mm; This indicates the total number of drilling rigs preset.

[0035] Furthermore, when constructing an optimization model based on the drilling and anchoring task set and the drilling rig set, the allocation device can construct the spatial coordinate system of the current working roadway; map the positions of the anchor bolts and anchor cables in the drilling and anchoring task set, as well as the pose coordinate system of the drilling rigs in the drilling rig set, to the spatial coordinate system to obtain the drilling and anchoring task coordinate system; and construct the optimization model based on the drilling and anchoring task coordinate system.

[0036] Furthermore, the spatial coordinate system can be a three-dimensional coordinate system used to describe the spatial position of each object within the tunnel.

[0037] Furthermore, the pose coordinate system is a coordinate system that describes the position and attitude of the drilling rig itself; the drilling and anchoring task coordinate system is a coordinate system that unifies the drilling and anchoring task and the drilling rig position into the same spatial coordinate system, providing a unified spatial position reference for the optimization model.

[0038] Furthermore, when constructing the pose coordinate system of the drilling rig, the pose parameters of the drilling rig collected by the sensors can be obtained, including position parameters and attitude angles, where attitude angles can include roll angle, pitch angle and yaw angle; and then the pose coordinate system can be constructed based on the pose parameters.

[0039] Furthermore, the drilling and anchoring system is a core functional system in coal mine roadway support operations. It consists of a drilling rig, an anchor mesh laying mechanism, an anchor bolt / cable storage and delivery device, and a positioning and control module, used to realize the entire process of roadway surrounding rock support. Its core functions include precise drilling at preset points, automatic delivery and installation of anchor bolts / cables, injection of anchoring agent, and support quality inspection. Ultimately, by providing stable support resistance to balance surrounding rock stress, it prevents roadway roof subsidence or surrounding rock instability, making it a crucial system for ensuring the safety and long-term stability of roadway excavation.

[0040] Furthermore, the integrated tunneling and anchoring machine is a large-scale intelligent mining equipment that integrates tunnel excavation and drilling and anchoring support functions. Its core feature is the ability to perform "cutting and tunneling" and "drilling and anchoring support" in parallel. It integrates a cutting system (used for breaking rock strata and excavating tunnel cross-sections), a drilling and anchoring system (including multiple drilling rigs working in coordination), a temporary support system, a transportation system, and an intelligent control system. It can complete drilling and anchoring tasks simultaneously during the tunneling process without the need for separate shutdowns for support operations.

[0041] Furthermore, the drilling rig is the core execution equipment in the drilling and anchoring system and a key component of the integrated tunneling and anchoring machine. It is used to directly complete the drilling and anchor bolt / cable installation tasks in the drilling and anchoring operation. It is typically equipped with a drill rod drive mechanism, a feed mechanism, and a positioning and adjustment mechanism. It can precisely drill at locations such as the roadway roof and sidewalls according to preset coordinates. After completing the drilling according to the support requirements, it sends the anchor bolt or cable into the hole and secures it. Drilling rigs can work independently or in multiple units in collaboration. Its working radius, drilling speed, load capacity, and other parameters directly affect the efficiency of the drilling and anchoring operation, making it the core carrier for achieving intelligent task allocation and collaborative optimization.

[0042] Furthermore, the allocation device can determine the drilling and anchoring task time based on the drilling rig's waiting time, working time, and movement time; wherein, the waiting time represents the cumulative execution time of the drilling rig's preceding tasks before executing the current task; the working time represents the time it takes for the drilling rig to complete one drilling and anchoring task; and the movement time represents the time it takes for the drilling rig to move between different drilling and anchoring tasks; the movement time can be determined by the distance between the drilling rig and the task point (Euclidean distance calculated based on the drilling and anchoring task coordinate system) and the drilling rig's movement speed.

[0043] Furthermore, in the rapid excavation of coal mine roadways, the excavation speed is mainly affected by factors such as cutting speed, drilling and anchoring speed, and system movement speed. The time required for the roadway excavation system to complete one cycle mainly includes system preparation time, system working time, and system movement time. During the system working time, the cutting system is considered an independent task, while drilling and anchoring rigs can operate in parallel. The drilling and anchoring system needs to complete the support task of one section within the cutting section completed by the cutting system. Simultaneously, during the drilling and anchoring task, the laying of the roadway anchor mesh and the installation of anchor bolts and cables must be sequential operations. Therefore, the drilling and anchoring platform needs to complete the drilling and anchoring task within the time required to complete the cutting task, thereby achieving coordinated operation of cutting and drilling / anchoring.

[0044] For example, for a cutting system, the main parameters affecting the cutting speed include cutting depth, cutting speed, feed rate, and roadway cross-sectional dimensions, etc., and the cutting time can be determined by the following formula: (10); among which, To adjust the coefficient, For the number of cuts, The cross-sectional area of ​​the alleyway. For each cut depth, For feed rate, For cutting speed, Time for tunnel reshaping.

[0045] Furthermore, for the drilling and anchoring system, the main factors affecting its working time include the anchor mesh laying time and the matching of the drilling rig's tasks. The working time of the drilling and anchoring system can be expressed by the following formula: (11); among which, This indicates the time taken to lay the anchor mesh in the tunnel. This indicates the time taken to install the top slab anchor bolts. This indicates the time taken to install the right-side anchor bolt. This indicates the time taken to install the left-side anchor bolt. This indicates the time taken to install the anchor cables.

[0046] Step 103: Generate an initial task allocation scheme population based on the optimization model and preset constraints.

[0047] Furthermore, after constructing an optimization model based on the drilling and anchor task set and the drilling rig set, the allocation device can generate an initial task allocation scheme population based on the optimization model and preset constraints.

[0048] Furthermore, the initial task allocation scheme population can be a set of multiple randomly generated combinations of drilling and anchor tasks and drilling rig allocations that satisfy preset constraints, which can provide a basic solution for subsequent optimization.

[0049] Furthermore, the preset constraints include at least one of the following: drilling rig constraints; drilling rig constraints are used to constrain each drilling rig to perform one drilling and anchoring task at a time; working capacity constraints; working capacity constraints are used to constrain the number of tasks for each drilling rig to not exceed a preset number; drilling rig working range constraints; drilling rig working range constraints are used to constrain the tasks of the drilling rig to be within the working radius of the drilling rig; task quantity constraints: task quantity constraints are used to constrain the total number of drilling and anchoring tasks to be greater than or equal to the number of drilling rigs; drilling rig interference constraints; drilling rig interference constraints are used to constrain the distance between any two drilling rigs to be greater than or equal to a preset distance; the preset distance is determined based on the static minimum safe distance, maximum working radius, and dynamic safety margin of the drilling rig.

[0050] Understandably, rig constraints can prevent the rig from handling multiple tasks simultaneously, which could lead to operational chaos or reduced efficiency.

[0051] Furthermore, the preset quantity can be determined based on the performance parameters of the drilling rig (such as the maximum task load) to prevent overloading of a single drilling rig. The specific value is not limited in this application.

[0052] Furthermore, the working radius of a drilling rig refers to the maximum distance at which the drilling rig can effectively perform drilling and anchoring operations, ensuring that the drilling rig performs its tasks within its own operational range.

[0053] Furthermore, this application does not limit the specific number of drilling rigs; by constraining the number of tasks, it can be ensured that all drilling rigs have tasks to execute, thus avoiding resource idleness.

