A coal mine roadway ditch sludge cleaning device and a dredging method
This coal mine roadway ditch cleaning device, which combines tracked walking, vision sensors, and a hydraulic system, solves the problems of incomplete cleaning, equipment instability, and easy damage in existing technologies, and achieves efficient sludge cleaning and environmental protection.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHANDONG UNIV OF SCI & TECH
- Filing Date
- 2026-05-07
- Publication Date
- 2026-06-05
Smart Images
Figure CN122147967A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to a device and method for cleaning silt from coal mine roadway ditches, belonging to the field of coal mine roadway silt removal technology. Background Technology
[0002] The automatic sludge cleaning device for coal mine roadway drainage ditches is a technical device used to clean and maintain the drainage system in coal mine roadways. It ensures smooth water flow in the ditches, maintains roadway hygiene, and prevents mine flooding. Coal mine roadway drainage ditches are an important component of the underground water control system. With the continuous expansion of existing coal mine production scale, the amount of mine drainage is gradually increasing, and the unobstructed flow of the ditches directly affects the safe production of the coal mine. During coal mine production, coal dust, coal slag, and debris such as bolts, nuts, and wires left behind during equipment installation result in a large amount of coal sludge and debris in the drainage ditches. The settled coal sludge and impurities reduce the cross-sectional area of the drainage ditches, causing poor water flow, sewage overflow, and pollution of the roadways, affecting the normal operation of the drainage system. Therefore, roadway drainage ditches need to be cleaned regularly to ensure smooth water flow.
[0003] Currently, the cleaning of underground mine drainage ditches in China relies primarily on manual labor. Coal sludge and impurities accumulate in these ditches, forming hard lumps that severely complicate cleaning and transportation. Manual cleaning is not only labor-intensive and inefficient, but also results in the accumulation of sludge within the mines due to the lack of dedicated transport equipment for sludge removal. This leads to environmental pollution, occupies transport space, and poses serious safety hazards.
[0004] There are two main modes of movement for existing cleaning devices. One is to lay a dedicated track along one side of the ditch. This method can effectively ensure the lateral distance between the cleaning device and the ditch. However, due to the complexity of coal mine roadways and the large-scale alteration of the existing infrastructure caused by laying the track, this method is difficult to apply in practice. The second method uses a more flexible wheeled or tracked walking mechanism. However, since part of the cleaning device needs to extend into the ditch, this method cannot guarantee the overall distance between the cleaning device and the ditch, and cannot ensure that the equipment moves accurately along the ditch's direction. For silt inside the ditch, the suction extraction method is widely used due to its efficiency and convenience. However, due to the long-term accumulation of coal sludge and debris such as bolts, nuts, and wires in the ditch, the sludge pump in the patent document (application number 202320282219.X), which lacks a targeted crushing and filtering device, is prone to clogging and cannot effectively clean the edge areas of the ditch. The patent document (application number CN202511493081.8) provides a digging-type feeding mechanism, but considering the high hardness of the sludge, its digging efficiency is low, and various debris inside the sludge may jam its feeding mechanism. Summary of the Invention
[0005] To address the above problems, this invention provides a device and method for cleaning silt from coal mine roadway ditches.
[0006] The technical solution of the present invention is as follows:
[0007] A coal mine roadway sludge cleaning device includes: a travel system for driving the entire device; a sludge cleaning system including a support frame, a pushing cylinder, and a crushing head, wherein the support frame provides frame support for the sludge cleaning system, and the pushing cylinder drives the crushing head to move; and a sludge suction system including a mud pump, a filter device, and corresponding pipelines, the main function of which is to use the mud pump to pump the crushed and mixed sludge from the sludge cleaning system onto a distributor; the distributor is used to filter out liquid sludge and solid impurities separately, the filtered liquid sludge enters a filter press, and the solid impurities enter a waste collection box.
[0008] Preferably, the travel system includes a walking track, a support platform, a control cabinet, and vision sensors. To adapt to the complex travel environment of coal mine roadways, ensure the stability of the entire machine's movement, and avoid damaging the hardened road surface, the walking track adopts a rubber track type walking mechanism. The control cabinet is used to receive and process information collected by various sensors and issue corresponding commands to the actuators. Since the control cabinet uses low-voltage control, an explosion-proof shell is added to the control cabinet to meet the explosion-proof requirements of coal mines. A control panel is installed on the upper surface of the control cabinet for real-time observation of equipment status and manual modification of control commands. The vision sensors include a binocular vision sensor and a depth vision sensor. A binocular vision sensor is installed on the front of the control cabinet for collecting roadway condition information. Depth vision sensors are installed on both the front and rear sides of the support platform. During operation, the depth vision sensors are installed at a fixed angle to observe the position of the ditch wall at a specific angle before and after the equipment based on the color difference between the ditch wall and the ground, ensuring that the equipment is flush with the ditch.
