A method for controlling the horizon of a roadway in a thin coal seam in a under-anticline section of a rock burst goaf

Abstract

This application relates to the field of coal mine roadway excavation technology, and discloses a method for controlling the strata of thin coal seams in the anticline section of a goaf area affected by rockburst. The method includes acquiring detection data using a multi-source geological detection module, fusing and outputting the actual influence range of the anticline axis, the boundary coordinates of the floor-breaking area, the actual thickness parameters of the top coal, and a static stress distribution cloud map; setting a minimum safe thickness threshold for the top coal based on support design parameters, calculating the minimum control value for the floor-breaking depth under the premise of meeting the set threshold, and planning safe strata; dividing the roadway into stable sections, an anticline axis-affected section, and a section close to the goaf based on the obtained parameters and safe strata, generating corresponding control commands and excavation trajectories; setting a benchmark adjustment step size, and cyclically updating data and correcting strata parameters within the advancement cycle. This application can simultaneously address goaf prevention, control floor undulations, and avoid high-stress areas.

Description

Technical Field

[0001] This application relates to the field of coal mine roadway excavation technology, specifically a method for controlling the strata of thin coal seams in the anticline section of a rockburst-prone goaf. Background Technology

[0002] During coal mine roadway excavation, the strata are typically fixed along the roof or floor of the coal seam according to geological exploration results. However, in thin coal seam environments affected by rock bursts, overlying goaf areas, and anticline structures, the coal seam thickness and floor elevation are continuously changing. Existing roadway excavation strata control methods mostly employ static design. When encountering significant floor undulations caused by anticline structures, advancing along the coal-rock interface can lead to the equipment's longitudinal inclination exceeding the climbing limit, impacting both excavation and transportation operations.

[0003] Simply employing bottom-breaking operations to meet equipment passage requirements increases rock cutting volume and equipment wear. When a goaf exists above the work area and the coal seam is thin, conventional stratum adjustments can easily result in insufficient top coal thickness, causing roof anchor cables to penetrate the coal and rock strata and enter the upper goaf, leading to anchoring failure and potentially air or water leakage. Furthermore, existing stratum control schemes often lack integration with on-site stress monitoring data, failing to adjust the tunneling trajectory in a timely manner based on changes in the surrounding rock stress state to avoid high-stress concentration zones, thus increasing the risk of rockbursts. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this application provides a method for controlling the strata of thin coal seams in the anticline section of a rockburst-prone goaf. This method solves the problem that existing static and fixed strata control methods cannot simultaneously address the technical contradictions of preventing goaf penetration, controlling floor undulations, reducing rock cutting, and avoiding high-stress distribution zones in thin coal seam tunneling under multiple complex geological conditions.

[0005] To achieve the above objectives, this application provides the following technical solution:

[0006] This application provides a method for stratigraphic control in thin coal seam roadways in the anticline section of a rockburst-prone goaf, comprising the following steps: Multi-source geological detection modules are used to acquire multi-dimensional detection data of the roadway front and surrounding rock and perform information fusion to output the actual influence range of the anticline axis, the boundary coordinates of the bottom breaking area, the actual thickness parameters of the top coal, and the static stress distribution cloud map. The minimum safe thickness of the top coal is set by using a multi-objective layer decision module in conjunction with the roadway excavation and support design parameters. Under the premise of meeting the minimum safe thickness of the top coal, the minimum control value of the bottom breaking depth is calculated by spatial geometric constraints, and the safe layer is planned according to the static stress distribution cloud map. The roadway feature section division module divides the entire roadway into stable sections, anticlinal axis affected sections, and goaf close-range sections based on the actual top coal thickness parameters, the minimum control value of bottom breaking depth, the actual influence range of the anticlinal axis, the boundary coordinates of the bottom breaking area, and the safe stratum. Corresponding stratum control commands and tunneling trajectories are generated. The dynamic closed-loop control module is used to set the baseline adjustment step size, and in each advance step period, it performs detection data updates, decision analysis and layer parameter correction.

[0007] Furthermore, the step of using a multi-objective layer decision-making module in conjunction with roadway excavation and support design parameters to set the critical value for the minimum safe thickness of the top coal includes: Obtain the tunnel excavation support design parameters, which include the overall length of the shortest roof anchor cable allowed to be used, the effective exposed length of the anchor cable inside the tunnel after installation, and the safety margin between the top of the anchor cable and the bottom plate of the upper layer of goaf. Subtract the effective exposed length of the anchor cable inside the roadway after installation from the overall length of the shortest allowable roof anchor cable, and add the safety margin between the top of the anchor cable and the bottom plate of the upper goaf area to obtain the critical value of the minimum safe thickness of the top coal. The actual thickness parameter of the top coal is compared with the minimum safe thickness threshold of the top coal, and a decision instruction to adjust the current tunneling elevation is generated when the actual thickness parameter of the top coal does not meet the minimum safe thickness threshold of the top coal.

[0008] Furthermore, the calculation of the minimum control value for the bottom-breaking depth through spatial geometric constraints includes: Obtain the design cross-sectional height of the tunnel; When the actual thickness parameter of the top coal is insufficient to meet the design cross-sectional height requirement of the roadway, the difference is obtained by subtracting the actual thickness parameter of the top coal from the design cross-sectional height of the roadway, and the difference is determined as the minimum depth to be cut into the bottom rock layer as the minimum control value of the bottom breaking depth. When the actual thickness parameter of the top coal meets the design cross-sectional height requirement of the roadway, the minimum control value of the bottom breaking depth is determined to be zero.

[0009] Furthermore, the acquisition of multi-dimensional detection data of the tunnel front and surrounding rock, followed by information fusion to output a static stress distribution cloud map, includes: Obtain the surrounding rock stress data transmitted back by the borehole stress gauges arranged in front of the working face, and establish the static stress distribution cloud map of the coal and rock mass in front. The ratio of the measured stress value to the original rock stress value is extracted as the stress concentration factor. The region where the stress concentration factor exceeds the safety threshold is identified in the static stress distribution cloud map. The region exceeding the safety threshold is marked as a high-concentration stress distribution zone. The safety threshold is determined based on the impact tendency identification results of the target coal seam.

[0010] Furthermore, the step of planning the safety layer based on the static stress distribution cloud map includes: A preliminary stratigraphic trajectory is generated based on the minimum control value of the bottom-breaking depth; Extract the stress distribution gradient around the preliminary stratigraphic trajectory. When it is determined that the preliminary stratigraphic trajectory crosses or is adjacent to the high-concentration stress distribution zone, adaptively offset and finely adjust the elevation and orientation of the preliminary stratigraphic trajectory along the downward direction of the stress attenuation gradient, output comprehensive safety stratigraphic parameters, and use the comprehensive safety stratigraphic parameters as the safety stratigraphic.