[0054] Furthermore, the static minimum safety distance refers to the minimum distance required to avoid collision when the drilling rig is stationary, while the dynamic safety margin refers to the additional safety distance reserved when the drilling rig moves.

[0055] For example, drilling rig constraints can be expressed as the following formula: (12); among which, It can take the value 1 or 0, when When the value is 1, it means that anchor bolt i is assigned to drilling rig j. When the value is 0, it means that anchor bolt i has not been assigned to drilling rig j; This represents the number of drilling and anchoring tasks.

[0056] The working capacity constraint can be expressed as the following formula: (13); among which, Indicates the maximum number of anchor bolts; Ceiling indicates rounding up. If the value is too large, it will generate a large number of suboptimal solutions, severely affecting the quality of the initial population and the algorithm's solution speed; if the value is too small, it will reduce the accuracy of the final result. It needs to be determined based on experience.

[0057] The working range constraint of the drilling rig can be expressed by the following formula: (14); (15); where formula (24) represents the set of drilling and anchoring tasks. Any task in and drilling rig assembly any drilling rig ;when When the value is 1, it indicates a task. It was assigned to the drilling rig implement; , Indicates task coordinates , Indicates drilling rig The coordinates; This indicates the working radius of the drilling rig.

[0058] The task quantity constraint can be expressed as in, For the number of tasks, This refers to the number of drilling rigs.

[0059] Drilling rig interference constraints can be expressed by the following formula: (16); among which, Represents the real-time coordinates of the i-th device. This represents the real-time coordinates of the j-th device. This indicates the minimum static safe distance between drilling rigs; and These are the maximum working radii of the integrated tunneling and anchoring machine and the drilling rig itself, respectively. and It represents the dynamic safety margin, which is a compensation amount that changes with time t. It is used to compensate for uncertainties caused by system control delay, positioning error, and equipment vibration.

[0060] Step 104: Perform non-dominated sorting on the initial task allocation scheme population to obtain the non-dominated sorting result; wherein, the non-dominated sorting result represents the set of non-dominated hierarchies divided according to Pareto dominance.

[0061] Furthermore, after generating an initial task allocation scheme population based on the optimization model and preset constraints, the allocation device can perform non-dominated sorting on the initial task allocation scheme population to obtain the non-dominated sorting result; wherein, the non-dominated sorting result represents the set of non-dominated hierarchies divided according to Pareto dominance relations.

[0062] Furthermore, Pareto dominance refers to the fact that in multi-objective optimization, if solution A is not inferior to solution B on all objectives and is superior to solution B on at least one objective, then solution A dominates solution B. Non-dominated ranking divides the solutions in the population into different levels, with solutions at higher levels being better.

[0063] Furthermore, an improved genetic algorithm based on non-dominated sorting is used to solve the drilling-anchor task allocation scheme, which can effectively coordinate the multi-objective optimization relationship between drilling efficiency and anchor installation efficiency. In the algorithm implementation, a fitness function based on roadway geological conditions is introduced, encoding engineering parameters such as drilling rig working radius and anchor spacing into chromosomes. A Pareto front classification is performed on the solution set for drilling rig position, drilling sequence, etc., using a non-dominated sorting mechanism. A tournament selection strategy combining roadway cross-sectional characteristics is adopted to prioritize drilling-anchor schemes adapted to the stability of the roadway surrounding rock while ensuring population diversity. This improved algorithm overcomes the shortcomings of traditional genetic algorithms that are prone to getting trapped in local optima, and can dynamically adjust the collaborative operation path of the drilling rig group based on field measurement data, providing an optimal time allocation scheme for parallel drilling-anchor operations under complex geological conditions.

[0064] Furthermore, an integer encoding method is adopted, where each chromosome represents a drilling task allocation scheme, the chromosome length represents the sequence of the total number of drilling and anchoring tasks n, and each gene value on the chromosome represents the drilling rig number (e.g., from 0 to m-1). At the same time, the allocation constraints need to be noted.

[0065] Step 105: Based on the crowding distance of each task allocation scheme in the non-dominated sorting results, generate an updated task allocation scheme population.

[0066] Furthermore, after performing non-dominated sorting on the initial task allocation scheme population and obtaining the non-dominated sorting results, the allocation device can generate an updated task allocation scheme population based on the crowding distance between each task allocation scheme in the non-dominated sorting results and the non-dominated sorting results.

[0067] Furthermore, the crowding distance is used to measure the sparsity of the task assignment schemes in the solution space; the larger the distance, the more unique the scheme is in the solution space, which helps to maintain population diversity.

[0068] Furthermore, when generating an updated task allocation scheme population based on the crowding distance of each task allocation scheme in the non-dominated ranking results, the allocation device can determine the crowding distance of each task allocation scheme within the same non-dominated level based on the non-dominated ranking results; based on the non-dominated ranking results, crowding distance, and tournament selection strategy, schemes are screened among each task allocation scheme to determine the parent population; wherein, the parent population includes multiple task allocation scheme individuals obtained from the screening; the task allocation scheme individuals in the parent population are paired and crossovered using a preset crossover probability to obtain an intermediate offspring population, such as... Figure 3 As shown, the mutation operation is performed on the intermediate offspring population using the mutation probability to obtain the mutated offspring population; the parent population and the mutated offspring population are merged, and the merged population is subjected to non-dominated sorting and crowding distance calculation to determine the updated task allocation scheme population.

[0069] Furthermore, the parent population can be understood as a set of high-quality schemes selected from the current population for reproducing the next generation, usually choosing schemes with high non-dominant levels and large crowding distances.

[0070] Furthermore, the preset crossover probability is the pre-set probability of the parent individuals performing crossover operations. Paired crossover refers to randomly selecting the crossover point of two parent individuals, exchanging the task allocation sequence after the crossover point, and repairing the task allocation of the overloaded drilling rig to generate a new task allocation scheme.

[0071] It is understandable that the intermediate offspring population is a preliminary set of offspring schemes obtained through crossover operations; the mutation operation refers to randomly changing the drilling rig allocation number of some tasks in the offspring individuals, and the mutated allocation must meet preset constraints in order to increase population diversity.

[0072] Furthermore, a sequential crossover strategy is adopted to improve algorithm performance. This strategy randomly selects crossover points to exchange gene segments of drilling rig positions and drilling sequences in parent individuals, maintaining the rationality of drilling rig movement paths in excellent parent schemes while enhancing population diversity. In actual operation, firstly, a sequential crossover operation is performed on the drilling rig number and the corresponding anchor bolt installation sequence. Subsequently, constraint repair must be performed: check whether the workload assigned to each drilling rig exceeds its maximum operating capacity. If a drilling rig undertakes drilling or anchoring tasks exceeding its limit, a random redistribution mechanism is used to dynamically adjust the excess tasks to other idle or low-load drilling rigs, ensuring that all anchor bolt support tasks can be completed within the limited time while maintaining the balance of the operating load of each drilling rig. This improved crossover operator design fully considers the spatial constraints of underground roadways and the characteristics of drilling rig collaborative operation, enabling the optimized drilling-anchor scheme to inherit the excellent characteristics of the parent scheme while meeting the equipment capacity limitations in actual engineering.

