Underground mine barren rock in-situ recycling collaborative filling method

Abstract

The invention relates to the technical field of mine barren rock utilization, and discloses an underground mine barren rock in-situ resource collaborative filling method which is used for carrying out accurate design and scientifically delimiting a filling area based on a dynamic three-dimensional geologic model and numerical simulation. Through a closed-loop process of tunneling-pretreatment-in-place filling, waste rocks are instantly converted into qualified aggregates by means of mobile crushing and short-distance material flow, and zero discharge and full recycling of solid wastes are realized. And a cyclic cooperation mechanism of one-section tunneling and one-section filling is established, and the exposure time of the goaf is greatly shortened. Layered tamping and online compaction degree monitoring are adopted, so that high compactness and uniformity of a filling body are ensured, and the filling rate stably breaks through 80%. And finally, a monitoring-filling-prevention and control intelligent linkage system is constructed, data-driven early warning and dynamic regulation and control are realized, and the disaster prevention and control capability is remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of mine waste rock utilization technology, and in particular to a method for on-site resource utilization and collaborative filling of underground mine waste rock. Background Technology

[0002] Traditional underground mining operations generate large amounts of waste rock during tunneling and mining. Currently, this waste rock is generally disposed of by transporting it to surface spoil heaps. This method not only incurs high transportation and site construction and maintenance costs and occupies land resources for a long time, but also poses safety and environmental risks such as landslides and debris flows. Furthermore, it fails to achieve the effective utilization of waste rock resources, which is seriously inconsistent with the concepts of green mining and sustainable development.

[0003] Furthermore, in mines employing techniques such as shallow-hole ore-holding, backfilling operations often lag behind mining operations, resulting in poor temporal and spatial coordination. This leads to prolonged exposure of goaf areas, making them highly susceptible to geological disasters such as roof collapse and surrounding rock deformation. Existing waste rock backfilling processes are relatively rudimentary, generally suffering from low backfilling rates (usually less than 80%), loose filler, and poor density, failing to provide effective structural support for goaf areas. Simultaneously, the physical and mechanical properties of waste rock vary greatly in terms of particle size and strength, and the lack of targeted pretreatment technologies results in insufficient compatibility when used directly as backfill material, affecting load-bearing capacity. These intertwined problems lead to low resource recovery rates under traditional processes and a lack of systematic hidden disaster prevention capabilities.

[0004] Therefore, there is an urgent need for a new mining method that can utilize waste rock on-site and deeply integrate it with mining processes to achieve efficient filling and concealed disaster control, in order to solve multiple problems such as cost, safety, environmental protection and resource recycling. Summary of the Invention

[0005] The technical problem to be solved by this invention is that the existing technology has the disadvantage of low resource recovery rate under traditional processes and lack of systematic hidden disaster prevention and control capabilities. To this end, we propose a method for on-site resource utilization and collaborative filling of underground mine waste rock.

[0006] To achieve the above objectives, this application adopts the following technical solution: a method for on-site resource utilization and co-filling of underground mine waste rock, comprising the following steps: S1: Based on the three-dimensional geological model of the mine and the physical and mechanical properties database of waste rock, generate customized filling process parameter packages for different goaf areas. The parameter packages include at least the target gradation curve and target compaction degree of waste rock. S2: The waste rock generated near the tunneling face is crushed and screened in real time so that its gradation meets the target gradation curve in the parameter package corresponding to the current goaf to be filled, forming qualified filling aggregate, and the qualified filling aggregate is transported to the target goaf through a short-distance transfer system. S3: Divide the stope into several cycle units. After completing the shallow hole ore-holding mining operation in a cycle unit, use the qualified filler aggregate obtained from the waste rock of the unit obtained in step S2 to fill the goaf formed by the unit. S4: In the goaf area, the qualified filling aggregate is compacted in layers, and the compaction degree is tested online after each layer is compacted. Feedback adjustment is made based on the comparison of the test results with the target compaction degree in the parameter package until the overall filling density meets the standard. S5: Real-time monitoring of the stability of the surrounding rock in the goaf before, during and after the filling operation, and dynamic risk assessment based on the monitoring data, and coordinated adjustment of filling operation parameters or subsequent mining parameters.