[0011] Furthermore, the roadway feature section division module divides the entire roadway into stable sections, anticlinal axis-affected sections, and goaf-proximity sections based on the actual top coal thickness parameter, the minimum control value of the bottom breaking depth, the actual influence range of the anticlinal axis, the boundary coordinates of the bottom breaking area, and the safe stratum. When the actual thickness parameter of the top coal is determined to be greater than the minimum safe thickness threshold plus the preset buffer thickness of the top coal, and the bottom rock strata do not intrude into the roadway design section, and the stress concentration coefficient is lower than the safety threshold, it is designated as the stable section; When a sudden change in the curvature of the bottom elevation is detected, entering the actual influence range of the anticlinal axis, resulting in a thinning of the physical thickness of the coal seam and the intrusion of the bottom rock strata into the tunneling section, it is defined as the influence section of the anticlinal axis. The intrusion of the bottom rock strata into the tunneling section is determined based on the boundary coordinates of the bottom-breaking area. When the actual thickness parameter of the top coal approaches the critical value of the minimum safe thickness of the top coal, it is established as the near-distance section of the goaf based on the safety constraints of the goaf prevention zone.

[0012] Furthermore, the generation of corresponding level control commands and tunneling trajectories includes: For the stable section, the spatial coordinates of the coal-rock interface are extracted, a tunneling trajectory closely following the solid coal seam floor is generated, and a layer control command for tunneling along the coal seam floor is issued. For the affected section of the anticline axis, the elevation change data in the contour model of the base plate is extracted, the undulation gradient of the base plate is obtained through differential operation, and the maximum allowable longitudinal inclination angle constraint is used as the upper limit threshold to perform amplitude limiting and smoothing processing on the longitudinal inclination angle of the trajectory, thereby generating a gentle slope adjustment trajectory. For the section near the goaf, the minimum control value of the bottom breaking depth is used as the benchmark for the forced bottom cutting depth. A forced bottom breaking and rock excavation command is issued, and a safety shutdown judgment procedure is triggered simultaneously.

[0013] Furthermore, the process of updating probe data, performing decision analysis, and correcting stratigraphic parameters within each advance step cycle includes: Based on the timestamp of the current advancement cycle, the actual tunneling trajectory of the on-site tunneling equipment, the deformation of the surrounding rock, the monitoring results of the support stress, and the monitoring data of rockburst are extracted and time-aligned as multi-dimensional measured data. The multidimensional measured data is compared with the stratum parameters planned in the previous cycle. If the elevation deviation exceeds the preset construction error threshold or the support stress and surrounding rock deformation rate show an abnormal growth trend, new comprehensive safety stratum parameters are recalculated and issued. The preset construction error threshold is determined according to the mine roadway engineering quality acceptance standard.

[0014] Furthermore, after performing the probe data update, decision analysis, and stratigraphic parameter correction, the process includes: Based on the changes in the coal-rock ratio in the roadway cross section caused by changes in the stratigraphic trajectory, adaptive collaborative support adjustment parameters are output synchronously. When the tunneling trajectory cuts into the bottom rock layer to perform forced bottom breaking, output control parameters to appropriately adjust the spacing between anchor bolts or the preload of anchor cables; When tunneling along the top coal or pure coal seam causes the coal exposure area to expand, the command to reduce the spacing between supports and increase the preload is output.

[0015] Furthermore, it also includes: When the stress concentration coefficient transmitted in real time is consistently higher than the safety threshold and simple spatial layer avoidance is no longer able to make the tunneling trajectory effectively avoid the high-concentration stress distribution zone, an intervention command to actively destroy the stress concentration structure is generated. In conjunction with the on-site anti-scour equipment, large-diameter boreholes are drilled for pressure relief or deep-hole water injection is carried out in the coal seam. The coordinated anti-scour and pressure relief operation is set as a necessary pre-process of the tunneling process within the current step length. After the on-site borehole stress gauge monitoring value falls back below the aforementioned safety threshold, the tunneling restriction is lifted and an execution instruction to continue tunneling according to the planned stratum is issued.

[0016] This application provides a method for stratigraphic control in thin coal seam roadways in the anticline section of a goaf area prone to rock bursts. It has the following beneficial effects: 1. This application calculates the minimum safe thickness of the top coal by combining the roadway excavation support design parameters, and calculates the minimum control value of the bottom penetration depth by spatial geometric constraints under the premise of meeting the critical value; based on the above characteristics, the layer planning is carried out, and the depth of cutting into the bottom rock layer is controlled on the basis of ensuring that the roadway roof anchor cable does not penetrate the upper layer goaf area, thereby reducing the amount of bottom rock excavation and the wear of the excavation equipment.

[0017] 2. Based on the actual thickness parameters of the top coal and the minimum control value of the bottom breaking depth, this application divides the roadway into a stable section, an anticlinal axis-affected section, and a goaf-proximity section. For the anticlinal axis-affected section, the longitudinal dip angle of the trajectory is limited and smoothed by calculating the floor undulation gradient and combining it with the maximum allowable longitudinal dip angle constraint. This avoids the mechanical equipment from exceeding the climbing limit when running along the uplifted floor, thus ensuring the normal operation of the tunneling and transportation system.

[0018] 3. This application sets a benchmark adjustment step size, extracts measured data during the advancement cycle for deviation comparison and layer parameter correction, and outputs collaborative support adjustment parameters simultaneously; at the same time, when the stress concentration coefficient exceeds the limit and the high-concentration stress distribution zone cannot be avoided, the anti-scouring and pressure relief operation is set as a pre-process of the tunneling process; through closed-loop correction and process linkage, it adapts to the changes in the coal-rock ratio and reduces the risk of dynamic load disturbance propagating to the tunneling face. Attached Figure Description

[0019] Figure 1 Here is a flowchart of the method described in this application; Figure 2 This is a system architecture diagram for this application; Figure 3 This is a schematic diagram of the multi-objective hierarchical integrated decision-making principle of this application; Figure 4 This is a flowchart illustrating the dynamic segmentation and closed-loop control of the characteristic sections in this application. Figure 5 This is a comparison chart of the actual top coal thickness control effect of this application. Detailed Implementation

[0020] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0021] Please see Figure 1This application targets the tunneling environment of thin coal seams simultaneously affected by rockburst, upper-level goaf, and anticline structure. This application provides a method for stratigraphic control in thin coal seam tunnels located in the lower anticline section of a rockburst goaf, comprising the following steps: S10 utilizes a multi-source geological detection module to acquire geological parameters and stress state of the roadway front and surrounding rock in real time and performs information fusion to output the actual influence range of the anticlinal axis, the boundary coordinates of the bottom-breaking area, and the actual thickness parameters of the top coal. S20 utilizes a multi-objective stratum decision-making module to establish a stratum evaluation system, sets the minimum safe thickness critical value of top coal and calculates the minimum control value of bottom breaking depth through spatial geometric constraints, and plans safe strata to avoid high-concentration stress distribution zones. S30, using the tunnel feature section division module to divide the entire tunnel into multiple feature sections based on the decision parameter determination results, and generate corresponding layer control instructions and tunneling trajectories; S40 utilizes a dynamic closed-loop control module to set and dynamically adjust the step size and cyclically execute detection data updates, decision analysis, and layer parameter corrections, while also linking with on-site anti-impact equipment to perform anti-impact and pressure relief operations.