[0073] Furthermore, the distribution device can determine the basic variation probability based on geological condition parameters; adjust the basic variation probability using the geological condition parameters and support requirements to obtain an adjusted variation probability, and then use the adjusted variation probability to perform the variation operation; the geological condition parameters may include the lithology of the tunnel roof, burial depth, and the stress distribution state of the surrounding rock, etc.; when the geological conditions are complex (such as large fluctuations in surrounding rock stress) or the support requirements are high, the variation probability is appropriately increased to increase population diversity and explore better solutions; when the geological conditions are stable, the variation probability is appropriately decreased to maintain population stability. Finally, the adjusted variation probability is used to perform the variation operation, making the variation operation more adaptable to actual engineering conditions.

[0074] For example, such as Figure 4 As shown, mutation operations can include reverse mutation and single-point mutation. For example, during the mutation operation, a base mutation probability of 0.05 is first used to randomly reset the drilling rigs for the drilling task. Simultaneously, dynamic adjustments are made based on the surrounding rock conditions and support requirements: for individual schemes adapted to poor roadway geological conditions, the mutation probability is increased to 0.1~0.15 to enhance their ability to break through local optima; while for high-performing drill-anchor combination schemes, it is reduced to 0.01~0.03 to protect their excellent operational sequence. Regarding specific mutation rules, differentiated treatment is implemented for support tasks of different importance: conventional anchor holes are allowed to be redistributed across the entire working face drilling rig range; critical roof support holes are limited to fine-tuning between adjacent 2-3 drilling rigs; and emergency support tasks encountering faults or other special geological structures are only allowed to have ±10% disturbance adjustments on the operation priority parameter. When the algorithm detects that the drilling rig group coordination scheme has stalled (without improvement in the optimal solution for 5 consecutive generations), a strong mutation mechanism will be triggered. This mechanism will perform joint mutation of multiple drilling rig positions on 30% of the individual schemes, significantly altering the drilling sequence and task allocation. Constraint repair will be performed immediately after each mutation. This will ensure that the workload of each drilling rig is always kept within its rated capacity by randomly reassigning excess drilling tasks to other available drilling rigs.

[0075] Step 106: If the updated task allocation scheme population meets the termination condition, determine the target task allocation scheme based on the updated task allocation scheme population; otherwise, continue to execute the task allocation scheme population update process until the first allocation scheme population that meets the termination condition is obtained, and determine the target task allocation scheme based on the first allocation scheme population.

[0076] Furthermore, after generating an updated task allocation scheme population based on the crowding distance of each task allocation scheme in the non-dominated sorting results, the allocation device can determine the target task allocation scheme based on the updated task allocation scheme population if the updated task allocation scheme population meets the termination condition; otherwise, it continues to execute the task allocation scheme population update process until a first allocation scheme population that meets the termination condition is obtained, and then determines the target task allocation scheme based on the first allocation scheme population. The termination condition can be set as the number of iterations reaching a preset maximum number of iterations, the fitness value of the optimal scheme in the population remaining stable for multiple consecutive iterations, or the optimization target value reaching a preset threshold, etc. The target task allocation scheme refers to the optimal drilling and anchoring task allocation scheme selected from the population that meets the termination condition; in other words, the target task allocation scheme is the optimal solution in the population.

[0077] This application provides a method for allocating drilling and anchoring tasks. The drilling and anchoring task allocation device determines the drilling and anchoring task set and the drilling rig set for the current working roadway. The drilling and anchoring task set represents the set of coordinates of points on the previous working roadway section where anchor bolts and anchor cables need to be installed. The drilling rig set represents the set of coordinates of drilling rigs performing drilling and anchoring tasks in the current working roadway. An optimization model is constructed based on the drilling and anchoring task set and the drilling rig set. The optimization model aims to minimize the time required for drilling rigs to collaboratively perform drilling and anchoring tasks. An initial task allocation scheme population is generated based on the optimization model and preset constraints. The initial task allocation scheme population is then evaluated. Non-dominated sorting is performed to obtain non-dominated sorting results; where the non-dominated sorting results represent the set of non-dominated hierarchies divided according to Pareto dominance relations; based on the crowding distance of each task allocation scheme in the non-dominated sorting results, an updated task allocation scheme population is generated; if the updated task allocation scheme population meets the termination condition, the target task allocation scheme is determined according to the updated task allocation scheme population; otherwise, the process of updating the task allocation scheme population continues until a first allocation scheme population that meets the termination condition is obtained, and the target task allocation scheme is determined according to the first allocation scheme population. Therefore, this application achieves intelligent allocation of drilling and anchoring tasks by constructing an optimization model aimed at minimizing the collaborative time of multiple drilling rigs and combining it with a non-dominated genetic algorithm for population optimization. This significantly improves the efficiency of multi-rig collaborative operations and solves the problems of low efficiency and uneven load distribution in traditional experience-based allocation methods. Setting multiple preset constraints effectively avoids the risk of spatial interference between drilling rigs, ensuring the safety of drilling and anchoring operations while ensuring that the task allocation scheme meets the actual engineering needs. Determining the drilling and anchoring task set and drilling rig set based on tunnel geological conditions and drilling rig parameters allows the task allocation scheme to adapt to different geological and equipment conditions, improving the method's versatility and applicability. Through non-dominated sorting population iterative optimization, the population optimization process is more adapted to actual geological conditions and support requirements, further improving the optimization quality and reliability of the target task allocation scheme and contributing to the parallel collaboration of "cutting-drilling and anchoring".

[0078] Based on the above embodiments, in another embodiment of this application, the main forms of roadway support currently include bolt support and cable support, as described above. Figure 1 As shown; after the rectangular tunnel is excavated, due to the redistribution of stress, the roof and both sides will be subjected to the combined action of vertical and horizontal stresses. This stress state can easily lead to instability phenomena such as rock collapse or spalling. Although the relevant empirical design method has been widely used in the past, its reliance on engineering analogy and simplified calculation makes it difficult to adapt to complex and ever-changing geological conditions and stress environments.

[0079] Furthermore, regarding the determination of the number of anchor bolts and cables, a mathematical model is established based on the mechanical equilibrium principle that the roadway support strength must be greater than or equal to the roadway surrounding rock stress. This model analyzes the intrinsic relationship between the spacing and number of anchor bolts and cables and the stability of the roadway surrounding rock, primarily used to determine key parameters such as the number and spacing of anchor bolts and cables in permanent roadway support. First, the required support resistance is calculated based on the characteristics of the surrounding rock pressure distribution. Second, the support force provided by a single anchor bolt or cable is determined by combining the mechanical performance parameters of the anchor bolts and cables. Finally, through the balance relationship between the support force and the surrounding rock pressure, a reasonable anchor bolt and cable layout density and spatial arrangement are derived.

[0080] Model assumptions: The surrounding rock is a homogeneous isotropic body; the anchoring sections of the anchor bolts and cables are located in stable rock strata; the shear deformation of the support structure is ignored; the load is uniformly distributed on the top plate.

[0081] Calculation of roadway load: Based on the relationship between the unit weight of the roadway rock strata and the burial depth, the calculation formula for uniformly distributed load is established, as shown in the aforementioned formula (1).