[0007] Preferably, step S1 specifically includes: S11: Construct a three-dimensional geological model of the mine, including the morphology of the ore body, the boundary of the surrounding rock, and the morphology of the mined-out area; S12: Based on the three-dimensional geological model, numerical simulation is performed to analyze the stability requirements of different goaf areas, and the core filling area and auxiliary filling area are accurately delineated accordingly. S13: Establish a database of physical and mechanical properties of excavated waste rock from different rock strata, including at least particle size distribution and uniaxial compressive strength; S14: Based on the defined filling area requirements and the physical and mechanical properties of the corresponding waste rock, a customized filling process parameter package for each goaf is generated through an algorithm model.

[0008] Preferably, the specific process of generating and updating the parameter package in step S14 is as follows: taking the stability requirements of the filling area and the basic characteristics of the waste rock as input, and based on the preset material mechanical response rules, calculating the gradation and compaction parameters required to meet the target bearing strength, and automatically updating the mechanical response rule library when subsequent monitoring data reveals new geological conditions, thereby realizing the dynamic iteration and optimization of the parameter package.

[0009] Preferably, step S2 specifically includes: S21: Deploy a mobile crushing and screening station underground that can follow the working face; S22: Input the target gradation curve in the current cycle parameter package into the control system of the crushing and screening station, adjust the crushing and screening parameters in real time, and perform adaptive pretreatment on the waste rock. S23: Through an optimized short-distance closed-loop logistics path, pre-treated qualified filler aggregates are directly transported from the crushing station to the target goaf.

[0010] Preferably, step S3 specifically includes: S31: Based on the three-dimensional geological model and equipment capabilities, quantitatively design the tunneling advance of the circulating unit, and estimate the amount of waste rock generated and the volume of goaf to be filled. S32: Optimize the blasting parameters of the shallow-hole ore-holding method to control the size of waste rock blocks, making them more conducive to subsequent pretreatment; S33: Execute the mining and filling cycle. After mining is completed in a single cycle unit, the filling of the goaf in that unit shall begin immediately. Cross-unit cross-operation is strictly prohibited.

[0011] Preferably, the specific optimization process for executing the mining and filling operation cycle in step S33 is as follows: set differentiated maximum allowable exposure time safety thresholds for the roof for surrounding rock with different stability levels, monitor the actual interval time from the completion of blasting to the start of filling in real time during the operation, and compare it with the safety threshold. When the actual interval time continues to approach the safety threshold, automatically trigger analysis and adjust the unit advance or logistics scheduling scheme of the subsequent cycle.

[0012] Preferably, step S4 specifically includes: S41: Spread qualified filler aggregate in the goaf according to the preset layer thickness; S42: Use tamping equipment to compact each layer of aggregate, and implement a differentiated number of tamping passes according to the importance of the filling area; S43: Use portable density testing equipment to conduct online compaction testing on each layer of compacted surface and provide real-time data feedback; S44: Based on the feedback data, the substandard layers are reinforced and the overall uniformity of the fill is ensured through interlayer bonding treatment.

[0013] Preferably, the online compaction detection and feedback control in step S43 specifically involves: after each layer is compacted, multiple detection points are immediately selected on the compacted surface for rapid compaction detection, and the detection data is transmitted to the control platform in real time. The control platform automatically compares the measured compaction value with the target compaction value in the parameter package. If the measured value is lower than the target value, a supplementary compaction command is immediately sent to the working surface. After supplementary compaction, the test is repeated until it is qualified before the next layer of paving is allowed.