[0009] Preferably, in the dredging system, the support frame includes a horizontal guide rail, a horizontal support frame, and a vertical support frame; the pushing cylinder includes a horizontal pushing hydraulic cylinder, a swing hydraulic cylinder, and a vertical pushing hydraulic cylinder;
[0010] The horizontal guide rail is fixed to the support platform of the travel system, and the horizontal support frame is installed on the upper part of the horizontal guide rail. Under the action of the horizontal pushing hydraulic cylinder, the horizontal position of the entire dredging system can be adjusted. The vertical support frame is placed vertically at one end of the horizontal support frame. One end of the swing hydraulic cylinder is connected to the top of the vertical support frame through a hinge, and the other end of the swing hydraulic cylinder is connected to the horizontal support frame through a hinge, which can realize the adjustment of the angle of the vertical support frame.
[0011] The crushing head mounting base is installed on a vertical support frame and connected to a vertically pushing hydraulic cylinder. The height of the crushing head can be adjusted by pushing the hydraulic cylinder, ultimately achieving three-degree-of-freedom adjustment of the crushing head. The crushing head is mounted on the crushing head mounting base and is powered for rotation by a hydraulic motor. More preferably, a torque sensor is installed between the hydraulic motor and the crushing head to monitor the working resistance (T) of the crushing head. Monitoring the crushing resistance identifies the degree of compaction of the ditch silt.
[0012] In a further preferred embodiment, the crushing head includes crushing teeth and a flexible brush. The maximum width D1 from the tip of the crushing teeth on both sides is slightly smaller than the width D of the ditch (to prevent damage to the wall of the ditch during operation), and is used to crush the hard silt deposited and hardened in the ditch. The width of the flexible brush is slightly larger than the width of the ditch to ensure that the silt at the edge of the ditch is completely cleaned and to achieve full mixing of the crushed silt and sewage.
[0013] In a further preferred embodiment, a set of two infrared ranging sensors are installed on the upper part of the crushing head mounting base, symmetrically distributed along the rotation axis of the crushing head, with the spacing being the same as the size of the water ditch, to determine whether the position of the crushing head has shifted.
[0014] In a further preferred embodiment, the horizontal thrust hydraulic cylinder is equipped with a speed regulating valve. During the initial manual adjustment, a high-flow channel is used to achieve rapid horizontal positioning. After the crushing head is determined to be offset based on the monitoring signal, a low-flow channel is used to ensure the horizontal positioning accuracy of the crushing head.
[0015] Preferably, in the sludge suction system, since the sludge in the ditch contains a large amount of debris such as bolts, nuts, and wires that cannot be crushed by the crushing head, direct suction might damage the sludge pump. Therefore, a filtration device is installed. The filtration device includes a filter bucket and a debris bin. The filter bucket is bucket-shaped to fit well against the walls of the ditch, ensuring that most of the sludge can be sucked in by the sludge pump. A fine screen plate is installed at the top opening of the filter bucket, and a debris bin is located at the bottom of the filter bucket. A fine screen plate is installed at the top of the debris bin, and a coarse screen plate is installed at the front end of the debris bin. The relatively uniformly crushed sludge can directly enter the bucket and be sucked in by the sludge pump. The remaining impurities pass through the coarse screen plate and enter the debris bin. The top of the debris bin is also a fine screen plate. Sludge other than bolts, nuts, and wires can pass through the top of the debris bin and be ultimately sucked in by the sludge pump. The filtration device is connected to the sludge pump via a pipe made of rigid material. The pipe is located at the top of the debris bin of the filtration device.
[0016] Preferably, the material distributor includes a frame, springs, a screen box, and a shaking mechanism. The screen box has two layers, with a screen in the middle, connected to the frame by springs. The shaking mechanism includes a shaking pump, a transmission mechanism, and an eccentric shaft. The shaking pump drives the eccentric shaft to rotate. Due to the continuous vibration generated by the rotation of the eccentric shaft, the sludge and impurities pumped by the mud pump are subjected to the combined effects of gravity and vibration in the screen box, causing the liquid mud to pass through the screen and enter the lower box, while solid impurities such as coal slag enter the waste collection box along the screen. The lower box (thin material bin) of the screen box is connected to the filter press, and the filtered liquid mud enters the filter press.
[0017] Preferably, the filter press includes a hydraulic pressing cylinder, a filter press frame, a filter, a water tank, a dry material box, and a drainage pipe. After being filtered by the distributor, the liquid slurry enters the filter. The hydraulic pressing cylinder pushes the filter along the filter press frame, causing the liquid in the slurry to flow into the water tank and be discharged into the ditch through the drainage pipe for further rinsing and cleaning of the ditch surface, and to reduce the weight of debris stored on the vehicle body. The solids after filtration are discharged into the dry material box below the filter.