[0082] Anchor bolt and cable support design: The number of anchor bolts in each row can be expressed as... ,in, This indicates the number of anchor bolts in the roof of the tunnel. Indicates the number of anchor bolts on the sidewall. Indicates the width of the alleyway. Indicates the height of the tunnel. This indicates the anchor spacing; adding 1 means adding one anchor rod to the left and right of the top anchor rod.

[0083] The total number of anchor bolts can be calculated using the aforementioned formula (2); the number of anchor cables in each row can be determined using the aforementioned formulas (3) and (4); the total number of anchor cables can be determined using the aforementioned formula (5); support strength verification: the anchor bolt support resistance can be calculated using the aforementioned formula (6); the anchor cable support resistance can be calculated using the aforementioned formula (7); the combined support conditions can be expressed as the aforementioned formula (8); the drilling and anchoring system platform adopts a multi-row, multi-drill layout. In order to improve tunneling efficiency, the drilling rig needs to complete the entire drilling and anchoring task within a specified time. In combination with the support requirements of coal mine roadway tunneling operations, the drilling and anchoring process needs to be optimized to determine the drilling rig layout and the number of drilling rigs, so that the drilling and anchoring system can complete the corresponding drilling and anchoring task as quickly as possible in a short period of time. The number and distribution of drilling rigs can be expressed using the aforementioned formula (9).

[0084] Furthermore, regarding the determination of the drilling and anchoring process time for parallel drilling and anchoring operations, the drilling speed in rapid coal roadway excavation is mainly affected by factors such as cutting speed, drilling and anchoring speed, and system movement speed. The time required for the roadway excavation system to complete one cycle mainly includes system preparation time, system working time, and system movement time. During the system working time, the cutting system is considered an independent task, while the drilling and anchoring rigs can operate in parallel. The drilling and anchoring system needs to complete the support task of one section within the cutting section completed by the cutting system. Simultaneously, during the drilling and anchoring task, the laying of the roadway anchor mesh and the installation of anchor bolts and cables must be sequential operations. Therefore, the drilling and anchoring platform needs to complete the drilling and anchoring task within the time required to complete the cutting task, thereby achieving coordinated operation of cutting and drilling and anchoring.

[0085] For the cutting system, the main parameters affecting the cutting speed are cutting depth, cutting speed, feed speed and roadway cross-sectional dimensions, and the cutting time can be expressed as the aforementioned formula (10); for the drilling and anchoring system, the factors affecting the working time of the drilling and anchoring system mainly include the anchor net laying time and the matching of the drilling rig's work tasks, which can be expressed as the aforementioned formula (11).

[0086] When constructing a task allocation model for the collaborative execution of drilling and anchoring tasks by drilling rigs, to ensure that the time taken for each row of drilling rigs to complete the drilling and anchoring tasks is as close as possible, roughly the same as the cutting time, it is necessary to rationally allocate the working time of the drilling rigs so that they can complete the corresponding drilling and anchoring tasks in the shortest possible time. For example... Figure 5 As shown, the x-axis of the coordinate system represents the length of the rectangular tunnel, and the y-axis represents the direction of the wall where the anchor bolts and anchor cables are located. The x-axis represents the movement trajectory of the working drilling rig, and the y-axis represents the vertical span of the tunnel. The unit distance is determined by the size of the tunnel, the arrangement of the anchor bolts and anchor cables, and the position of each drilling rig.

[0087] For the dynamic coordinate system of the roadheader-anchor machine, to achieve the positioning accuracy of multi-rig collaborative drilling, the roadheader-anchor machine's pose parameters need to be described and transformed within a unified coordinate system. A fusion technology of lidar and inertial measurement unit is used to acquire the six-degree-of-freedom pose parameters of the roadheader-anchor machine in real time, including position parameters. and attitude angle These correspond to the roll angle, pitch angle, and yaw angle, respectively. A coordinate system for the tunneling machine body is established. With the global coordinate system of the tunnel To achieve coordinate unification, the coordinates of the tunneling and anchoring machine can be converted to the global coordinate system of the roadway using the following formula: (17); among which, This represents the rotation matrix from the tunneling and anchoring machine coordinate system to the roadway coordinate system, expressed by the attitude angles. Calculated; The translation vector represents the offset of the tunneling and anchoring machine from the origin in the roadway coordinate system.

[0088] For the relative static coordinate system between the drilling rig and the borehole, the anchor bolts and cables, as support structures, are represented by their end coordinates for simplified calculation; that is, the anchor bolts and cables are abstracted as a single point. This application does not consider the influence of the drilling rig's forward and backward tilt angles on the working time. During drilling and anchoring operations, the drilling rig is positioned directly below the anchor bolts and cables, and their location can be abstracted as a point. Therefore, the positions of the anchor bolts / cables and the drilling rig can be represented in this two-dimensional coordinate system. Then, using Euclidean distance, the distance between any drilling rig and any anchor bolt / cable can be accurately calculated, thereby enhancing the rigor and reliability of the algorithm. The distance between the drilling rig and any anchor bolt or cable can be calculated using the following formula: (18); where x1 and y1 represent the coordinates of the drilling rig on the x and y axes, and x2 and y2 represent the coordinates of the anchor rod or anchor cable on the x and y axes.

[0089] For the drilling and anchoring task allocation problem, during the permanent support of a roadway, the task allocation problem of the drilling and anchoring system can be formally described as a dynamic resource scheduling problem: at a certain time t, a set of anchor bolt / anchor cable tasks is generated. That is, the set of drilling and anchoring tasks, in which each task Each support operation point can be represented using a two-dimensional coordinate system. Represent it. Generate a collection of drilling rigs. That is, a collection of drilling rigs, where each drilling rig... Coordinates can be used in a two-dimensional coordinate system The drilling rig task allocation problem can be described as adopting a certain task allocation strategy to combine the tasks. In Each task is assigned to the drilling rig set under the condition that the task constraints are met. In One drilling rig. The task allocation result can be represented by the following matrix: (19); among which, Representing 0 / 1 variables, to The task is carried out by the drilling rig If executed, it is expressed as 1; otherwise, it is expressed as 0.

[0090] For ease of modeling and analysis, the following assumptions are made regarding the conditions and task constraints for the tunnel excavation model: During tunnel excavation, the tunnel boring machine (TBM) remains at the center of the tunnel without significant deviation; the drilling and anchoring system's working range covers the entire tunnel cross-section, meaning the required drilling and anchoring tasks can be completed by the drilling and anchoring platform; the installation and transport of anchor bolts and cables, as well as the drilling speed, are constant; the drill bit extension and retraction maintain a uniform speed; the drilling rig's movement speed is uniform, and the effect of drilling rig oscillation on speed is not considered. The drilling rig operates normally without any malfunctions.

[0091] The task constraints are expressed as follows: Rig constraint: each rig can only perform one drilling and anchoring task at a time, which can be represented by the aforementioned formula (12); Work capacity constraint: all drilling and anchoring tasks must be avoided from piling up on one rig, resulting in excessively long drilling and anchoring task times, which can be represented by the aforementioned formula (13); Rig working range constraint: the tasks performed by the rig must be within the rig's working radius, which can be represented by the aforementioned formulas (14) and (15); Task quantity constraint: the number of drilling and anchoring tasks must be greater than or equal to the number of rigs, which can be represented by the aforementioned formulas (14) and (15). It means that, among them, For the number of tasks, The number of drilling rigs; drilling rig interference constraints, the dynamic collision-free condition must be met when the drilling rig is operating, which can be expressed by the aforementioned formula (16).