[0014] Preferably, step S5 specifically includes: S51: Pre-embed stress and displacement monitoring sensors in the surrounding rock of the goaf area before mining; S52: Analyze and monitor data in real time during the filling process, establish an early warning mechanism, and adjust the current filling operation in conjunction with the triggering of an early warning; S53: Continuous monitoring after filling, and optimization of the generation model of subsequent process parameter packages using multi-cycle data; S54: Dynamically assess system stability based on monitoring data streams and generate control instructions for tunneling or filling parameters.

[0015] Preferably, the specific process of dynamic evaluation and linkage control in step S54 is as follows: using time-series data obtained from the monitoring network, the stability of the mining system is dynamically evaluated through a prediction model. When an instability risk is predicted, a set of control instructions is automatically generated and issued. The instructions include adjusting the blasting parameters in the adjacent area or increasing the compaction strength and cementing material content of the subsequent filling. The evaluation and control logic is extended to multiple mining areas throughout the mine to form a distributed intelligent disaster prevention and control network.

[0016] The technical effects and advantages of this invention are as follows: This invention employs a dynamic three-dimensional geological model and numerical simulation for precise design, scientifically delineating the filling area. Through a closed-loop process of "tunneling-pretreatment-in-situ filling," utilizing mobile crushing and short-distance logistics, waste rock is instantly transformed into qualified aggregate, achieving zero external discharge of solid waste and full resource utilization. A cyclical collaborative mechanism of "tunneling one section, filling one section" is established, quantifying units, optimizing parameters, and strictly controlling timing, significantly shortening the exposure time of the goaf. Simultaneously, layered compaction and online compaction monitoring ensure high density and uniformity of the filling material, resulting in a stable filling rate exceeding 80%. Finally, an intelligent linkage system of "monitoring-filling-prevention" is constructed, enabling data-driven early warning and dynamic control, significantly improving disaster prevention capabilities. Economically, 100% in-situ utilization of waste rock reduces comprehensive treatment costs by over 30% and increases resource recovery rates. In terms of safety and environmental benefits, it effectively curbs roof displacement and stress concentration, enhancing mine stability while completely eliminating surface spoil heaps and their environmental risks. Attached Figure Description

[0017] The disclosure of this invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings, the same reference numerals are used to refer to the same parts: Figure 1 This is a flowchart of the steps of the present invention. Detailed Implementation

[0018] It is readily understood that, based on the technical solution of this invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of this invention.

[0019] like Figure 1 As shown, the present invention provides a method for on-site resource utilization and collaborative filling of waste rock from underground mines, which specifically includes the following steps: S1: Dynamic Programming and Precise Design Based on 3D Geological Model This step involves constructing a three-dimensional model by integrating multi-source geological data, and then using this model for simulation analysis, precise delineation of the filling area, and generation of customized process parameters to provide a scientific basis for subsequent operations.

[0020] S11: The system collects and integrates geological exploration data, lithological information revealed during tunnel excavation, physical and mechanical test results from borehole cores, and ground pressure monitoring data from historical mining areas. Using 3D mining software (such as Surpac, Micromine, or Dimine), a comprehensive geological model is constructed, including ore body morphology, surrounding rock boundaries, fault and fracture distribution, rock mass quality grading, and precise spatial morphology of mined-out areas.

[0021] S12: Based on the aforementioned three-dimensional geological model, numerical simulation analysis software (such as FLAC3D, UDEC, or RFPA) is used to simulate the stress distribution, displacement field, and plastic zone range of goaf areas in unsupported conditions. Based on the simulation results, the minimum bearing strength requirements of the filling material for each goaf area and the expected convergence deformation are automatically analyzed. Accordingly, the core filling area requiring structural support and the auxiliary filling area requiring only rockfall prevention are precisely delineated, forming a digital electronic mine map of the filling area.

[0022] S13: During the mine's infrastructure construction or early production phase, samples of waste rock from different rock strata are systematically collected. Key indicators such as uniaxial compressive strength, hardness coefficient (Protodyakonov coefficient f-value), particle size distribution, mud content, and water softening properties are measured in the laboratory. The test results are correlated with the location information of the source rock strata and entered into a database to form a resource characteristic map of mine waste rock.