[0018] Preferably, the coal mine roadway ditch silt cleaning device is also equipped with a hydraulic pump station, which provides a power source for the equipment.
[0019] A dredging method using the aforementioned coal mine roadway ditch silt removal device includes the following steps:
[0020] S1: Start the equipment, control the driving system to adjust the whole machine to the side of the ditch to be cleaned, adjust the driving direction to be aligned with the direction of the ditch, adjust the position of the dredging system support frame so that the crushing head goes deep into the ditch; install the filter device at the ditch.
[0021] Preferably, in step S1, the method for adjusting the entire device to be flush with the ditch using depth vision sensors is as follows: the front and rear depth vision sensors are installed at fixed angles, and the distances from themselves to the edge of the ditch are measured, denoted as L1 and L2 respectively. Based on the measured L1 and L2, the values of d1 and d2 are determined; wherein: Similarly S1 and S2 are the distances from the projection of the depth vision sensor onto the edge of the ditch, and H1 and H2 are the vertical distances from the depth vision sensor to the surface of the ditch. Since the relative installation heights of the two depth vision sensors are H1=H2 and the installation angles are θ1=θ2, if it is necessary to ensure that d1=d2, it is only necessary to adjust the driving system to ensure that the measurement distance L1=L2 of the depth vision sensor.
[0022] S2: Automatic cleaning mode is activated, and the equipment begins operation. A binocular vision sensor identifies the tunnel environment, and depth sensors at the front and rear of the equipment determine the distances d1 and d2 between itself and the ditch, ensuring the equipment remains flush with the ditch during automatic operation. An infrared ranging sensor on the breaker head mounting base detects any deviation in the breaker head's position relative to the ditch; if deviation is detected, the sludge removal system adjusts the breaker head's position using a hydraulic cylinder. A torque sensor monitors the breaker head's working resistance in real time.
[0023] Preferably, in step S2, the infrared ranging sensor receives the emitted infrared signal and calculates the distance between the sensor and the measuring surface, denoted as h1 and h2 respectively. If the crushing head is offset to one side in the ditch, the infrared sensor on the other side can only detect the position of the water surface inside the ditch and cannot receive the signal reflected from the ground. Since the water surface inside the ditch is slightly lower than the ground, h1 > h2, indicating that the crushing head is offset to one side. Then, the controller sends a command to the horizontal pushing hydraulic cylinder to adjust the horizontal position of the crushing head. If h1 = h2, it indicates that the crushing head is centered and meets the working requirements.
[0024] Preferably, in step S2, the working resistance of the crushing head is monitored in real time using a torque sensor. Based on the working resistance, the degree of sludge compaction is determined, and the rotational speed w of the crushing head and the travel speed v of the equipment are adjusted. Three compaction degree ranges are defined: low hardness range: 0~T1; medium hardness range: T1~T2; high hardness range: T1~T3. The rotational speed of the crushing head and the speed of the travel system are also defined with three thresholds w1, w2, w3 and v1, v2, v3 respectively. The higher the hardness, the lower the rotational speed and travel speed of the crushing head, so as to facilitate the full crushing of the compacted sludge. If T is greater than T3, it indicates that the crushing head may interfere with the side of the ditch, and the machine should be stopped immediately for inspection.
[0025] S3: The mud pump extracts the crushed and mixed sludge. The filter device collects impurities such as bolts, nuts, and wires into the debris bin. The sludge is sucked into the distributor, and the liquid sludge is transported to the filter press through the distributor's screen plate. Solid impurities such as coal slag enter the waste collection box along the screen. The filter press discharges the liquid sludge into the ditch, and the filtered solids are stored in the dry material box.
[0026] S4: The binocular vision sensor identifies roadway information. When the equipment reaches the end of the ditch, it temporarily stops and switches to manual operation mode. All mechanisms are retracted, and the coal sludge in the waste collection box and dry material box is unloaded into the centralized storage area, completing the cleaning work.
[0027] The beneficial effects of this invention are as follows:
[0028] 1. The vehicle body is located on the road surface of the tunnel, with most of the equipment on the vehicle body, only the crushing head and the filtering device, coming into contact with the silt, ensuring the long-term reliability of the equipment. Due to the complex road surface environment of coal mine tunnels (incomplete road surface hardening, water accumulation, uneven road surface, and large differences in elevation), traditional wheeled walking units are prone to slippage and deviation. Laying walking tracks along one side of the ditch is also difficult and impractical due to the huge amount of engineering work, significant damage to the original road surface, and inflexible equipment movement. This invention uses rubber tracked wheels, which can ensure the stability of the equipment's movement and better adapt to the tunnel surface.