[0022] Please see Figure 2 The overall workflow of this application is executed through the corresponding roadway stratum dynamic control system, which includes a multi-source geological exploration module, a multi-target stratum decision-making module, a roadway characteristic section division module, and a dynamic closed-loop control module.

[0023] Specifically, in step S10, the multi-source geological exploration module acquires detailed geological parameters and stress states of the rock ahead and surrounding rock in real time during tunnel excavation. This module comprehensively utilizes 3D seismic exploration equipment, ground-penetrating radar, and advanced drilling equipment to obtain multi-dimensional exploration data. During close-range underground exploration operations, the multi-source geological exploration module uses YCS series mine transient electromagnetic instruments and channel wave seismic exploration equipment to obtain the actual thickness of the top coal and the distribution of interbedded rock ahead of the tunnel, while simultaneously identifying the spatial location of the upper-layer goaf and the water-bearing capacity of the strata. The multi-source geological exploration module acquires the undulating morphology of the floor strata and determines the boundary of the breached area within the influence range of the anticline axis. After acquiring the exploration data, the module performs information fusion and outputs the actual influence range of the anticline axis, the coordinates of the breached area boundary, and the actual thickness parameters of the top coal, providing basic data support for subsequent stratum control.

[0024] In step S20, after the multi-source geological exploration module completes its exploration, the multi-objective stratigraphic decision module performs evaluation and analysis based on the output basic data. The multi-objective stratigraphic decision module receives the fused geological and stress parameters to resolve multiple contradictions in stratigraphic selection, including goaf prevention, floor undulation control, and rockburst prevention. This module establishes an evaluation system aimed at maintaining top coal thickness, controlling floor penetration, strengthening surrounding rock support, and preventing rockbursts. The multi-objective stratigraphic decision module, combined with roadway excavation and support design parameters, sets a minimum safe thickness threshold for top coal, which serves as the boundary condition for preventing penetration of the upper-layered goaf. Under the premise of satisfying the above threshold, the multi-objective stratigraphic decision module calculates the minimum control value for floor penetration depth through spatial geometric constraints and plans safe stratigraphic layers that avoid high-concentration stress distribution zones based on stress distribution patterns.

[0025] In step S30, after the multi-objective stratigraphic decision module completes its analysis, the roadway characteristic section division module performs regional segmentation and differentiated strategy matching on the forward tunneling route. Based on the decision parameter determination results, the roadway characteristic section division module divides the entire roadway into stable sections, anticlinal axis-affected sections, and goaf-proximity sections. For stable sections, this module generates instructions to tunnel along the coal seam floor to reduce the amount of rock excavation required. For anticlinal axis-affected sections, the roadway characteristic section division module calculates the floor undulation gradient and generates a gentle slope adjustment trajectory to moderately control floor excavation. For goaf-proximity sections, when the top coal thickness approaches the minimum safe thickness threshold, the module generates a stratigraphic control trajectory for forced floor excavation and triggers a safety shutdown determination procedure.

[0026] In step S40, during the generation and execution of the stratum control trajectory, the dynamic closed-loop control module continuously monitors and corrects the entire tunneling operation. The module sets a baseline dynamic adjustment step size and cyclically updates detection data, performs decision analysis, and corrects stratum parameters within each advancement step. The module receives real-time data on surrounding rock deformation, support stress status, and rockburst monitoring. Based on the changes in the coal-rock ratio in the roadway cross-section caused by stratum rise and fall, the module simultaneously outputs corresponding anchor cable and bolt support adjustment parameters. In sections deemed to have rockburst risk, the dynamic closed-loop control module coordinates with on-site rockburst prevention equipment to perform large-diameter borehole decompression or blasting decompression operations, completing the coordinated execution of dynamic stratum adjustment and rockburst prevention decompression.

[0027] Please see Figure 1 and Figure 2 In the method for controlling the stratigraphic position of a thin coal seam roadway in an anticline section of a rockburst-prone area provided in this application, step S10, executed by a multi-source geological exploration module, specifically includes the following sub-steps: S101, the multi-source geological exploration module deploys integrated exploration equipment in and around the tunnel excavation face to collect multi-dimensional exploration data of the coal and rock mass ahead of the tunnel. The multi-source geological exploration module employs matching combinations of exploration equipment based on differences in working distance and geological conditions. During the conventional tunneling phase, the multi-source geological exploration module simultaneously activates the ground-penetrating radar and advanced drilling equipment. The ground-penetrating radar emits high-frequency electromagnetic waves towards the tunnel roof and directly ahead to detect geological anomalies within a short distance. The advanced drilling equipment drills exploration holes at a preset angle towards the roof and ahead at the working face to obtain solid rock core samples and observe the actual position of the coal-rock interface within the holes. As a preferred implementation method, the operation specifications and procedures for the ground-penetrating radar and advanced drilling equipment can be referred to relevant industry standards for underground geological geophysical exploration in coal mines by those skilled in the art. The operation process is well-known technology in this field and will not be elaborated further here.

[0028] When tunnel excavation approaches the upper-layer goaf, or when underground working space is limited and conditions are not suitable for large-scale surface 3D seismic exploration, the multi-source geological exploration module coordinates the use of a mine-use transient electromagnetic instrument and a channel wave seismic detection device to supplement and verify conventional geological exploration results, or to replace some conventional detection methods within a local detection range, thereby improving the adaptability of short-range detection. Based on the principle of electromagnetic induction, the mine-use transient electromagnetic instrument sends a pulsed magnetic field to the coal and rock mass through a transmission loop, and receives the attenuated secondary magnetic field signal induced by the geological body during the gap of the primary field disconnection. At the same time, utilizing the physical characteristics of the coal seam as a low-speed waveguide medium, the channel wave seismic detection device collects channel wave reflected and transmitted wave data excited at the working face and propagating in front of and on the sidewalls of the tunnel. To avoid spatial misalignment of multi-source heterogeneous data in subsequent processing, the multi-source geological exploration module simultaneously records spatial 3D coordinate data and timestamps when collecting the original signals from the above-mentioned devices, and stores the original signals with spatiotemporal tags into the system database as the reference data source for subsequent geological parameter extraction.

[0029] S102, the multi-source geological exploration module performs joint inversion and information fusion processing on the acquired multi-dimensional exploration data to extract geological parameters such as the actual thickness of the top coal, the spatial location of the upper layer goaf, and the actual influence range of the anticline axis.

[0030] Furthermore, to achieve effective fusion of multi-source data, the multi-source geological exploration module uses the mine's unified three-dimensional geological measurement coordinate system as a benchmark to spatially register surface and point data acquired by different detection devices. The module extracts the electromagnetic wave two-way travel time parameters from the ground-penetrating radar data and, combined with the propagation speed of electromagnetic waves in the corresponding coal and rock medium, calculates the preliminary thickness of the coal seam in the roadway roof. Core logging data obtained from advanced drilling equipment is used as control points for physical calibration of the aforementioned preliminary thickness, reducing interference from reflected waves caused by interbedded rock within the coal seam and obtaining the actual thickness parameters of the roof coal.