[0023] S14: Combining the defined filling area requirements and the characteristics of the corresponding waste rock produced in the area, a customized process parameter package is pre-generated for each soon-to-be-formed goaf through a built-in algorithm model. This parameter package is dynamically generated based on geological data, and its content includes the target gradation curve of waste rock, the layer compaction thickness, the target compaction degree, etc., and can be updated iteratively through the algorithm as new geological information is revealed, realizing intelligent linkage and precise adaptation between process and geological conditions. Specifically: First, the algorithm model takes the mechanical requirements of the filling area obtained in S12 (such as minimum bearing strength) and the basic characteristics of the waste rock corresponding to S13 as inputs; then, according to the preset material mechanical response rules (such as the strength prediction formula under specific gradation and compaction degree), it automatically calculates the gradation range, compaction degree threshold and suggested compaction energy required to meet the target strength; finally, when the response data of newly revealed geological units (such as fault fracture zones) deviates from the prediction in the subsequent step S5, the model can automatically learn and update the rule base, thereby dynamically adjusting the output of the parameter package for subsequent similar areas, realizing the leap from static preset to dynamic adaptation.

[0024] S2: Immediate pretreatment and short-distance logistics optimization of waste rock at the tunneling face. This step uses mobile crushing and screening equipment to classify and crush waste rock on-site, and then uses an optimized short-distance logistics system to quickly transport it to the filling area, realizing the immediate transformation of waste rock from waste to qualified filling material.

[0025] S21: Develop or select modular, low-profile mobile crushing and screening units suitable for narrow underground spaces (typically composed of a jaw crusher, cone crusher, and multi-layer vibrating screen). This unit has a rapid relocation function (e.g., using a crawler-mounted walking mechanism) and moves along with the shallow-hole ore-holding face, always maintaining a highly efficient operating range of 100-300 meters from the tunneling face.

[0026] S22: Input the current cycle process parameter package generated in step S14 into the intelligent control system (PLC or industrial computer control system) of the crushing and screening station. The system adjusts the discharge port size of the jaw crusher and the screen aperture of the vibrating screen in real time according to the target gradation curve in the parameter package. The system crushes the raw waste rock produced from the tunneling and screens out overly coarse material (those larger than the upper limit size requiring re-crushing), qualified filler aggregate meeting the gradation requirements, and overly fine powder.

[0027] S23: Design a closed-loop logistics path from the tunnel face to the crushing station and then to the goaf. Explosion-proof small diesel trucks or battery-powered locomotives will be used to transport undisturbed waste rock from the tunnel face to the crushing station. Qualified aggregate after crushing and screening will be directly transported to the entrance of the goaf to be filled via a retractable belt conveyor or a dedicated filling vehicle (such as an underground trackless filling transport vehicle). Optimized scheduling algorithms (such as a vehicle scheduling system based on real-time location) will ensure continuous logistics, keeping the time from waste rock generation to placement within 2-4 hours.

[0028] S3: Refined cyclical collaborative operation of shallow-hole ore retention method and subsequent filling This step integrates mining and filling into a standardized cyclical unit, achieving seamless and close integration of mining and filling operations in space and time through quantitative design and strict timing control.

[0029] S31: Based on the ore body thickness, surrounding rock stability, and equipment capacity, the stope is divided into several cycle units along the strike in the 3D model. The length of each unit is the excavation footage of one cycle, typically 8-15 meters. The volume of ore extracted and the expected volume of waste rock generated in each unit are calculated, ensuring that the waste rock volume, after compaction, can basically fill the goaf volume formed by the unit, meeting the preliminary requirements of mining-filling balance.