[0092] When establishing the objective function for drilling rig task allocation, for the drilling rig collaborative task allocation problem, when drilling rigs are performing collaborative tasks, the minimum drilling rig working time is determined by the drilling rig that performs the most tasks and has the longest task execution time. , This represents the total working time for the collaborative task. In order to conduct the first The working time of the drilling rig.

[0093] The working time of a single drilling rig task consists of task waiting time, task execution time, and rig movement time. Task waiting time is the time it takes for a drilling rig to complete one or more drilling and anchoring tasks when it is assigned multiple tasks. If the task is the first drilling and anchoring task assigned to the rig, the waiting time is 0. Task waiting time can be expressed by the following formula: (20); among which, Let be the waiting time for the i-th task of the drilling rig. The queuing time of task k in the queue. Let k be the execution time. For the task The number of tasks in the preceding section.

[0094] The task execution time is the time required for the drilling rig to perform one task. It is determined by the drilling time, the installation time of anchor bolts and cables, the anchoring time, geological conditions, and the equipment's working efficiency. Based on the relationships between these factors, a task execution time model can be established, which can be expressed by the following formula: (21); among which, Drilling time For anchor bolt / anchor cable installation time, For anchoring time, This is a geological correction factor. To improve equipment operating efficiency; The drilling depth This represents the drilling speed.

[0095] The drilling rig's travel time is determined by the distance and speed it travels, and can be expressed by the following formula: (22); among which, This represents the distance the drilling rig travels. This refers to the drilling rig's moving speed.

[0096] Based on the above conditions, a mathematical model of the working time of a single drilling rig task can be established, and the drilling rig's working time can be determined. The total working time is expressed by the following formula: (twenty three); Furthermore, in the rapid excavation of coal mine roadways, the efficiency of drilling-anchor collaborative operations directly affects the roadway formation speed and support quality, with drilling rig task allocation being a key factor restricting the efficiency of drilling-anchor collaborative operations. Addressing this practical engineering problem, this application aims to shorten the drilling-anchor cycle time and employs an improved genetic algorithm based on non-dominated sorting. This algorithm effectively coordinates the multi-objective optimization relationship between drilling and anchor installation efficiency. In the algorithm implementation, a roadway geological condition fitness function is introduced, encoding engineering parameters such as drilling rig working radius and anchor spacing into chromosomes. A Pareto front classification is performed on the solution set, including drilling rig position and drilling sequence, using a non-dominated sorting mechanism. A tournament selection strategy combining roadway cross-sectional characteristics is adopted to prioritize drilling-anchor schemes adapted to the stability of the surrounding rock while ensuring population diversity. This improved algorithm overcomes the shortcomings of traditional genetic algorithms, which are prone to getting trapped in local optima, and can dynamically adjust the collaborative operation path of the drilling rig group based on field measurement data, providing an optimal time allocation scheme for parallel drilling-anchor operations under complex geological conditions.

[0097] Algorithm Design: Population initialization is the starting point for constructing a non-dominated sequence genetic algorithm, directly affecting the algorithm's convergence speed and solution quality. For the drilling rig task coordination problem, this application adopts an integer encoding method, as described above. Figure 3Each chromosome represents a drilling rig task allocation scheme, the chromosome length represents the sequence of the total number of drilling and anchoring tasks, and each gene value on the chromosome represents the drilling rig number (e.g., from 0 to m-1). Attention must also be paid to the uniqueness constraints of the allocation and the constraints of the drilling rig's working capacity.

[0098] Design of Genetic Operators: In non-dominated sequence genetic algorithms, the design of genetic factors directly determines the algorithm's search capability and convergence performance. This application addresses the drilling rig task allocation problem in coal mine roadway excavation by designing crossover, mutation, and selection operators to ensure efficient exploration and population diversity. Regarding the crossover operator design, to address the problem that traditional single-point crossover operators easily disrupt the continuity of the drilling rig task sequence, this application employs a sequential crossover strategy to improve algorithm performance. This strategy randomly selects crossover points to exchange gene segments related to drilling rig positions and drilling sequences in parent individuals, maintaining the rationality of drilling rig movement paths in excellent parent schemes while enhancing population diversity. In practice, the drilling rig numbers and corresponding anchor bolt installation sequences are first sequentially cross-operated. Then, constraint repair is necessary: ​​the workload assigned to each drilling rig is checked to ensure it does not exceed its maximum operating capacity. If a drilling rig undertakes drilling or anchoring tasks exceeding its limit, a random redistribution mechanism is used to dynamically adjust the excess workload to other idle or low-load drilling rigs, ensuring all anchor bolt support tasks are completed within the specified time while maintaining a balanced workload across all drilling rigs. This improved cross-operator design fully considers the spatial constraints of underground roadways and the characteristics of collaborative drilling operations, enabling the optimized drilling-anchoring scheme to inherit the excellent characteristics of its predecessor while meeting the equipment capacity limitations of actual engineering projects.

[0099] In terms of mutation operator design, a multi-level hybrid mutation strategy was designed to optimize drilling rig task allocation schemes for the complex working conditions of drilling-anchor coordinated operations in coal mine roadways. This strategy first uses a base mutation probability of 0.05 to randomly reset drilling tasks, while dynamically adjusting based on surrounding rock conditions and support requirements: for individual schemes adapted to poor roadway geological conditions, the mutation probability is increased to 0.1~0.15 to enhance their ability to break local optima; while for high-performing drilling-anchor coordinated schemes, it is reduced to 0.01~0.03 to protect their excellent operation sequence. Regarding specific mutation rules, differentiated treatment is implemented for support tasks of different importance: conventional anchor holes are allowed to be redistributed across the entire working face drilling rig range, critical roof support holes are limited to fine-tuning between 2~3 adjacent drilling rigs, and emergency support tasks encountering faults or other special geological structures are only allowed ±10% disturbance adjustment on the operation priority parameter. When the algorithm detects that the drilling rig group coordination scheme has stalled (no improvement after 5 consecutive generations of optimal solutions), a strong mutation mechanism is triggered. This mechanism performs joint mutation across multiple drilling rig positions on 30% of the individual schemes, significantly altering the drilling sequence and task allocation. Constraint repair is performed immediately after each mutation, randomly reassigning excess drilling tasks to other available rigs to ensure that the workload of each rig remains within its rated capacity. This intelligent mutation strategy, which integrates roadway geological characteristics and drilling rig performance parameters, significantly improves the adaptability and reliability of the drill-anchor coordination scheme in complex downhole environments while maintaining population diversity.

[0100] In terms of operator design, a strategy combining tournament selection and elite retention is adopted. Addressing the optimization needs of drilling-anchoring collaborative operations in coal mine roadways, this application integrates a tournament selection strategy and an elite retention mechanism in the algorithm selection operator design to efficiently screen drilling rig task allocation schemes adapted to complex geological conditions. The tournament selection strategy is implemented by simulating a competitive scenario in underground operations: each time, 3-5 candidate schemes are randomly selected from the population of drilling rig collaborative schemes to form a competition group. Based on their drilling-anchoring efficiency (including borehole positioning accuracy, anchoring timeliness, and equipment coordination, etc.) under the roadway surrounding rock conditions, the best schemes are selected and eliminated, with the winning scheme directly entering the next generation of optimization iterations. The advantages of this strategy are that it achieves efficient screening without global sorting, especially suitable for large-scale collaborative scenarios involving multiple drilling rigs; the selection pressure can be flexibly controlled by adjusting the size of the competition group; smaller groups (e.g., 2-3 groups) retain the diversity of schemes under special geological conditions such as fault zones and fractured roofs, while larger groups (e.g., 5-7 groups) accelerate the convergence speed of stable rock strata. At the same time, an elite retention mechanism is introduced to directly retain the best drilling and anchoring schemes that meet the time requirements of roadway support in each generation (such as schemes with a roof stability score of ≥95%) to the next generation, so as to avoid the loss of high-quality drilling sequences due to random competition.