[0031] The multi-source geological detection module processes the secondary magnetic field attenuation curves collected by the mine transient electromagnetic instrument to calculate the apparent resistivity distribution of the coal and rock mass ahead and in the roof. Because mining-induced fracture water easily accumulates within the upper-layer goaf, its geological characteristics differ from intact rock masses, typically exhibiting low resistivity anomalies. The multi-source geological detection module determines the low resistivity anomaly threshold by comparing it with the background value of the apparent resistivity of normal intact rock masses. Based on the distribution boundary lines below this threshold in the apparent resistivity profile, it delineates the specific three-dimensional spatial coordinate range of the upper-layer goaf and assesses the water-bearing capacity of the corresponding rock strata based on the magnitude of the apparent resistivity.

[0032] The multi-source geological exploration module analyzes the signals acquired by the channel wave seismic detection equipment, extracting the dispersion characteristics and energy attenuation parameters of the channel waves at the coal-rock interface and the undulating structure of the floor. By inverting the travel time of the channel wave reflections, the module generates a contour model of the floor strata undulations. Based on the curvature variation characteristics of the floor elevation and the information on anomalies in tectonic stress in the area ahead, the module defines the area of ​​abnormal floor uplift caused by the anticline structure and extracts the start and end boundary coordinates of the actual influence range of the anticline axis. Combining the elevation data of the tunnel design section, the module delineates the area where the floor strata intrude into the tunnel excavation section within the floor contour model, generating the boundary coordinates of the breached area.

[0033] The multi-source geological exploration module integrates the surrounding rock stress data transmitted from borehole stress gauges deployed in front of the working face to establish a static stress distribution cloud map of the coal and rock mass ahead. In this embodiment, the stress concentration factor is defined as the ratio of the measured stress value to the original rock stress value. The safety threshold of this stress concentration factor is determined based on the impact tendency identification results of the target coal seam, and its conventional value range can be set between 1.5 and 2.0. The multi-source geological exploration module identifies areas in the stress distribution cloud map where the stress concentration factor exceeds the safety threshold, marks them as high-concentration stress distribution zones, and outputs them along with the aforementioned extracted geological parameters to the multi-target stratigraphic decision module as the basic input conditions for subsequent stratigraphic safety determination and avoidance planning.

[0034] Please see Figure 3 In the method for controlling the strata of thin coal seams in the anticline section of a rockburst-prone goaf provided in this application, step S20, executed by the multi-objective strata decision module, specifically includes the following sub-steps: S201, the multi-objective stratigraphic decision-making module receives basic data output from the multi-source geological exploration module and constructs a multi-objective stratigraphic comprehensive evaluation system. In this embodiment, under complex geological conditions simultaneously affected by the upper-level goaf, anticline structure, and rockburst, the selection of the roadway excavation stratigraphic level needs to consider factors such as goaf prevention, floor undulation control, surrounding rock support, and rockburst prevention. The multi-objective stratigraphic decision-making module establishes four joint objectives: maintaining top coal thickness, controlling floor breaking amount, strengthening surrounding rock support, and preventing rockburst. Among them, maintaining top coal thickness serves as a safety constraint to prevent the roadway roof from connecting with the upper-level goaf, and preventing rockburst serves as a safety constraint to avoid high-concentration stress distribution zones; based on satisfying the above safety constraints, controlling floor breaking amount is then used as a control objective to optimize excavation efficiency and reduce rock cutting amount.

[0035] S202, the multi-objective stratigraphic decision module, in conjunction with the roadway excavation and support design parameters, sets a minimum safe thickness threshold for top coal and performs a safety assessment to prevent penetration into the upper-layer goaf. When excavating thin coal seams below the goaf, to prevent roof anchor cables from penetrating the top coal and entering the upper-layer goaf, causing accidents such as air leakage, harmful gas leakage, and anchoring failure, a sufficiently thick intact coal-rock stratum needs to be reserved above the roadway roof. Based on the physical geometry of the anchor cable support and the friction anchoring force requirements, the multi-objective stratigraphic decision module establishes a top coal safety control criterion. In this embodiment, the specific mathematical expression of this criterion is as follows: ; In the formula, This indicates the actual thickness of the top coal seam above the roadway, obtained by the multi-source geological detection module. This represents the minimum safe thickness of the top coal seam, serving as a safety boundary for determining whether the stratum can be maintained at the current elevation. This indicates the overall length of the shortest roof anchor cable allowed in the roadway excavation support design. The specific value of this parameter is directly selected and determined by the current conventional support design specifications of the mine. This indicates the effective exposed length of the anchor cable inside the roadway after installation. This length includes the exposed anchor cable section as well as the combined thickness of the tray and lock. This indicates the safety margin between the top of the anchor cable and the bottom plate of the upper layer of goaf.

[0036] As a preferred method, The value range can be set from 0.5m to 1.0m. Its purpose is to ensure that the top of the anchor cable is in the complete coal and rock mass, thereby providing the interface friction and anchoring force that meet the design load requirements.

[0037] After the calculation is completed, the multi-objective stratigraphic decision module compares the actual top coal thickness obtained in real time with the minimum safe top coal thickness threshold. When the actual top coal thickness meets the above formula conditions, the current stratigraphic level is determined to meet the requirements for preventing goaf penetration; when the actual top coal thickness does not meet the above formula conditions, the multi-objective stratigraphic decision module generates a decision instruction to adjust the current tunneling elevation.

[0038] S203, the multi-objective stratigraphic decision module, under the premise of satisfying the above-mentioned minimum safe thickness critical value of top coal, calculates the minimum control value of the bottom-breaking depth through spatial geometric constraints, and plans safe stratigraphic layers to avoid high-concentration stress distribution zones in conjunction with stress cloud maps. Due to the influence of the anticline axis structure, irregular uplift deformation will occur in the floor strata. In this embodiment, the multi-objective stratigraphic decision module determines the minimum control value of the bottom-breaking depth based on the roadway design cross-section height, the actual top coal thickness, and the elevation change of the floor strata. Specifically, let the roadway design cross-section height be... The actual roof coal thickness above the roadway, obtained by the multi-source geological detection module, is... The minimum control value for the bottom breaking depth is Under the premise of meeting the minimum safe thickness threshold of top coal, the minimum control value of bottom breaking depth is determined according to the following geometric constraints: ; In the formula, This indicates the minimum control value for the depth of the material breaking through the bottom. Indicates the design cross-sectional height of the tunnel; This indicates the actual thickness of the top coal seam above the roadway, obtained from the multi-source geological exploration module.

[0039] Based on the geometric constraints mentioned above, it can be seen that when When the design cross-sectional height requirements of the tunnel can be met, the minimum control value for the bottom breaking depth is zero; when When the height of the roadway is insufficient to meet the design cross-section requirements, the multi-objective stratum decision module determines the difference as the minimum depth required to cut into the floor strata. This reduces unnecessary floor rock cutting while ensuring the roadway cross-section is formed and the top coal thickness is safe.