[0030] S32: To match filling requirements, the mining parameters for the shallow-hole ore retention method are optimized. This includes: appropriately densifying the layout of blast holes, controlling the size of blasted blocks, and reducing the generation of large waste rocks; optimizing the blasting sequence to make the morphology of the collapsed ore and rock accumulation more conducive to subsequent waste rock separation; and setting up temporary screening grids at the bottom of the stope for preliminary separation of ore and waste rock.

[0031] S33: Establish and implement a strict operational cycle schedule for mining, ore extraction, and backfilling. Within a cycle unit, strictly adhere to the "excavate one section, backfill one section" operational pattern, meaning that backfilling must begin immediately after mining in that unit, and cross-unit operations are strictly prohibited. This mechanism can be further refined into a dynamic cycle adjustment standard based on a safe threshold for roof exposure time. Specifically: First, set differentiated maximum allowable roof exposure time (T_max) for different stability levels of surrounding rock, for example, 7 days for stable rock layers, 3 days for moderately stable rock layers, and 24 hours for unstable rock layers; then, record the time interval (T_actual) from the completion of blasting in that unit to the start of backfilling in real time during the cycle operation, and compare it with T_max; finally, establish a dynamic adjustment mechanism. If T_actual continuously approaches T_max, the system automatically analyzes the cause and provides adjustment suggestions, such as shortening the unit advance of the next cycle to reduce mining time, or optimizing logistics scheduling to reduce waste rock transfer and backfilling preparation time, thereby ensuring that the mining and backfilling cycle is always within the safe threshold, achieving optimization from a fixed cycle to a safety-oriented dynamic cycle.

[0032] S4: Layered Progressive High-Density Compaction and Online Quality Monitoring. This step ensures that the filler reaches the designed density and uniformity through standardized layered paving, mechanized compaction, and real-time quality detection and feedback, thereby guaranteeing the stable achievement of a high overall filling rate.

[0033] S41: Following the layer thickness set in step S14 (usually 0.5-0.8 meters), use specialized underground equipment (such as a small loader) or manual labor to evenly spread the pre-treated waste rock aggregate to the bottom of the goaf. The first layer should be advanced from the farthest end of the goaf towards the entrance.

[0034] S42: Compaction operations shall be carried out using high-frequency hydraulic vibratory tampers or small double-drum vibratory rollers. The tampers shall be applied transversely along the goaf, row by row, with adjacent tamping marks overlapping by one-third. For the core filling area, at least three passes of compaction are required; for auxiliary filling areas, two passes are sufficient. The compaction energy and number of passes shall be in accordance with the requirements of the process parameter package.

[0035] S43: Immediately after each layer is compacted, use a portable nuclear density meter or dynamic deformation modulus tester (such as a lightweight falling weight deflectometer) to conduct rapid on-site testing at at least three points on the compacted surface to obtain the compaction degree or dynamic modulus value. The test data should be fed back to the central control platform in real time and compared with the target compaction degree in the parameter package. If the target is not met, immediately perform additional compaction on this layer until it is qualified before proceeding to the next layer.

[0036] S44: To improve the integrity of the fill, the surface of the compacted layer can be roughened before laying the next layer of material. For core areas with extremely high mechanical requirements, a geogrid can be laid every 2 to 3 layers to enhance shear resistance. Through layer-by-layer testing and acceptance, ensure the overall density of the fill in the entire goaf is uniform, ultimately achieving the goal of a stable filling rate of 80% or more.

[0037] S5: Dynamic management of hidden disasters integrating monitoring, filling, and prevention. This step deeply embeds stability monitoring into the entire filling process, and adjusts operational parameters in conjunction with real-time data feedback to build a closed-loop disaster prevention and control system with predictive warning and proactive control capabilities.

[0038] S51: Before mining begins in the cycle unit designated in step S31, at the pre-designed locations on the roof and surrounding rock of that unit, install wireless roof separation meters, borehole stress gauges (such as vibrating wire or fiber optic grating type), and convergence monitoring points. The monitoring data is automatically uploaded to the mine safety monitoring platform at a frequency of minutes or hours.