[0101] For the non-dominated sorting strategy and congestion calculation, candidate solutions such as drilling rig location and drilling sequence are hierarchically sorted according to Pareto level. The dominance count and dominance set of each solution directly reflect its optimization degree in the roadway cross-sectional space. To avoid the algorithm getting trapped in local optima and affecting support efficiency, a congestion calculation mechanism based on minimizing drilling-anchor time is introduced. Solutions of the same level are sorted with the shortest drilling operation time as the objective function. Boundary solutions that can achieve extreme drilling-anchor efficiency are given infinite congestion degree for protection, while internal solutions are calculated based on the normalized difference in indicators such as drilling positioning accuracy and anchor installation speed between adjacent solutions. This ensures that the optimal solution that can adapt to complex surrounding rock conditions and maintain an efficient operation rhythm is selected first. The Pareto dominance condition can be expressed as the following formula: (24); among which, This represents two candidate solutions (i.e., two different anchor bolt / anchor cable arrangement schemes or drilling rig operation sequence schemes), which are points in the decision variable space; This indicates the number of objective functions, i.e., the number of optimization problems. Each objective needs to be optimized simultaneously; This indicates that the k-th objective function is in the solution The value of is the expression of the performance index of the scheme; This indicates that the l-th objective function in the solution... The value that can be taken on.

[0102] In practical applications, this algorithm continuously selects the optimal solution set that balances tunneling speed and support quality by performing a mixed non-dominated sorting of the initial drilling rig scheduling scheme and the iterative update scheme. Its optimization process fully considers the unique geological constraints of coal mine roadways and the collaborative requirements of drilling and anchoring equipment, providing reliable decision support for intelligent and rapid tunneling. The congestion distance can be calculated using the following formula: (25); among which, This represents the crowding distance of solution i, reflecting the density of its surrounding solutions. The larger the value, the sparser the surrounding area of ​​the solution, and the easier it is to preserve it. M represents the number of objective functions (i.e., the dimension of the optimization problem). and These represent the m-th objective function at the solution. reconciliation The value of , and yes Adjacent solutions; and These represent the maximum and minimum values ​​of the m-th objective function in the entire non-dominated solution set, respectively, used for normalization to make different objectives comparable.

[0103] For example, non-dominated sorting optimization, based on Parato dominance, mixes the initial and updated solution sets and retains the optimal solution, such as... Figure 6 As shown, when determining the optimal allocation scheme based on the non-dominated sorting genetic algorithm, the drilling rig task initialization can be performed first (step 201), then the objective function, i.e. the completion time of the drilling and anchoring task, can be calculated (step 202), and it can be determined whether the cutting and support coordination conditions are met (step 203). If they are met, the optimal drilling and anchoring coordination scheme can be output (step 204); if not, the drilling rig task coordination optimization can be performed (step 205), a new scheme can be constructed through crossover and mutation operations (step 206), the old and new schemes can be merged (step 207), the non-dominated sorting can be performed (step 208), the crowding distance can be calculated (step 209), and a new generation of drilling and anchoring task allocation schemes can be screened (step 210).

[0104] Furthermore, to verify the effectiveness of this optimized process, simulation verification was conducted by combining the dimensions of the drilling and anchoring system mechanism and the cross-sectional parameters such as the dimensions and geological conditions of a certain coal mine roadway, as shown in Table 1. The known width of the coal mine roadway roof is 6.24m, and the sidewall height is 4.55m; the total designed length is 6092.4m. The geological conditions and the parameters of the anchor bolts and cables used are shown in Table 2. The roadway excavation system is located at the center of the roadway cross-section without significant deviation. Based on the above formula deduction and the analysis of the actual roadway conditions, the roadway drilling and anchoring support is divided into two sections: the layout and related numbering of the anchor bolts and cables in this coal mine roadway are shown in Table 2. Figure 7 and Figure 8As shown, the first section is 170m long. The tunnel roof is supported by one Φ21.8×8200mm anchor cable, four Φ21.8×4500mm anchor cables, and a steel mesh. The sidewalls are supported by two Φ25×2200mm drill-anchored grouting anchor rods, three Φ21.8×3000mm anchor cables, and a metal mesh diamond support. The second section is 5922.4m long. When the tunnel is supported by anchor bolts and anchor cables, the tunnel roof is supported by four Φ25×2200mm drill-anchored grouting anchor rods and two Φ25×2200mm anchor cables. The support system consists of 8×4500mm anchor cables and reinforced braided mesh. The sidewalls are supported by 5 Φ25×2200mm drilled and grouted anchor bolts with a metal mesh diamond pattern. When the entire row is anchored, 8 Φ25×2200mm drilled and grouted anchor bolts with reinforced braided mesh are used. When the row is reinforced with long anchor cables, the top slab is supported by 2 Φ21.8×63000mm anchor cables and reinforced braided mesh. When the row is reinforced with short anchor cables, the top slab is supported by 1 Φ21.8×45000mm anchor cable and reinforced braided mesh. Strength verification shows that the anchor bolt support resistance is 186.79KN, and the anchor cable support resistance is 350KN. Considering the support time and tunneling effects, the effective support coefficient for both anchor bolts and cables is set at 0.8, resulting in an effective support strength of 166.80KN / m². Therefore, the safety factor of the roadway support is 2.83, which is much greater than the general requirement that the safety factor of anchor cable support should not be less than 1.5, thus meeting the support conditions.

[0105]

[0106]

[0107] Furthermore, to verify the superiority and adaptability of the non-sorting genetic algorithm, a traditional fixed partitioning operation scheme was added as a control.

[0108] 1. Traditional experience-based zoning scheme: Drilling rigs are allocated based on experience according to the roadway area.

[0109] 2. Optimized algorithm: The task allocation method of this application is used for dynamic task allocation, and the objective function is to minimize the drilling rig working time.