[0029] 2. Compared to track-type walking mechanisms, tracked wheels make the vehicle body more flexible in movement and can better adapt to the ditch cleaning work in different areas. However, due to its non-fixed walking form, it is difficult to accurately determine the distance between the vehicle body and the ditch. This invention uses a depth vision sensor to monitor the distance between the ditch side and the vehicle body in real time, ensuring that the vehicle body can walk in an approximately straight line along the ditch and achieve vehicle body positioning.
[0030] 3. The dredging and crushing mechanism consists of a frame structure, a telescopic hydraulic cylinder, a crushing head, and a crushing motor. By adjusting the extension and retraction of the hydraulic cylinder, it can achieve three degrees of freedom adjustment: horizontal, vertical, and rotational, allowing the crushing head to be precisely positioned inside the ditch. The frame structure ensures the stability of the adjustment process.
[0031] 4. The positioning of the crushing head includes two methods: manual operation mode and automatic adjustment mode. First, in manual operation mode, the crushing head is positioned in the ditch by manually adjusting the extension and retraction of the hydraulic cylinder before work begins. Second, during operation, the cleaning truck travels along the ditch, but slight deviations are inevitable. In this case, the crushing head may interfere with the sides of the ditch. In automatic adjustment mode, an infrared sensor mounted on the crushing head mounting plate detects the relative position to the ditch, automatically adjusting the hydraulic cylinder to ensure the crushing head remains centered in the ditch, preventing damage to the ditch itself. The horizontal pushing cylinder is equipped with a speed control valve. Initially, a high-flow channel is used for rapid horizontal positioning during manual adjustment. After detecting any deviation based on monitoring signals, a low-flow channel is used to ensure the horizontal positioning accuracy of the crushing head.
[0032] 5. The crushing head consists of hard crushing teeth and surrounding flexible brushes. The brushes are fitted onto the crushing head via a fixing device. The crushing teeth are used for crushing solid, blocky silt, while the brushes are mainly used for cleaning the crushed silt. The crushing head is slightly smaller than the width of the ditch, and the brushes are slightly larger than the ditch width. The crushing head and the brushes on it can be replaced according to the size of the ditch.
[0033] The equipment and method of this invention enable the adjustment of the overall equipment position, precise positioning of the crushing head, and real-time adjustment of the travel speed and the rotation speed of the crushing head, ultimately realizing an integrated process of crushing, mixing, extracting, sorting, filtration, and discharging sludge from roadways and ditches. Attached Figure Description
[0034] Figure 1 This is a schematic diagram of the overall machine structure;
[0035] Figure 2 Schematic diagram of vehicle body positioning;
[0036] Figure 3 This is a structural diagram of the dredging system;
[0037] Figure 4 Diagram of the positioning principle of the crusher head;
[0038] Figure 5 This is a schematic diagram of the filter device structure;
[0039] Figure 6 This is a schematic diagram of the material sorting machine.
[0040] Figure 7 This is a schematic diagram of a filter press structure;
[0041] Figure 8 Flowchart of sludge transportation process;
[0042] Figure 9 A flowchart of the dredging process;
[0043] in:
[0044] 1. Driving system; 11. Tracks; 12. Support platform; 13. Control cabinet; 14. Binocular vision sensor; 15. Depth vision sensor;
[0045] 2. Dredging system; 21. Support frame; 211. Horizontal guide rail; 212. Horizontal support frame; 213. Vertical support frame; 22. Pushing cylinder; 221. Horizontal pushing hydraulic cylinder; 222. Swinging hydraulic cylinder; 223. Vertical pushing hydraulic cylinder; 23. Crusher head mounting base; 24. Hydraulic motor; 25. Torque sensor; 26. Crusher head; 261. Crushing teeth; 262. Flexible brush; 271. Infrared ranging sensor mounting base; 272. Infrared ranging sensor;
[0046] 3. Sewage suction system; 31. Mud pump; 32. Piping; 33. Filtration device; 331. Filter bucket; 332. Waste bin; 333. Fine screen plate; 334. Coarse screen plate;
[0047] 4. Feeder; 41. Frame; 42. Spring; 43. Screen box; 431. Screen; 432. Thin material bin; 44. Vibration mechanism; 441. Vibration pump; 442. Transmission mechanism; 443. Eccentric shaft;
[0048] 5. Waste collection bins;
[0049] 6. Filter press; 61. Hydraulic pressing cylinder; 62. Filter press frame; 63. Filter; 64. Water tank; 65. Dry material box; 66. Drainage pipe;
[0050] 7. Hydraulic pump station. Detailed Implementation
[0051] The present invention will be further described below with reference to the embodiments and accompanying drawings, but is not limited thereto.