[0039] S52: During the filling operation, the monitoring platform analyzes data such as the roof settlement rate and stress change trend in real time. An early warning threshold model is established (e.g., roof delamination displacement rate threshold, stress concentration factor threshold). Once the monitoring data approaches the early warning threshold, the system immediately alarms and prompts for prioritizing the acceleration of the filling and compaction progress in that area, or suggests adjusting the compaction energy.

[0040] S53: Perform big data correlation analysis on the monitoring data after filling one or more complete cycles (such as the final displacement field and stress stability value) with the adopted process parameter package (S14) and actual construction quality data (S43). Utilize machine learning algorithms (such as random forest and neural networks) to continuously revise and optimize the process parameter package generation model for subsequent new cycles, enabling a more accurate dynamic adaptation of the filling process parameters to the geological conditions and rock strata response revealed in the field.

[0041] S54: After the filling material is formed, the monitoring network continues to operate long-term. Based on real-time monitoring data streams, a dynamic evaluation model of the co-bearing state of the filling material and surrounding rock is constructed, and real-time control commands for tunneling and filling operation parameters are generated accordingly. This enables intelligent linkage and closed-loop management of monitoring, filling, and disaster prevention. This linkage mechanism can be further developed into a distributed intelligent disaster prevention and control system covering the entire mine. Specifically, the system works as follows: First, by utilizing a sensor network installed in the filled area and adjacent mining areas, it continuously acquires time-series data such as the redistribution of surrounding rock stress and the compression deformation of the fill material. Then, through a deep learning-based time-series prediction model (such as LSTM), it dynamically assesses the stability of the mining system in the current and future periods. Second, when the model predicts that a specific area has a risk of instability, the system can not only issue an early warning but also automatically generate and issue a set of control instructions. For example, it can instruct the forward tunneling face to adjust blasting parameters to reduce disturbance, or instruct subsequent filling cycles to increase the compaction strength of the area and increase the amount of cementing material. Finally, this closed-loop management logic can be extended to multiple intermediate sections and mining areas throughout the mine, forming a distributed intelligent disaster prevention network that can perceive the whole situation, analyze autonomously, and intervene proactively, achieving a qualitative change from passive monitoring at a single point to proactive and collaborative prevention and control by the system.

[0042] In one specific embodiment, the shallow-hole ore-stopping method for mining underground gold mines is taken as an example: The gold deposit has an average thickness of 2.8 meters and a dip angle of 65 degrees. The surrounding rock is mainly skarn and granite, with moderate stability. Under traditional mining methods, all excavated waste rock is hoisted to the surface spoil heap via vertical shafts, with a comprehensive cost of approximately 45 yuan per ton for hoisting, transportation, and storage. The goaf is filled with waste rock several months later, achieving a filling rate of only 60%-70%. Roof collapses occur frequently, and the resource recovery rate hovers around 85%.

[0043] After applying the method of this invention: First, a detailed three-dimensional geological model of the mining area was constructed using Surpac software, dividing the stope into cyclical work units of 10 meters each. Simulation analysis using FLAC3D software showed that the central area of ​​the stope exhibited significant ground pressure and was designated as the core filling zone, requiring the filling material to have an unconfined compressive strength of no less than 1.5 MPa after 28 days; the two wing areas were designated as auxiliary filling zones, with a strength requirement of no less than 0.8 MPa.

[0044] A mobile crushing and screening station was deployed near the -200-meter level stope in the mine. Based on the different requirements of the core and auxiliary areas, the control system automatically crushed and screened the waste rock into two gradations: the aggregate size in the core area was controlled at 5-25mm, with approximately 35% being 5-10mm fine material; the aggregate size in the auxiliary area was widened to 5-40mm. Qualified aggregate was directly transported to the working goaf via a 200-meter-long extendable conveyor belt.