[0110] For example, this roadway adopts a phased support method. The working range of the integrated tunneling and anchoring machine is 2.8m~4.5m in height and 5.2m~6.2m in width; the working range of the anchor bolt transfer machine is 3.8m~5.0m in height and 5.0m~5.7m in width, capable of completing all drilling and anchoring tasks in the roadway. Figure 9 As shown, the drilling rig first uses a roadheader-anchor machine to perform the main anchor bolt and cable support work, and then the subsequent anchor bolt transfer machine completes the remaining support work; the layout and number of drilling rigs, including the roadway layout and anchor bolt transfer machine, are calculated based on the actual roadway conditions and the roadheader-anchor equipment. Figure 10As shown, the roof support task is allocated to seven drilling rigs: four integrated roadheader-anchor (TOA) roof drilling rigs and three anchor bolt transfer machines. The four TOA rigs are responsible for supporting the main anchor bolts and cables on the roof, while the anchor bolt transfer machines are responsible for supporting the reinforcing anchor cables. Two drilling rigs are allocated to each side of the roadway: one TOA side drilling rig and one anchor bolt transfer machine side drilling rig. The TOA side drilling rig is primarily responsible for supporting the main anchor bolts and cables on the side of the roadway, while the anchor bolt transfer machine side drilling rig is responsible for supporting the remaining anchor bolts. To accurately describe the spatial position of each drilling rig and anchor bolt, the following coordinate system is established: the plane where the drilling rig is located is the x-axis, the sidewall where the anchor bolts and cables are located is the y-axis, and a rectangular coordinate system is constructed with a basic unit length of 1.0m. Under this coordinate system, the positions of all drilling rigs and anchor bolts can be represented by coordinates. Precise representation is provided. The drilling rig allocation for anchor bolt tasks, and the coordinate positions of the top drilling rig and top anchor bolts are shown in the following table. The right-side drilling rig and anchor bolts are symmetrically distributed with the left-side rig. Table 3 contains information on the roof drilling and anchoring of the first section (170m) of the tunnel; Table 4 contains information on the left-side drilling and anchoring of the first section of the tunnel; Table 5 contains information on the roof drilling and anchoring of the second section (5922.4m) of the tunnel; and Table 6 contains information on the left-side drilling and anchoring of the second section of the tunnel (s represents the anchor cable number; g and a represent the anchor bolt number; D represents the roof drilling rig number; and C represents the side drilling rig number). Based on experience, the drilling speed is 1.5m / min, the anchor bolt installation time is 0.5min, the anchor bolt anchoring time is 0.7min, and for general geological conditions, a value of 1.0 is selected. The drilling rig movement speed is selected as 5m / min.

[0111]

[0112]

[0113]

[0114]

[0115] Furthermore, the drilling and anchoring task allocation results can be shown in Tables 7 and 8 below. Table 7 shows the task allocation results for the first section of the roadway, and Table 8 shows the drilling and anchoring task allocation results for the second section of the roadway.

[0116]

[0117]

[0118] By optimizing the drilling tasks of the drilling rig, the drilling and anchoring processes can be completed in the optimal time. In the tunneling system, correlation analysis revealed that the key factors affecting tunneling speed are the cutting and drilling / anchoring working times, which are strongly coupled and operate in parallel. The cutting time constrains the drilling / anchoring time, which in turn affects the tunneling speed. Therefore, to achieve coordinated operation between the two, the drilling and anchoring multi-rig system was optimized to match the drilling / anchoring time with the cutting height. The optimization results are shown in Table 9. After optimization, the drilling and anchoring time for the first section of the roadway using the integrated drilling and anchoring machine to complete one section is 10.8 minutes; the time for the anchor bolt transfer machine to complete one section is 6.3 minutes; the overall efficiency is 25% higher than the traditional empirical zoning support method. After optimization, the optimal time for the integrated drilling and anchoring machine to complete one section of alternating anchor bolt and cable support using the second section of the roadway is 8.6 minutes, an 11% improvement in efficiency compared to the traditional empirical zoning support method; the time to complete one section of roof support using the integrated drilling and anchoring machine is 6.4 minutes, a 15% improvement in efficiency compared to the traditional empirical zoning scheme. The improvement of the anchor bolt transfer machine is relatively small due to its small workload and the fact that the number of drilling rigs is basically the same as the number of tasks. After algorithm optimization, the average operation time for the first segment of the drilling and anchoring operation to complete one section is 10.8 minutes; the average operation time for the second segment of the drilling and anchoring operation to complete one section is 8.6 minutes. The average operation time per section of the drilling and anchoring system can be perfectly matched with the cutting time, enabling parallel and coordinated drilling and anchoring operations. Based on empirical calculations, the drilling and anchoring system migration time t is approximately 2 minutes, and the preparation time t is approximately 14 minutes. Therefore, the average time for the intelligent tunneling system to complete one section (1.4m) of work cycle can be calculated to be approximately 24.6 minutes. Assuming a 16-hour workday, the daily advance can be stably above 54m. However, in actual engineering, due to the coupled effects of multiple sources of errors such as dynamic variations in geological conditions, equipment response delays, process connection fluctuations, and human-machine collaboration interference, and because the calculation is based on the drilling rig just reaching the drilling and anchoring working face without considering the back-and-forth swing of the drilling rig, errors in time calculation occur. Currently, such as Figure 11 The image shows the actual application of this technology in a coal mine roadway. According to coal mine data, in a 6.24m×4.55m cross-section roadway, the average daily advance is stable at 50.4 meters, with the error from the theoretical value of 54 meters controlled within ±7%. Furthermore, the roadway roof subsidence is reduced by 15%, greatly increasing the roadway's safety.

[0119]

[0120] In summary, addressing the limitations of traditional empirical design methods and existing technologies, this application establishes a mechanical balance model of roadway surrounding rock stress-support strength and a dynamic task allocation mechanism, successfully resolving the key issue of incoordination between support resource allocation and surrounding rock deformation. This model achieves a support strength safety factor of 2.83 through precise calculation of the number and layout parameters of anchor bolts / cables. Regarding the problem of low efficiency in multi-drill rig collaborative control during integrated tunneling and anchoring operations, this application establishes a task allocation matrix based on a three-dimensional coordinate system. By improving the non-dominated sorting genetic algorithm through sequential crossover and hybrid mutation strategies, it achieves efficient collaborative operation of multiple rows and multiple drill rigs within the limited space of coal mine roadway excavation. Addressing the problem of low efficiency of single drill rigs and roof safety hazards caused by asynchronous support during coal mine tunneling operations, this application establishes a multi-drill rig collaborative operation system based on load balancing. By optimizing the system's single-cycle time to 24.6 minutes, a daily advance of over 54 meters is achieved. The system adopts an independent operation design, which reduces the roof subsidence by 15% while maintaining good coordination between the anchor cable drilling rig and the side drilling rig. This improves the tunneling speed and enhances the support safety, providing a reliable guarantee for efficient and safe production in coal mines.

[0121] Based on the above embodiments, another embodiment of this application provides a drilling and anchoring task allocation device, such as... Figure 12 As shown, the drilling and anchoring task allocation device 1 proposed in this application embodiment may include a processor 11 and a memory 12 storing instructions executable by the processor 11; further, the allocation device 10 may also include a communication interface 13 and a bus 14 for connecting the processor 11, the memory 12 and the communication interface 13.

[0122] Furthermore, the processor 11 can be at least one of the following: Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), Central Processing Unit (CPU), controller, microcontroller, or microprocessor. The memory 12 can be connected to the processor 11, and is used to store executable program code, including computer operation instructions. The memory 12 may include high-speed RAM or non-volatile memory, such as at least two disk drives.

[0123] Furthermore, bus 14 is used to connect communication interface 13, processor 11 and memory 12 to enable communication between these devices; memory 12 is used to store instructions and data.

[0124] In practical applications, the aforementioned memory 12 can be volatile memory, such as random-access memory (RAM); or non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state drive (SSD); or a combination of the above types of memory, and provide instructions and data to the processor 11.