[0052] Example 1:
[0053] A coal mine roadway sludge cleaning device includes: a travel system for driving the entire device; a sludge cleaning system including a support frame, a pushing cylinder, and a crushing head, wherein the support frame provides frame support for the sludge cleaning system, and the pushing cylinder drives the crushing head to move; and a sludge suction system including a mud pump, a filter device, and corresponding pipelines, the main function of which is to use the mud pump to pump the crushed and mixed sludge from the sludge cleaning system onto a distributor; the distributor is used to filter out liquid sludge and solid impurities separately, the filtered liquid sludge enters a filter press, and the solid impurities enter a waste collection box.
[0054] The travel system includes a track, a support platform, a control cabinet, and vision sensors. To adapt to the complex travel environment of coal mine roadways, ensure the stability of the entire machine's movement, and avoid damaging the hardened road surface, the track uses a rubber track mechanism. The control cabinet receives and processes information collected by various sensors and issues corresponding commands to the actuators. Since the control cabinet uses low-voltage control, it is equipped with an explosion-proof shell to meet coal mine explosion-proof requirements. A control panel is installed on the upper surface of the control cabinet for real-time monitoring of equipment status and manual modification of control commands. The vision sensors include binocular vision sensors and depth vision sensors. A binocular vision sensor is installed on the front of the control cabinet to collect roadway condition information. Depth vision sensors are installed on both the front and rear sides of the support platform. During operation, the depth vision sensors are installed at a fixed angle to observe the position of the ditch wall at specific angles before and after the equipment based on the color difference between the ditch wall and the ground, ensuring the equipment is flush with the ditch.
[0055] In the dredging system, the support frame includes a horizontal guide rail, a horizontal support frame, and a vertical support frame; the pushing cylinder includes a horizontal pushing hydraulic cylinder, a swing hydraulic cylinder, and a vertical pushing hydraulic cylinder.
[0056] The horizontal guide rail is fixed to the support platform of the travel system, and the horizontal support frame is installed on the upper part of the horizontal guide rail. Under the action of the horizontal pushing hydraulic cylinder, the horizontal position of the entire dredging system can be adjusted. The vertical support frame is placed vertically at one end of the horizontal support frame. One end of the swing hydraulic cylinder is connected to the top of the vertical support frame through a hinge, and the other end of the swing hydraulic cylinder is connected to the horizontal support frame through a hinge, which can realize the adjustment of the angle of the vertical support frame.
[0057] The crushing head mounting base is installed on a vertical support frame and connected to a vertically moving hydraulic cylinder. The height of the crushing head can be adjusted by moving the cylinder, ultimately achieving three-degree-of-freedom adjustment. The crushing head is mounted on the mounting base and powered by a hydraulic motor. A torque sensor is installed between the hydraulic motor and the crushing head to monitor the working resistance (T) of the crushing head. Monitoring the crushing resistance identifies the degree of compaction of the ditch silt.
[0058] The crushing head includes crushing teeth and a flexible brush. The maximum width D1 from the tip of the crushing teeth on both sides is slightly smaller than the width D of the ditch (to prevent damage to the wall of the ditch during operation) and is used to crush the hard silt deposited and hardened in the ditch. The width of the flexible brush is slightly larger than the width of the ditch to ensure that the silt at the edge of the ditch is completely cleaned and to achieve full mixing of the crushed silt and sewage.
[0059] A set of two infrared ranging sensors are installed on the upper part of the crusher head mounting base. They are symmetrically distributed along the rotation axis of the crusher head, with the spacing being the same as the size of the water ditch. They are used to determine whether the position of the crusher head has shifted.
[0060] The horizontal thrust hydraulic cylinder is equipped with a speed control valve. When initially manually adjusted, a high-flow channel is used to achieve rapid horizontal positioning. After the crushing head is determined to be offset based on the monitoring signal, a low-flow channel is used to ensure the horizontal positioning accuracy of the crushing head.
[0061] In the sludge suction system, the sludge in the ditch contains a large amount of debris such as bolts, nuts, and wires, which cannot be crushed by the crusher head. Direct suction could damage the sludge pump. Therefore, a filtration device is installed. The filtration device includes a filter bucket and a debris bin. The filter bucket is bucket-shaped to fit well against the walls of the ditch, ensuring that most of the sludge can be sucked in by the sludge pump. A fine screen plate is installed at the top opening of the filter bucket, and a debris bin is located at the bottom of the filter bucket. A fine screen plate is installed at the top of the debris bin, and a coarse screen plate is installed at the front of the debris bin. The relatively uniformly crushed sludge can directly enter the bucket and be sucked in by the sludge pump. The remaining impurities pass through the coarse screen plate and enter the debris bin. The top of the debris bin is also a fine screen plate. Sludge other than bolts, nuts, and wires can pass through the top of the debris bin and be sucked in by the sludge pump. The filtration device is connected to the sludge pump via a pipe made of rigid material. The pipe joint is located at the top of the debris bin of the filtration device.