[0045] A strict "mining 10 meters, filling 10 meters" cycle is implemented. After approximately 500 tons of ore are mined and transported out of one cycle unit, approximately 300 tons of waste rock generated in this cycle (crushed to meet volume requirements) are immediately used for filling. During filling, the ore is spread in layers of 0.6 meters thickness, and two high-frequency hydraulic tampers are used to perform four rounds of cross-compaction in the core area and three rounds in the auxiliary area. After each layer is compacted, a nuclear density meter is used to ensure that the compaction degree is not less than 94%.

[0046] Real-time monitoring was conducted using vibrating wire sensors pre-embedded in the roof and sidewalls. Data showed that after adopting the new method, the maximum displacement of the roof in the goaf was reduced from the traditional 120-150 mm to 40-60 mm, and the stress concentration phenomenon in the surrounding rock was significantly alleviated. After three months of operational data learning, the machine learning model within the system automatically optimized the process parameters of subsequent units, and for areas encountering fracture zones, an instruction to add 3% cement was added to the parameter package.

[0047] The results show that: 100% of waste rock is utilized on-site, saving more than 6 million yuan annually in waste rock disposal costs; the filling rate of mined-out areas is stable at 82%-86%; due to the fundamental improvement in the safety of the working environment, the mining recovery rate is expected to increase to over 90%; at the same time, the construction and operation of surface spoil heaps have been completely eliminated, resulting in significant ecological benefits.

[0048] The technical scope of this invention is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the protection scope of this invention.

Claims

1. A method for on-site resource utilization and collaborative filling of waste rock from underground mines, characterized in that, Includes the following steps: S1: Based on the three-dimensional geological model of the mine and the physical and mechanical properties database of waste rock, generate customized filling process parameter packages for different goaf areas. The parameter packages include at least the target gradation curve and target compaction degree of waste rock. S2: The waste rock generated near the tunneling face is crushed and screened in real time so that its gradation meets the target gradation curve in the parameter package corresponding to the current goaf to be filled, forming qualified filling aggregate, and the qualified filling aggregate is transported to the target goaf through a short-distance transfer system. S3: Divide the mining area into several cycle units. After completing the shallow hole ore-holding mining operation in a cycle unit, use the qualified filler aggregate obtained from the waste rock of the unit obtained in step S2 to fill the goaf formed by the unit. S4: In the goaf area, the qualified filling aggregate is compacted in layers, and the compaction degree is tested online after each layer is compacted. Feedback adjustment is made based on the comparison of the test results with the target compaction degree in the parameter package until the overall filling density meets the standard. S5: Real-time monitoring of the stability of the surrounding rock in the goaf before, during and after the filling operation, and dynamic risk assessment based on the monitoring data, and coordinated adjustment of filling operation parameters or subsequent mining parameters.

2. The method for on-site resource utilization and co-filling of underground mine waste rock according to claim 1, characterized in that: Step S1 specifically includes: S11: Construct a three-dimensional geological model of the mine, including the morphology of the ore body, the boundary of the surrounding rock, and the morphology of the mined-out area; S12: Based on the three-dimensional geological model, numerical simulation is performed to analyze the stability requirements of different goaf areas, and the core filling area and auxiliary filling area are accurately delineated accordingly. S13: Establish a database of physical and mechanical properties of excavated waste rock from different rock strata, including at least particle size distribution and uniaxial compressive strength; S14: Based on the defined filling area requirements and the physical and mechanical properties of the corresponding waste rock, a customized filling process parameter package for each goaf is generated through an algorithm model.

3. The method for on-site resource utilization and co-filling of underground mine waste rock according to claim 2, characterized in that: The specific process of generating and updating the parameter package in step S14 is as follows: taking the stability requirements of the filling area and the basic characteristics of the waste rock as input, and based on the preset material mechanical response rules, the gradation and compaction parameters required to meet the target bearing strength are calculated. When the subsequent monitoring data reveals new geological conditions, the mechanical response rule library is automatically updated to realize the dynamic iteration and optimization of the parameter package.