[0040] Based on this, the multi-objective stratigraphic decision module spatially overlaps and compares the preliminary stratigraphic trajectory generated based on the minimum control value of the bottom breach depth with the static stress distribution cloud map output by the multi-source geological exploration module. Since the risk of dynamic disasters induced by stress concentration in stress-prone coal seams is high, the multi-objective stratigraphic decision module extracts the stress distribution gradient around the preliminary stratigraphic trajectory. If it is determined that the trajectory crosses or is adjacent to a pre-marked high-concentration stress distribution zone, the multi-objective stratigraphic decision module, considering changes in bottom breach volume, construction costs, and anti-rockfall safety requirements, adaptively offsets and fine-tunes the elevation and strike of the stratigraphic trajectory along the descending direction of the stress attenuation gradient. This fine-tuning process is synchronized with the safety determination in step S202, ensuring that the offset trajectory always meets the anti-penetration safety constraints. By comprehensively considering the above calculation and comparison logic, the multi-objective stratigraphic decision module outputs comprehensive safe stratigraphic parameters that satisfy both the requirements for preventing goaf penetration and minimizing bottom breach, while avoiding high-concentration stress distribution zones, for subsequent use in the division of characteristic sections.

[0041] Please see Figure 4 In the method for controlling the stratigraphic position of a thin coal seam roadway in an anticline section of a goaf area provided in this application, step S30, executed by the roadway characteristic section division module, specifically includes the following sub-steps: S301, the roadway characteristic section division module receives the comprehensive safety stratum parameters and geological model data output by the multi-objective stratum decision module, and dynamically defines the boundaries of characteristic sections of the forward tunneling route accordingly. Considering the continuous and gradual changes in the geological environment, to avoid logical overlap or frequent jumps in the execution of the stratum control strategy, the roadway characteristic section division module establishes clear judgment rules based on multi-dimensional thresholds. In this embodiment, when the actual top coal thickness is determined to be greater than the set minimum safe top coal thickness threshold plus a preset buffer thickness, and the floor strata do not intrude into the roadway design cross-section and the stress concentration coefficient is lower than the aforementioned safety threshold, the roadway characteristic section division module defines this section as a stable section. When a sudden change in the floor elevation curvature is detected, entering the actual influence range of the anticlinal axis, resulting in a thinning of the coal seam physical thickness and the floor strata intruding into the tunneling cross-section, it is defined as an anticlinal axis influence section. When the multi-source geological exploration module reports that the actual top coal thickness is close to the minimum safe thickness threshold of the top coal, the roadway characteristic section division module establishes this range as the near-distance section of the goaf based on the safety constraints of the goaf prevention zone.

[0042] In section S302, for the designated stable section, the roadway characteristic section division module issues layer control commands to the on-site tunneling equipment for tunneling along the coal seam floor. Within this section, the roof coal thickness is sufficient and the surrounding rock stress state is good; the planning focus of the tunneling trajectory is tilted towards improving advance efficiency and reducing equipment wear. The roadway characteristic section division module extracts the spatial coordinates of the coal-rock interface to generate a tunneling trajectory that closely follows the solid coal seam floor. This operation method fully utilizes the difference in mechanical properties between coal and rock in uniaxial compressive strength, ensuring that the cutting teeth primarily perform cutting operations in the softer coal seam medium, thereby reducing the amount of bottom-breaking rock excavation and minimizing mechanical wear on electromechanical equipment.

[0043] S303, after entering the affected section of the anticline axis, the floor strata exhibit irregular uplift and undulation. If mechanical equipment follows the physical interface between coal and rock, the longitudinal slope of the roadway will exceed the maximum climbing capacity limit of the equipment. The roadway characteristic section division module extracts elevation change data from the floor contour model and calculates the floor undulation gradient through differential calculation. Considering the robustness of the algorithm logic, when performing the division and differentiation of elevation difference and horizontal distance to calculate the gradient, the roadway characteristic section division module sets the horizontal sampling interval to be greater than 0. The specific value of this interval is determined based on the maximum single-step movement distance of the on-site tunneling equipment to prevent calculation overflow due to the denominator approaching zero. Combining the maximum allowable longitudinal inclination angle constraints of the on-site tunneling equipment and belt conveyor, when the calculated floor undulation gradient exceeds the above inclination angle constraint, the roadway characteristic section division module uses the maximum allowable longitudinal inclination angle as the upper limit threshold to perform amplitude-limited smoothing processing on the longitudinal inclination angle of the trajectory. This limiting process, while ensuring that the actual top coal thickness meets the support safety requirements, allows the tunneling trajectory to moderately cut into the floor strata. Based on this strategy of moderately controlling floor penetration, the roadway characteristic section division module outputs a gentle slope adjustment trajectory that meets the requirements for stable operation of large mining equipment and material transportation gradient, while minimizing the amount of rock cutting.

[0044] In section S304, for sections near the goaf, the roadway characteristic section division module executes a forced bottom-breaking rock excavation command with the primary safety benchmark of preventing penetration into the upper-layer goaf. At this point, the roadway roof is approaching the upper-layer goaf. To prevent roof instability or anchor cables penetrating the goaf and causing disasters, the roadway characteristic section division module calls the minimum control value for bottom-breaking depth calculated by the multi-objective stratum decision module, using it as the benchmark for the forced bottom-breaking depth of the stratum trajectory in this section. The stratum control trajectory of the forced bottom-breaking rock excavation physically increases the vertical distance between the roadway roof and the upper-layer goaf. As a preferred method, the roadway characteristic section division module simultaneously triggers a safety shutdown judgment procedure within this section. This procedure continuously reads the actual spatial distance between the roadway roof and the floor of the upper-layer goaf through real-time communication with the working face advanced detection equipment. If the actual spatial distance is detected to be lower than the set minimum safe thickness threshold of the top coal, or if abnormal water seepage or excessive harmful gas occurs in the roof, the safety shutdown judgment procedure will immediately send a shutdown control signal to control the on-site tunneling equipment to stop the forward tunneling operation and trigger personnel evacuation prompts, thereby ensuring the safety bottom line of the goaf prevention zone.

[0045] Please see Figure 4 In the method for controlling the stratigraphic level of a thin coal seam roadway in an anticline section of a goaf area provided in this application, step S40, executed by a dynamic closed-loop control module, specifically includes the following sub-steps: S401, the dynamic closed-loop control module sets and dynamically adjusts the benchmark adjustment step size of the propulsion cycle based on the stability of geological conditions, constructing a closed-loop feedback mechanism for layer optimization. Since static single-cycle planning is difficult to adapt to the changing underground geological environment, in this embodiment, the dynamic closed-loop control module presets the benchmark adjustment step size to a range of 30m to 80m, with a default propulsion step size set to 50m. When the tunneling operation is in a previously defined stable section, the larger value within the above range is selected to ensure construction continuity; when the operation enters complex geological sections such as the section affected by the anticline axis or the section near the goaf, the adjustment step size is shortened to the lower limit to improve the system's response frequency to environmental changes.