[0062] The feeder includes a frame, springs, a screen box, and a vibrating mechanism. The screen box has two layers, with the screen in the middle, connected to the frame by springs. The vibrating mechanism includes a vibrating pump, a transmission mechanism, and an eccentric shaft. The vibrating pump drives the eccentric shaft to rotate. Due to the rotation of the eccentric shaft, continuous vibration is generated. The sludge and impurities pumped by the mud pump are subjected to the combined effects of gravity and vibration in the screen box, causing the liquid mud to pass through the screen and enter the lower box, while solid impurities such as coal slag enter the waste collection box along the screen. The lower box (thin material bin) of the screen box is connected to the filter press, and the filtered liquid mud enters the filter press.
[0063] The filter press includes a hydraulic pressing cylinder, a filter press frame, a filter, a water tank, a dry material box, and a drainage pipe. After being filtered by the distributor, the liquid slurry enters the filter. The hydraulic pressing cylinder pushes the filter along the filter press frame, causing the liquid in the slurry to flow into the water tank and be discharged into the ditch through the drainage pipe. This is used to rinse and clean the surface of the ditch again and reduce the weight of debris stored on the vehicle body. The solids after filtration are discharged into the dry material box below the filter.
[0064] The silt removal device for coal mine roadways is also equipped with a hydraulic pump station, which provides power to the equipment.
[0065] Example 2
[0066] A dredging method using the coal mine roadway ditch silt removal device described in Example 1 includes the following steps:
[0067] S1: Start the equipment, control the driving system to adjust the whole machine to the side of the ditch to be cleaned, adjust the driving direction to be aligned with the direction of the ditch, adjust the position of the dredging system support frame so that the crushing head goes deep into the ditch; install the filter device at the ditch.
[0068] The method for adjusting the entire device to be flush with the ditch using depth vision sensors is as follows: The front and rear depth vision sensors are installed at fixed angles. The distances from the sensor itself to the edge of the ditch are measured, denoted as L1 and L2 respectively. Based on the measured L1 and L2, the values of d1 and d2 are determined. Where: Similarly S1 and S2 are the distances from the projection of the depth vision sensor onto the edge of the ditch, and H1 and H2 are the vertical distances from the depth vision sensor to the surface of the ditch. Since the relative installation heights of the two depth vision sensors are H1=H2 and the installation angles are θ1=θ2, if it is necessary to ensure that d1=d2, it is only necessary to adjust the driving system to ensure that the measurement distance L1=L2 of the depth vision sensor.
[0069] S2: Automatic cleaning mode is activated, and the equipment begins operation. The binocular vision sensor identifies the tunnel environment, and the depth vision sensors at the front and rear of the equipment identify the distances d1 and d2 between itself and the ditch, ensuring that the entire equipment is flush with the ditch during automatic operation. The infrared distance sensor on the breaker head mounting base identifies whether the position of the breaker head in the ditch is offset relative to the ditch. If there is an offset, the sludge removal system pushes the hydraulic cylinder to adjust the position of the breaker head. The torque sensor monitors the working resistance of the breaker head in real time.
[0070] The infrared ranging sensor receives the emitted infrared signal and calculates the distance between the sensor and the measuring surface, denoted as h1 and h2 respectively. If the crushing head is offset to one side in the ditch, the infrared sensor on the other side can only detect the position of the water surface inside the ditch and cannot receive the signal reflected from the ground. Since the water surface inside the ditch is slightly lower than the ground, h1 > h2, indicating that the crushing head is offset to one side. Then, the controller sends a command to the horizontal pushing hydraulic cylinder to adjust the horizontal position of the crushing head. If h1 = h2, it means that the crushing head is centered and meets the working requirements.
[0071] The working resistance of the crushing head is monitored in real time using a torque sensor. Based on the working resistance, the degree of sludge compaction is determined, and the rotational speed w of the crushing head and the travel speed v of the equipment are adjusted accordingly. Three compaction degree ranges are defined: low hardness range: 0~T1; medium hardness range: T1~T2; high hardness range: T1~T3. The rotational speed of the crushing head and the speed of the travel system are also defined with three thresholds w1, w2, w3 and v1, v2, v3 respectively. The higher the hardness, the lower the rotational speed and travel speed of the crushing head, so as to facilitate the full crushing of the compacted sludge. If T is greater than T3, it indicates that the crushing head may interfere with the side of the ditch, and the machine should be stopped immediately for inspection.
[0072] S3: The mud pump extracts the crushed and mixed sludge. The filter device collects impurities such as bolts, nuts, and wires into the debris bin. The sludge is sucked into the distributor and the liquid sludge is transported to the filter press through the distributor's screen plate. Solid impurities such as coal slag enter the waste collection box along the screen. The filter press discharges the liquid sludge into the ditch, and the filtered solids are stored in the dry material box.