[0125] Specifically, the program instructions corresponding to a drilling and anchoring task allocation method in this embodiment can be stored on a storage medium such as an optical disc or a hard disk. When the program instructions corresponding to a drilling and anchoring task allocation method in the storage medium are read or executed by an allocation device, the following steps are included: Determine the drilling and anchoring task set and drilling rig set for the current working roadway; whereby, the drilling and anchoring task set represents the set of coordinates of points in the previous working roadway section where anchor bolts and anchor cables need to be installed; the drilling rig set represents the set of coordinates of the drilling rigs performing drilling and anchoring tasks in the current working roadway. An optimization model is constructed based on the set of drilling and anchoring tasks and the set of drilling rigs; the optimization model aims to minimize the time required for drilling rigs to collaboratively execute drilling and anchoring tasks. An initial task allocation scheme population is generated based on the optimization model and preset constraints; The initial task allocation scheme population is subjected to non-dominated sorting to obtain the non-dominated sorting result; where the non-dominated sorting result represents the set of non-dominated hierarchies divided according to Pareto dominance relationship; Based on the crowding distance of each task allocation scheme in the non-dominated sorting results, an updated task allocation scheme population is generated. If the updated task allocation scheme population meets the termination condition, the target task allocation scheme is determined based on the updated task allocation scheme population; otherwise, the process of updating the task allocation scheme population continues until the first allocation scheme population that meets the termination condition is obtained, and the target task allocation scheme is determined based on the first allocation scheme population.

[0126] The above embodiments are merely preferred embodiments provided to fully illustrate this application, and the scope of protection of this application is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on this application are all within the scope of protection of this application.

Claims

1. A method for allocating drilling and anchoring tasks, characterized in that, The method includes: Determine the drilling and anchoring task set and drilling rig set for the current working roadway; wherein, the drilling and anchoring task set represents the set of coordinates of points in the previous working roadway section where anchor bolts and anchor cables need to be installed; the drilling rig set represents the set of coordinates of drilling rigs performing drilling and anchoring tasks in the current working roadway; An optimization model is constructed based on the set of drilling and anchoring tasks and the set of drilling rigs; wherein, the optimization model takes the shortest time for the drilling rigs to collaboratively execute drilling and anchoring tasks as the optimization objective; An initial task allocation scheme population is generated based on the optimization model and preset constraints; The initial task allocation scheme population is subjected to non-dominated sorting to obtain non-dominated sorting results; wherein, the non-dominated sorting results represent the set of non-dominated hierarchies divided according to Pareto dominance relations; Based on the non-dominated sorting results and the crowding distance of each task allocation scheme in the non-dominated sorting results, an updated task allocation scheme population is generated. If the updated task allocation scheme population meets the termination condition, the target task allocation scheme is determined based on the updated task allocation scheme population; otherwise, the process of updating the task allocation scheme population continues until a first allocation scheme population that meets the termination condition is obtained, and the target task allocation scheme is determined based on the first allocation scheme population.

2. The method for allocating drilling and anchoring tasks according to claim 1, characterized in that, The preset constraints include at least one of the following: Drilling rig constraint; the drilling rig constraint is used to restrict each drilling rig to perform one drilling and anchoring task at a time. Working capacity constraint; the working capacity constraint is used to ensure that the number of tasks for each drilling rig does not exceed a preset number; Drilling rig working range constraint; the drilling rig working range constraint is used to restrict the drilling rig's task to be within the working radius of the drilling rig. Task quantity constraint: The task quantity constraint is used to ensure that the total number of drilling and anchoring tasks is greater than or equal to the number of drilling rigs; Drilling rig interference constraint; the drilling rig interference constraint is used to constrain the distance between any two drilling rigs to be greater than or equal to a preset distance; the preset distance is determined based on the static minimum safe distance, maximum working radius and dynamic safety margin of the drilling rig.

3. The method for allocating drilling and anchoring tasks according to claim 2, characterized in that, The method further includes: The support strength information is determined based on the support resistance provided by the anchor bolts and anchor cables; Determine the roadway load information based on the unit weight and burial depth of the rock strata in the currently operating roadway; The set of drilling and anchoring tasks is determined based on the support strength information and the roadway load information.

4. The method for allocating drilling and anchoring tasks according to claim 3, characterized in that, The method further includes: The drilling rig set is determined based on the drilling rig parameters; The number of drilling rigs accommodated in the roof, left sidewall, right sidewall, and anchor cable operation area of ​​the current working roadway in the drilling rig set is equal to the preset total number of drilling rigs. The number of drilling rigs corresponding to the top plate and the number of drilling rigs accommodated in the anchor cable operation area are determined based on the drilling rig movement width and the position requirements of the drilling and anchoring system operation platform in the drilling rig parameters; the number of drilling rigs for the left sidewall and the right sidewall is determined based on the operating platform height of the drilling and anchoring robot and the drilling rig body height in the drilling rig parameters.

5. The method for allocating drilling and anchoring tasks according to any one of claims 1 to 4, characterized in that, The construction of the optimization model based on the drilling and anchoring task set and the drilling rig set includes: Construct the spatial coordinate system of the currently operating roadway; The positions of the anchor bolts and anchor cables in the drilling and anchoring task set, and the pose coordinate system of the drilling rigs in the drilling rig set, are mapped to the spatial coordinate system to obtain the drilling and anchoring task coordinate system; The optimization model is constructed based on the coordinate system of the drilling and anchoring task.

6. The method for allocating drilling and anchoring tasks according to claim 5, characterized in that, The method further includes: The timing of the drilling and anchoring task is determined based on the drilling rig's waiting time, working time, and movement time. Wherein, the waiting time represents the cumulative execution time of the drilling rig before executing the current task; the working time represents the time it takes for the drilling rig to complete one drilling and anchoring task; and the movement time represents the time it takes for the drilling rig to move between different drilling and anchoring tasks.

7. The method for allocating drilling and anchoring tasks according to claim 1, characterized in that, The step of generating an updated task allocation scheme population based on the non-dominated ranking result and the crowding distance of each task allocation scheme in the non-dominated ranking result includes: Based on the non-dominated sorting results, the crowding distance of each task allocation scheme within the same non-dominated level is determined; wherein, the crowding distance is used to measure the sparseness of the distribution of task allocation schemes in the solution space. Based on the non-dominated sorting results, the crowding distance, and the tournament selection strategy, schemes are screened in each task allocation scheme to determine the parent population; wherein, the parent population includes individuals from multiple task allocation schemes obtained through screening. Using a preset crossover probability, individuals in the parent population with task allocation schemes are paired and crossovered to obtain an intermediate offspring population. The intermediate offspring population is mutated using the mutation probability to obtain the mutated offspring population. The parent population and the mutated offspring population are merged, and the merged population is subjected to non-dominated sorting and crowding distance calculation to determine the updated task allocation scheme population.

8. The method for allocating drilling and anchoring tasks according to claim 7, characterized in that, The method further includes: The basic variation probability is determined based on the aforementioned geological condition parameters; The basic variation probability is adjusted using the geological condition parameters and support requirements to obtain the adjusted variation probability, and the variation operation is performed using the adjusted variation probability.

9. A drilling and anchoring task allocation device, characterized in that, The method includes a processor and a memory storing processor-executable instructions; when the instructions are executed by the processor, the method as described in any one of claims 1 to 8 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 8.

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