Metal mine excavation-support-transportation collaborative operation continuous mining system and method

Abstract

The application provides a metal mine excavation-support-transportation collaborative operation continuous mining system and method, and particularly relates to the field of non-blasting continuous mining technology of metal mines. The system comprises a centralized control center, an excavation unit, a support unit, a transportation unit, a sensing unit, a data acquisition unit and an optimization suggestion unit. The centralized control center comprises a PLC controller, a data processing module and a monitoring display. The excavation unit comprises a cantilevered excavator. The support unit comprises a mechanized support trolley. The transportation unit comprises a bridge-type transfer machine and a plurality of belt conveyors. The sensing unit comprises UWB positioning tags, current detection sensors, torque sensors, speed sensors and a plurality of high-definition cameras. The optimization suggestion unit comprises a principal component analysis module and a BP neural network module. The application is constructed by combining principal component analysis and BP neural network, and effectively realizes the dynamic optimization of the excavation footage rhythm, support density, safety lag distance, transportation belt speed and start-stop logic.

Description

Technical Field

[0001] This invention patent relates to the field of non-blasting continuous mining technology in metal mines, specifically to a continuous mining system and method for coordinated tunneling-supporting-transportation operations in metal mines. Background Technology

[0002] As the mining depth of metallic mineral resources continues to increase, more and more mines are entering areas with high stress, high permeability, and high geothermal temperature at depths of 800 meters or even 1000 meters and above. Under such complex geological conditions, the stability of the surrounding rock decreases significantly, posing a severe challenge to traditional mining methods. The upward-entry backfilling method, due to its advantages such as effectively controlling the exposed area of ​​the stope, timely backfilling voids, and mitigating surrounding rock deformation, has become one of the mainstream processes for handling fractured, weak, or jointed ore bodies. However, the core rock-breaking step of this method has long relied heavily on explosive blasting. The inherent high-energy release characteristics of explosives are fundamentally contradictory to the brittle-ductile transition behavior of deep rock masses, leading to increased safety risks, limited operational efficiency, and difficulty in improving resource recovery rates. Although the industry has conducted extensive research on optimizing blasting processes in recent years, attempting to alleviate these problems through refined design, the overall technical approach has not yet broken out of the "blasting-dominated" framework.

[0003] For example, Chinese invention patent application CN120444023A discloses "an upward approach backfilling mining process for mining". Its key technical point is to adopt medium-deep hole segmented micro-delay blasting technology. By precisely controlling the density of blast holes, charge structure and millisecond delay time, it strives to achieve a blasting effect of "weak disturbance and low damage". At the same time, it uses reinforced concrete to reinforce key structural parts such as ore pass and connecting riser, and introduces tailings-based cemented backfill material to improve the strength of the backfill, thereby enhancing the overall stability of the system.

[0004] Chinese invention patent application CN116291453B discloses "an upward approach backfilling mining process for copper and iron ore mining", which mainly focuses on copper and iron symbiotic (associated) ore bodies and proposes the design concept of "double-layered collaborative mining unit". It combines two adjacent horizontal layers into a mining unit. First, the upper layer is used for lateral free face mining to form a side slope. Then, this space is used as a compensation space for the blasting of the lower layer. The traditional vertical tunneling blasting at the working face is transformed into lateral collapse, which effectively reduces the amount of drilling per cycle and the amount of explosives consumed, and to a certain extent reduces the cumulative damage of blasting vibration to the surrounding rock.

[0005] While the aforementioned technological improvements demonstrate engineering ingenuity in certain aspects, showcasing a focus on blasting disturbance control, structural reinforcement, and resource utilization efficiency, their underlying logic remains based on the instantaneous high-energy release of the blasting physical process. This approach inherently cannot avoid the multiple negative effects of blasting: on the one hand, the explosive stress waves propagating in heterogeneous rock masses easily trigger secondary fracture propagation, causing roof delamination and even localized collapses of sidewalls and spalls; on the other hand, the large amounts of toxic and harmful gases and high-concentration dust generated after blasting require prolonged forced ventilation to meet personnel entry requirements, typically accounting for 30%–40% of a single work cycle, severely hindering overall progress. More importantly, blasting, as a discrete and intermittent rock-breaking method, inevitably contradicts the development trend of continuous and intelligent mining.