[0046] Upon entering each advance cycle, the dynamic closed-loop control module triggers the multi-source geological detection module to update the coal seam thickness and floor undulation data ahead of the roadway. To avoid decision-making lag or logical dead zones caused by time differences in data acquisition, the dynamic closed-loop control module uses the timestamp of the current advance cycle as a benchmark to extract the actual tunneling trajectory of the fully mechanized tunneling equipment, the amount of surrounding rock deformation, the support stress monitoring results, and the rockburst monitoring data that are time-aligned. The dynamic closed-loop control module compares the above multi-dimensional measured data with the stratigraphic parameters planned in the previous cycle. If the comparison finds that the elevation deviation exceeds the preset construction error threshold (this threshold is determined according to the mine roadway engineering quality acceptance standard), or if the support stress and the surrounding rock deformation rate show an abnormal increasing trend, the system determines that the geological conditions have changed abruptly. It then dispatches the multi-objective stratigraphic decision module and the roadway characteristic section division module to recalculate and issue new comprehensive safety stratigraphic parameters, thereby avoiding the cumulative error from causing the roadway to mistakenly pass through the layered goaf or enter the high-concentration stress distribution zone, realizing closed-loop control of detection, analysis, decision-making, adjustment, monitoring, and feedback.

[0047] S402, the dynamic closed-loop control module synchronously outputs adaptive collaborative support adjustment parameters based on the changes in the coal-rock ratio of the roadway cross-section caused by changes in the stratum trajectory. As the tunneling stratum rises or falls, the area ratio of coal and roof / floor rock in the working face and both sides changes in real time. Based on the differences in uniaxial compressive strength and self-stabilizing ability between coal and floor rock, the support scheme needs to be dynamically matched with the stratum. When the tunneling trajectory cuts into the floor rock layer to perform forced floor breaking, the proportion of hard rock exposed in the roadway side increases. Since the bearing capacity of intact rock mass is usually better than that of coal seam, the dynamic closed-loop control module can output control parameters that appropriately adjust the spacing between anchor bolts or the preload of anchor cables within a range not lower than the safety limit of the support design, so as to reduce the cost of support materials and labor while ensuring the overall stability of the surrounding rock. Conversely, when the stratum is tunneled along the top coal or pure coal seam, resulting in an expansion of the exposed coal area, the dynamic closed-loop control module outputs instructions to reduce the spacing between support bolts and increase the preload to control the plastic deformation of the weak coal side. As a preferred approach, those skilled in the art can refer to the conventional support specifications for coal mines for the specific installation process and material selection of anchor bolts and anchor cables. The physical construction process is a well-known technology in this field and will not be elaborated here.

[0048] S403, the dynamic closed-loop control module, when determining that the current working face area has a high risk of impact, links the anti-impact and pressure relief operations with the stratum adjustment command. When constrained by the superposition of stress from complex anticline structures and coal pillars left over from the upper goaf, and the stress concentration coefficient transmitted back in real time by the multi-source geological detection module continues to be higher than the aforementioned safety threshold, and simple spatial stratum avoidance is no longer sufficient for the tunneling trajectory to effectively avoid the high-stress concentration distribution zone, the system generates an intervention command to actively destroy the stress concentration structure.

[0049] In this situation, the dynamic closed-loop control module coordinates with on-site anti-scour equipment to execute differentiated pressure relief operations. For coal seam areas bearing high stress, it guides on-site construction of large-diameter boreholes for pressure relief or implements deep-hole water injection into the coal seam. The main purpose is to increase the range of the plastic failure zone of the coal seam by artificially creating voids and softening the coal, transferring the high-concentration stress distribution zone to the deeper parts of the surrounding rock and releasing internal elastic energy. When there are thick layers of hard rock in the roof and floor that are difficult to collapse naturally, blasting pressure relief technology is used to cut off the stress transmission path of the rock layer and reduce the intensity of dynamic load disturbance propagation to the tunneling face. To ensure the timing safety logic of the system execution, the dynamic closed-loop control module sets the above-mentioned coordinated anti-scour pressure relief operations as a necessary pre-process of the tunneling procedure within the current step. Only after the pressure relief construction is completed and the monitoring value of the on-site borehole stress gauge falls below the safety threshold can the dynamic closed-loop control module release the tunneling restriction and issue an execution instruction to continue tunneling according to the planned strata.

[0050] Specific application examples: To verify the effectiveness of the proposed method for controlling the strata of thin coal seams in the anticline section of a rockburst-prone goaf, a thin coal seam tunneling face in a certain mine was selected as the application scenario.

[0051] Project background and initial parameter settings: The target working face has an average coal seam thickness of 2.6m, with a previously mined upper goaf. The tunnel face is accompanied by an anticline uplift structure and localized high-stress concentration zones. The designed cross-sectional height of the roadway is... The length is set at 2.8m. According to the on-site support specifications, this is the shortest overall length of the roof anchor cable allowed in the tunnel excavation support design. The effective exposed length of the anchor cable inside the roadway after installation is 2.0m. The safety margin between the top of the anchor cable and the bottom plate of the upper layer of goaf is 0.2m. Set to 0.4m.

[0052] S10. Multi-source geological exploration and parameter extraction: The multi-source geological exploration module acquires geological data for the 0-150m section ahead. Based on the data fusion results: The 0-50m range is a geologically stable zone, and the actual top coal thickness above the roadway is obtained from the multi-source geological detection module. It remains at around 3.2m; Entering the anticline axis influence zone at 50 to 100 meters, the coal seam thins, and the actual roof coal thickness above the roadway is obtained by the multi-source geological detection module. The pressure dropped to 2.5m, and the stress concentration factor detected by the borehole stress gauge at 85m reached 1.7, exceeding the set safety threshold of 1.5. Approaching the upper-layer goaf at a depth of 100 to 150 meters, the actual top coal thickness above the roadway was obtained by a multi-source geological detection module. Further thinning to 2.3m.

[0053] S20. Calculation of multi-objective hierarchical decision parameters: Based on the aforementioned evaluation system, the multi-objective stratigraphic decision-making module calculates the critical value of the minimum safe thickness of top coal. A safety assessment of the goaf prevention zone is then conducted. Based on the established top coal safety control criteria, the following formula must be met: ; Substituting the aforementioned initial parameters into the above formula yields the following result: ; This means that the actual roof coal thickness above the roadway, obtained by the multi-source geological detection module, is within the entire measurement section. satisfy ≥2.2m, otherwise the anchor cable will penetrate the upper layer of the goaf.

[0054] Based on this, the minimum control value of the bottom breaking depth is calculated by substituting the spatial geometric constraint formula into different sections. The criterion formula is as follows: ; In the stable zone (0 to 50m): the actual top coal thickness above the roadway obtained by the multi-source geological detection module. The value is 3.2m. Substituting this into the above formula, we get: ; This means that the section meets the design height and does not require breaking through the bottom.