4. The method for on-site resource utilization and co-filling of underground mine waste rock according to claim 1, characterized in that: Step S2 specifically includes: S21: Deploy a mobile crushing and screening station underground that can follow the working face; S22: Input the target gradation curve in the current cycle parameter package into the control system of the crushing and screening station, adjust the crushing and screening parameters in real time, and perform adaptive pretreatment on the waste rock. S23: Through an optimized short-distance closed-loop logistics path, pre-treated qualified filler aggregates are directly transported from the crushing station to the target goaf.

5. A method for on-site resource utilization and co-filling of underground mine waste rock according to claim 1, characterized in that: Step S3 specifically includes: S31: Based on the three-dimensional geological model and equipment capabilities, quantitatively design the tunneling advance of the circulating unit, and estimate the amount of waste rock generated and the volume of goaf to be filled. S32: Optimize the blasting parameters of the shallow-hole ore-holding method to control the size of waste rock blocks, making them more conducive to subsequent pretreatment; S33: Execute the mining and filling cycle. After mining is completed in a single cycle unit, the filling of the goaf in that unit shall begin immediately. Cross-unit cross-operation is strictly prohibited.

6. A method for on-site resource utilization and co-filling of underground mine waste rock according to claim 5, characterized in that: The specific optimization process for executing the mining and filling cycle in step S33 is as follows: set differentiated maximum allowable exposure time safety thresholds for the roof for surrounding rock with different stability levels, monitor the actual interval time from the completion of blasting to the start of filling in real time during the operation, and compare it with the safety threshold. When the actual interval time continues to approach the safety threshold, automatically trigger analysis and adjust the unit advance or logistics scheduling scheme of the subsequent cycle.

7. A method for on-site resource utilization and co-filling of underground mine waste rock according to claim 1, characterized in that: Step S4 specifically includes: S41: Spread qualified filler aggregate in the goaf according to the preset layer thickness; S42: Use tamping equipment to compact each layer of aggregate, and implement a differentiated number of tamping passes according to the importance of the filling area; S43: Use portable density testing equipment to conduct online compaction testing on each layer of compacted surface and provide real-time data feedback; S44: Based on the feedback data, the substandard layers are reinforced and the overall uniformity of the fill is ensured through interlayer bonding treatment.

8. A method for on-site resource utilization and co-filling of underground mine waste rock according to claim 7, characterized in that: The online compaction detection and feedback control in step S43 specifically involves: after each layer is compacted, multiple detection points are immediately selected on the compacted surface for rapid compaction detection, and the detection data is transmitted to the control platform in real time. The control platform automatically compares the measured compaction value with the target compaction value in the parameter package. If the measured value is lower than the target value, a supplementary compaction command is immediately sent to the working surface. After supplementary compaction, the test is repeated until it is qualified before the next layer of paving is allowed.

9. A method for on-site resource utilization and co-filling of underground mine waste rock according to claim 1, characterized in that: Step S5 specifically includes: S51: Pre-embed stress and displacement monitoring sensors in the surrounding rock of the goaf area before mining; S52: Analyze and monitor data in real time during the filling process, establish an early warning mechanism, and adjust the current filling operation in conjunction with the triggering of an early warning; S53: Continuous monitoring after filling, and optimization of the generation model of subsequent process parameter packages using multi-cycle data; S54: Dynamically assess system stability based on monitoring data streams and generate control instructions for tunneling or filling parameters.

10. A method for on-site resource utilization and co-filling of underground mine waste rock according to claim 9, characterized in that: The specific process of dynamic evaluation and linkage control in step S54 is as follows: using time-series data obtained from the monitoring network, the stability of the mining system is dynamically evaluated through a prediction model. When an instability risk is predicted, a set of control instructions is automatically generated and issued. The instructions include adjusting the blasting parameters in the adjacent area or increasing the compaction strength and cementing material content of the subsequent filling. The evaluation and control logic is extended to multiple mining areas throughout the mine to form a distributed intelligent disaster prevention and control network.

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