[0073] S4: The binocular vision sensor identifies roadway information. When the equipment reaches the end of the ditch, it temporarily stops and switches to manual operation mode. All mechanisms are retracted, and the coal sludge in the waste collection box and dry material box is unloaded into the centralized storage area, completing the cleaning work.
Claims
1. A device for cleaning silt from drainage ditches in coal mine roadways, characterized in that, include: The driving system, used to propel the entire device, includes a walking track and a support platform. The walking track uses a rubber track type walking mechanism. The dredging system is located on the support platform and includes a support frame, a pushing cylinder, and a crushing head. The support frame provides frame support for the dredging system, and the pushing cylinder drives the crushing head to move. The suction system is located on the support platform, behind the dredging system in the direction of travel. The suction system includes a mud pump, a filter device, and corresponding pipelines. It is used to pump the crushed and mixed sludge from the dredging system to the distributor. The distributor is on the support platform. The distributor inlet is connected to the mud pump outlet through a pipeline. The distributor is used to filter out liquid mud and solid impurities separately. The filtered liquid mud enters the filter press, and the solid impurities enter the waste collection box. Both the filter press and the waste collection box are on the support platform, with the filter press at the rear in the direction of travel.
2. The coal mine roadway ditch silt cleaning device according to claim 1, characterized in that, The driving system also includes a control cabinet and vision sensors. The control cabinet receives and processes the information collected by the sensors and issues corresponding commands to the actuators. The control cabinet is equipped with an explosion-proof shell, and a control panel is installed on the upper surface of the control cabinet for real-time observation of equipment status and manual modification of control commands. The vision sensors include binocular vision sensors and depth vision sensors. A binocular vision sensor is installed on the front of the control cabinet to collect road condition information. Depth vision sensors are installed on both the front and rear sides of the support platform. The depth vision sensors are installed at a fixed angle and are used to observe the position of the ditch sides in front of and behind the equipment based on the color difference between the ditch sides and the ground.
3. The coal mine roadway ditch silt cleaning device according to claim 1, characterized in that, In the dredging system, the support frame includes a horizontal guide rail, a horizontal support frame, and a vertical support frame; the pushing cylinder includes a horizontal pushing hydraulic cylinder, a swing hydraulic cylinder, and a vertical pushing hydraulic cylinder. The horizontal guide rail is fixed to the support platform of the travel system, and the horizontal support frame is installed on the upper part of the horizontal guide rail. Under the action of the horizontal pushing hydraulic cylinder, the horizontal position of the entire dredging system is adjusted. The vertical support frame is placed vertically at one end of the horizontal support frame. One end of the swing hydraulic cylinder is connected to the top of the vertical support frame through a hinge, and the other end of the swing hydraulic cylinder is connected to the horizontal support frame through a hinge, so as to adjust the angle of the vertical support frame. The crushing head mounting base is installed on a vertical support frame and connected to a vertical pushing hydraulic cylinder. The height of the crushing head is adjusted by pushing the vertical pushing hydraulic cylinder. The crushing head is installed on the crushing head mounting base and is powered to rotate by a hydraulic motor. A torque sensor is installed between the hydraulic motor and the crushing head to monitor the working resistance T of the crushing head. The degree of compaction of the ditch silt is identified by monitoring the working resistance of the crushing.
4. The coal mine roadway ditch silt cleaning device according to claim 1, characterized in that, The crushing head includes crushing teeth and a flexible brush. The maximum width D1 from the tip of the crushing teeth on both sides is less than the width D of the water ditch, and it is used to crush the hard silt deposited and hardened in the water ditch. The width of the flexible brush is greater than the width of the water ditch. Two infrared ranging sensors are installed on the upper part of the crusher head mounting base. They are symmetrically distributed along the rotation axis of the crusher head, with the spacing being the same as the size of the water ditch. They are used to determine whether the position of the crusher head has shifted. The horizontal thrust hydraulic cylinder is equipped with a speed control valve.
5. The coal mine roadway ditch silt cleaning device according to claim 1, characterized in that, In the sludge suction system, the filtration device includes a filter bucket and a debris bin. The filter bucket is bucket-shaped, with a fine screen plate at the top opening and a debris bin at the bottom. A fine screen plate is installed on the top of the debris bin, and a coarse screen plate is installed at the front of the debris bin. The filter device is connected to a mud pump via a pipe at the rear, with the pipe interface located at the top of the debris bin.