[0055] In the anticline-affected section (50 to 100m): the actual top coal thickness above the roadway obtained by the multi-source geological detection module. The thickness is reduced to 2.5m. Substituting this into the above formula, the result is: ; This means that this section needs to be cut 0.3m into the base plate to meet the forming requirements.

[0056] In the immediate vicinity of the goaf (100 to 150 meters): the actual roof coal thickness above the roadway obtained by the multi-source geological detection module. The value is 2.3m. Substituting this into the formula above, we get: ; This means that the bottom of this section needs to be cut by 0.5m.

[0057] S30. Dynamic Division and Control Execution of Feature Sections: The tunnel feature section division module issues differentiated control commands to the field equipment: In the stable section from 0 to 50m, tunneling should be carried out along the bottom of the coal seam to avoid ineffective bottom breaching.

[0058] In the 50 to 100m anticline influence zone, a gentle trajectory with a cut-in of 0.3m into the base plate is generated to smooth out the violent undulations caused by the base plate uplift.

[0059] In the 100-150m goaf section, a forced bottom break of 0.5m is issued, and the safety shutdown judgment procedure is initiated simultaneously to monitor the changes in top coal thickness in real time.

[0060] S40, Dynamic Closed-Loop and Collaborative Anti-Shock Operation: When the tunneling reached the high-stress concentration zone at 85m, the dynamic closed-loop control module detected that the stress concentration factor of 1.7 had exceeded the limit. The system set anti-impact and pressure relief as a necessary pre-operation, and coordinated with on-site equipment to carry out large-diameter drilling for pressure relief. Monitoring showed that after pressure relief, the measured stress concentration factor in the area dropped back to 1.2, and the system lifted the tunneling restrictions, resuming construction at the planned stratum.

[0061] Experimental verification and comparison conclusions: To verify the reliability of the above control logic, a traditional static coal seam tunneling method was introduced as a comparative experiment. The traditional method uses a fixed stratum following logic. When passing under anticline structures and goaf areas, the equipment advances along the coal-rock interface without forced bottom breaking or dynamic fine-tuning.

[0062] To visually demonstrate the difference in control effectiveness between the two methods, a corresponding comparison chart was generated based on the experimental data described above. In this comparison... Figure 5 middle: The horizontal axis represents the distance the tunnel excavation face advances forward, corresponding to... Figure 5 The text displays the tunneling distance (in meters) label. The value gradually increases from 0 to 150, reflecting the advancement process of the entire comparative experimental section.

[0063] The vertical axis represents the coal seam thickness calculated at the corresponding tunneling distance. Figure 5 The label shows the actual top coal thickness (meters). The numerical range is set between 1.0 and 3.5 to show the variation in coal seam thickness.

[0064] exist Figure 5 The lower left corner of the figure contains a legend area with three graphic symbols and corresponding text descriptions, which respectively indicate the traditional static method, the dynamic method of this application, and the safety thickness reference line, to help identify the physical meaning represented by the different lines in the figure.

[0065] Combination Figure 5The elements in the diagram represent the actual top coal thickness above the roadway, as obtained by the multi-source geological exploration module when using the traditional static tunneling method, with the gray solid line marked with a square. The curve showing the change. From Figure 5 As can be observed, after the curve advances to 80m, due to the rise of the floor and the thinning of the coal seam, the top coal is forcibly cut to meet the roadway height requirements, causing the thickness value to begin to decrease continuously, eventually dropping sharply to 1.6m.

[0066] Figure 5 A black horizontal dashed line is drawn in the middle, representing the critical value of the minimum safe thickness of the top coal seam calculated by the multi-objective stratum decision model. The value is fixed at 2.2m. This is the baseline for determining whether the roof anchor cable will penetrate the upper layer of the goaf. The minimum safe thickness threshold value, marked near this dashed line, is labeled in plain Chinese text, directly explaining the function of this horizontal dashed line. A comparison shows that the gray curve of the traditional method is much lower than this baseline, which will lead to anchor cable anchorage failure and cause water seepage from the upper part of the structure.

[0067] In comparison, Figure 5 The black solid line with a circular mark in the figure represents the change curve when the dynamic control method of this application is used. Figure 5 The data shows that by calculating the minimum control value for the bottom breaking depth in advance... It adaptively performs forced bottom cutting, and the curve remains relatively stable throughout the entire 150m measurement section, consistently maintaining a relatively high thickness level of 2.3m to 3.2m.

[0068] Figure 5 Based on the vertical relationship between the lines and the markings, it is evident that the black curve in this application is always within the safety line (i.e., satisfies...). This avoids the risk of penetration. Furthermore, compared to the conservative approach of fixing the bottom rock breaking at the maximum required depth (0.5m) across the entire test section to prevent water seepage, the method in this application relies on geometric constraints calculated using minimum control values, breaking the bottom only as needed in necessary sections. Experimental data shows that this dynamic control method reduces the amount of ineffective bottom rock cutting by 35%, ultimately achieving a dual optimization of preventing seepage and reducing tunneling costs.

Claims

1. A method for controlling the stratigraphic position of a roadway in a thin coal seam section of an anticline in a rockburst-prone goaf, characterized in that, Includes the following steps: Multi-source geological detection modules are used to acquire multi-dimensional detection data of the roadway front and surrounding rock and perform information fusion to output the actual influence range of the anticline axis, the boundary coordinates of the bottom breaking area, the actual thickness parameters of the top coal and the static stress distribution cloud map. The minimum safe thickness of the top coal is set by using a multi-objective layer decision module in conjunction with the roadway excavation and support design parameters. Under the premise of meeting the minimum safe thickness of the top coal, the minimum control value of the bottom breaking depth is calculated by spatial geometric constraints, and the safe layer is planned according to the static stress distribution cloud map. The roadway feature section division module divides the entire roadway into stable sections, anticlinal axis affected sections, and goaf-proximity sections based on the actual top coal thickness parameters, the minimum control value of bottom breaking depth, the actual influence range of the anticlinal axis, the boundary coordinates of the bottom breaking area, and the safe stratum. Corresponding stratum control commands and tunneling trajectories are generated. The dynamic closed-loop control module is used to set the baseline adjustment step size, and in each advance step period, it performs detection data updates, decision analysis and layer parameter correction.

2. The method for stratigraphic control in thin coal seam roadways in an anticline section of a rockburst-prone goaf area according to claim 1, characterized in that, The method of setting the minimum safe thickness critical value of top coal using a multi-objective layer decision module combined with roadway excavation and support design parameters includes: Obtain the tunnel excavation support design parameters, which include the overall length of the shortest roof anchor cable allowed to be used, the effective exposed length of the anchor cable inside the tunnel after installation, and the safety margin between the top of the anchor cable and the floor of the upper layer of goaf. Subtract the effective exposed length of the anchor cable inside the roadway after installation from the overall length of the shortest allowable roof anchor cable, and add the safety margin between the top of the anchor cable and the bottom plate of the upper goaf area to obtain the critical value of the minimum safe thickness of the top coal. The actual thickness parameter of the top coal is compared with the minimum safe thickness threshold of the top coal, and a decision instruction to adjust the current tunneling elevation is generated when the actual thickness parameter of the top coal does not meet the minimum safe thickness threshold of the top coal.