6. The coal mine roadway ditch silt cleaning device according to claim 1, characterized in that, The feeder includes a frame, springs, a screen box, and a shaking mechanism. The screen box is divided into upper and lower layers with a screen in the middle, which is connected to the frame by springs. The shaking mechanism includes a shaking pump, a transmission mechanism, and an eccentric shaft. The shaking pump drives the eccentric shaft to rotate. The lower layer of the screen box is connected to the filter press, and the filtered liquid slurry enters the filter press.
7. The coal mine roadway ditch silt cleaning device according to claim 1, characterized in that, The filter press includes a hydraulic pressing cylinder, a filter press frame, a filter, a water tank, a dry material box, and a drainage pipe. After being filtered by the distributor, the liquid slurry enters the filter. The hydraulic pressing cylinder pushes the filter along the filter press frame, causing the liquid in the slurry to flow into the water tank and be discharged into the ditch through the drainage pipe for further rinsing and cleaning of the ditch surface. The solids after filtration are discharged into the dry material box below the filter.
8. The coal mine roadway ditch silt cleaning device according to claim 1, characterized in that, The silt removal device for coal mine roadways is also equipped with a hydraulic pump station, which provides power to the equipment.
9. A method for dredging silt using the silt-removing device for coal mine roadway drainage ditches as described in claim 1, characterized in that, Includes the following steps: S1: Start the equipment, control the driving system to adjust the whole machine to the side of the ditch to be cleaned, adjust the driving direction to be aligned with the direction of the ditch, adjust the position of the dredging system support frame so that the crushing head goes deep into the ditch; install the filter device at the ditch. S2: Automatic cleaning mode is activated, and the equipment starts working; the binocular vision sensor identifies the tunnel environment, and the depth vision sensors at the front and rear of the equipment identify the front and rear distances d1 and d2 between itself and the ditch. During automatic travel, the entire equipment is aligned with the ditch; and the infrared distance sensor on the crusher head mounting base identifies whether the position of the crusher head in the ditch is offset relative to the ditch. If there is an offset, the position of the crusher head is adjusted by the hydraulic cylinder pushed by the sludge removal system. The working resistance of the crusher head is monitored in real time using a torque sensor. S3: The mud pump extracts the crushed and mixed sludge, and the impurities are concentrated in the debris bin through the filtration device. The sludge is sucked into the distributor, and the liquid sludge is transported to the filter press through the distributor's screen plate, while the solid impurities enter the waste collection box along the screen. The liquid in the liquid sludge is discharged to the ditch through the filter press, and the solids after filtration are stored in the dry material box. S4: The binocular vision sensor identifies roadway information. When the equipment reaches the end of the ditch, it temporarily stops and switches to manual operation mode. All mechanisms are retracted, and the coal sludge in the waste collection box and dry material box is unloaded into the centralized storage area, completing the cleaning work.
10. The dredging method of the coal mine roadway ditch silt cleaning device according to claim 9, characterized in that, In step S1, the method for adjusting the entire device to be flush with the ditch using depth vision sensors is as follows: The front and rear depth vision sensors are installed at fixed angles, and their distances from the edge of the ditch are measured, denoted as L1 and L2 respectively. Based on the measured L1 and L2, the values of d1 and d2 are determined; where: Similarly S1 and S2 are the distances from the projection of the depth vision sensor onto the edge of the ditch, and H1 and H2 are the vertical distances from the depth vision sensor to the surface of the ditch. Since the relative installation heights of the two depth vision sensors are H1=H2 and the installation angles are θ1=θ2, if d1=d2 is required, it is only necessary to adjust the driving system to make the measurement distance L1=L2 of the depth vision sensor. In step S2, the infrared ranging sensor receives the emitted infrared signal and calculates the distance between the sensor and the measuring surface, denoted as h1 and h2 respectively. If the crushing head is offset to one side in the ditch, the infrared sensor on the other side can only detect the position of the water surface inside the ditch and cannot receive the signal reflected from the ground. Since the water surface inside the ditch is lower than the ground, h1 > h2, indicating that the crushing head is offset to one side. Then, a command is sent to the horizontal pushing hydraulic cylinder to adjust the horizontal position of the crushing head. If h1 = h2, it indicates that the crushing head is centered and meets the working requirements. In step S2, the working resistance of the crushing head is monitored in real time using a torque sensor. Based on the working resistance, the degree of sludge compaction is determined, and the rotational speed w of the crushing head and the travel speed v of the equipment are adjusted accordingly. Three compaction degree ranges are defined: low hardness range: 0~T1; medium hardness range: T1~T2; high hardness range: T1~T3. The rotational speed of the crushing head and the speed of the travel system are also defined with three thresholds w1, w2, w3 and v1, v2, v3 respectively. The higher the hardness, the lower the rotational speed of the crushing head and the travel speed. If T is greater than T3, it indicates that the crushing head may interfere with the side of the water ditch, and the machine should be stopped immediately for inspection.