3. The method for stratigraphic control in thin coal seam roadways in an anticline section of a rockburst-prone goaf area according to claim 2, characterized in that, The calculation of the minimum control value for bottom-breaking depth through spatial geometric constraints includes: Obtain the design cross-sectional height of the tunnel; When the actual thickness parameter of the top coal does not meet the design cross-sectional height requirement of the roadway, the difference is obtained by subtracting the actual thickness parameter of the top coal from the design cross-sectional height of the roadway. The difference is determined as the minimum depth to be cut into the bottom rock layer, and is used as the minimum control value of the bottom breaking depth. When the actual thickness parameter of the top coal meets the design cross-sectional height requirement of the roadway, the minimum control value of the bottom breaking depth is determined to be 0.

4. The method for stratigraphic control in thin coal seam roadways in an anticline section of a rockburst-prone goaf area according to claim 3, characterized in that, The process of acquiring multi-dimensional detection data of the tunnel front and surrounding rock and performing information fusion to output a static stress distribution cloud map includes: Obtain the surrounding rock stress data transmitted back by the borehole stress gauges arranged in front of the working face, and establish the static stress distribution cloud map of the coal and rock mass in front. The ratio of the measured stress value to the original rock stress value is extracted as the stress concentration factor. The region where the stress concentration factor exceeds the safety threshold is identified in the static stress distribution cloud map. The region exceeding the safety threshold is marked as a high-concentration stress distribution zone. The safety threshold is determined based on the impact tendency identification results of the target coal seam.

5. The method for controlling the stratigraphic position of a thin coal seam roadway in an anticline section of a goaf area affected by rockburst, as described in claim 4, is characterized in that... The step of planning safe strata based on the static stress distribution cloud map includes: A preliminary stratigraphic trajectory is generated based on the minimum control value of the bottom-breaking depth; Extract the stress distribution gradient around the preliminary stratigraphic trajectory. When it is determined that the preliminary stratigraphic trajectory crosses or is adjacent to the high-concentration stress distribution zone, adaptively offset and finely adjust the elevation and orientation of the preliminary stratigraphic trajectory along the downward direction of the stress attenuation gradient, output comprehensive safety stratigraphic parameters, and use the comprehensive safety stratigraphic parameters as the safety stratigraphic.

6. The method for stratigraphic control in thin coal seam roadways in an anticline section of a rockburst-prone goaf area according to claim 5, characterized in that, The roadway feature section division module divides the entire roadway into stable sections, anticlinal axis-affected sections, and goaf-proximity sections based on the actual top coal thickness parameter, the minimum control value of bottom breaking depth, the actual influence range of the anticlinal axis, the boundary coordinates of the bottom breaking area, and the safe stratum. When the actual thickness parameter of the top coal is determined to be greater than the minimum safe thickness threshold plus the preset buffer thickness of the top coal, and the bottom rock strata do not intrude into the roadway design section, and the stress concentration coefficient is lower than the safety threshold, it is designated as the stable section; When a sudden change in the curvature of the bottom elevation is detected, entering the actual influence range of the anticlinal axis, resulting in a thinning of the physical thickness of the coal seam and the intrusion of the bottom rock strata into the tunneling section, it is defined as the influence section of the anticlinal axis. The intrusion of the bottom rock strata into the tunneling section is determined based on the boundary coordinates of the bottom-breaking area. When the actual thickness parameter of the top coal approaches the critical value of the minimum safe thickness of the top coal, it is established as the near-distance section of the goaf based on the safety constraints of the goaf prevention zone.

7. The method for stratigraphic control in thin coal seam roadways in an anticline section of a rockburst-prone goaf area according to claim 6, characterized in that, The generation of the corresponding level control commands and tunneling trajectory includes: For the stable section, the spatial coordinates of the coal-rock interface are extracted, a tunneling trajectory closely following the solid coal seam floor is generated, and a layer control command for tunneling along the coal seam floor is issued. For the affected section of the anticline axis, the elevation change data in the contour model of the base plate is extracted, the undulation gradient of the base plate is obtained through differential operation, and the maximum allowable longitudinal inclination angle is used as the upper limit threshold to perform amplitude limiting and smoothing processing on the longitudinal inclination angle of the trajectory, thereby generating a gentle slope adjustment trajectory. For the section near the goaf, the minimum control value of the bottom breaking depth is used as the benchmark for the forced bottom cutting depth, and a forced bottom breaking and rock excavation command is issued, simultaneously triggering a safety shutdown judgment procedure.

8. The method for stratigraphic control in thin coal seam roadways in an anticline section of a rockburst-prone goaf area according to claim 7, characterized in that, The process of updating probe data, performing decision analysis, and correcting stratigraphic parameters within each advance step cycle includes: Based on the timestamp of the current advancement cycle, the actual tunneling trajectory of the on-site tunneling equipment, the amount of surrounding rock deformation, the monitoring results of support stress and the monitoring data of rockburst are extracted and time-aligned as multi-dimensional measured data. The multidimensional measured data is compared with the stratum parameters planned in the previous cycle. If the elevation deviation exceeds the preset construction error threshold or the support stress and surrounding rock deformation rate show an abnormal growth trend, new comprehensive safety stratum parameters are recalculated and issued. The preset construction error threshold is determined according to the mine roadway engineering quality acceptance standard.

9. A method for controlling the stratigraphic position of a thin coal seam roadway in an anticline section of a rockburst-prone goaf area according to claim 8, characterized in that, After performing the exploration data update, decision analysis, and stratigraphic parameter correction, the process includes: Based on the changes in the coal-rock ratio in the roadway cross section caused by changes in the stratigraphic trajectory, adaptive collaborative support adjustment parameters are output synchronously. When the tunneling trajectory cuts into the bottom rock layer to perform forced bottom breaking, output control parameters to appropriately adjust the spacing between anchor bolts or the preload of anchor cables; When tunneling along the top coal or pure coal seam causes the coal exposure area to expand, the command to reduce the spacing between supports and increase the preload is output.

10. The method for stratigraphic control in thin coal seam roadways in an anticline section of a rockburst-prone goaf area according to claim 9, characterized in that, Also includes: When the stress concentration coefficient transmitted in real time is consistently higher than the safety threshold, and simple spatial layer avoidance is no longer able to make the tunneling trajectory effectively avoid the high stress concentration distribution zone, an intervention command to actively destroy the stress concentration structure is generated. In conjunction with the on-site anti-scour equipment, large-diameter boreholes are drilled for pressure relief or deep-hole water injection is carried out in the coal seam. The coordinated anti-scour and pressure relief operation is set as a necessary pre-process of the tunneling process within the current step length. After the on-site borehole stress gauge monitoring value falls back below the aforementioned safety threshold, the tunneling restriction is lifted and an execution instruction to continue tunneling according to the planned stratum is issued.

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