[0006] Against this backdrop, some mines have begun to explore non-explosive continuous mining paths by introducing mechanical rock-breaking equipment such as cantilever roadheaders. However, current applications mostly remain at the level of "equipment replacement," that is, simply replacing the drilling and blasting process with roadheaders, while subsequent steps such as inspection, support, and muck removal still follow the traditional sequential operation process—"complete a section of tunneling → personnel enter the unsupported area to inspect loose rocks → manually install anchor bolts / netting → loader or mine car removes muck." This model not only fails to leverage the speed advantage of mechanical continuous rock breaking, but also exposes new systemic bottlenecks due to problems such as delayed support and transportation disruptions. According to industry survey reports released by the National Mine Safety Administration in recent years, in metal mines using this type of semi-mechanized solution, the actual time utilization rate of tunneling equipment is generally less than 25%, far below the theoretical capacity of the equipment; at the same time, about 35% of roadway construction accidents occur during the support operation stage, the vast majority of which are caused by roof collapse or rib spalling, highlighting the serious lack of safety coordination mechanisms in existing non-explosive attempts.

[0007] Furthermore, traditional support systems themselves are incompatible with modern green mining concepts. The widely used metal anchors, wire mesh, and shotcrete are not only costly and complex to construct, but their metal components can easily mix into the ore during crushing and grinding, creating "iron pollution" that significantly increases the difficulty of mineral processing and the burden of tailings disposal. Cement particles in shotcrete can also dilute the grade of valuable minerals, affecting the quality of the final concentrate. At the same time, over-crushing of ore due to blasting is common, with the proportion of fine-grained (<5mm) waste rock often exceeding 30%, directly causing the comprehensive resource recovery rate to linger in the 80%–85% range for a long time, making it difficult to break through industry bottlenecks.

[0008] In summary, whether it is a sophisticated blasting and filling process or a preliminary attempt at mechanical tunneling, the existing technology system is unable to simultaneously meet the four core requirements of inherent safety, high efficiency and continuity, resource conservation and green and low-carbon development when facing the complex working conditions of deep metal mines. Summary of the Invention

[0009] To overcome the shortcomings of the prior art, the present invention provides a continuous mining system and method for coordinated tunneling-supporting-transportation operations in metal mines, the specific technical solution of which is as follows: A continuous mining system for coordinated tunneling, support, and transportation in a metal mine includes a control center, a tunneling unit, a support unit, a transportation unit, a sensing unit, a data acquisition unit, and an optimization suggestion unit. The control center includes a PLC controller, a data processing module, and a monitoring display; the data processing module is equipped with safety interlocking logic. The tunneling unit includes a cantilever tunneling machine. The support unit includes a mechanized support trolley. The transportation unit includes a bridge transfer conveyor and several belt conveyors arranged in a sequentially overlapping manner. The sensing unit includes several UWB positioning tags, current detection sensors, torque sensors, speed sensors, and several high-definition sensors. The system includes cameras; several UWB positioning tags are respectively installed on the cantilever tunneling machine, the mechanized support trolley, and the bridge transfer machine; the current detection sensor and torque sensor are installed on the cutting motor of the cantilever tunneling machine and the drive motor of the belt conveyor; the speed sensor is installed on the drive drum of the belt conveyor; several high-definition cameras are respectively installed at the unloading points of each belt conveyor and on the cutting surface of the cantilever tunneling machine; the data acquisition unit is communicatively connected to the sensing unit and is used to collect equipment operation data in real time and transmit it to the central control center; the optimization suggestion unit includes a principal component analysis module and a BP neural network module.

[0010] A continuous mining method for metal mines using a coordinated tunneling-supporting-transportation system, specifically including the following steps: S1. Conduct basic rock mass quality assessment on the surrounding rock of the target tunnel. The rock mass is classified into two types of working conditions: fractured rock mass and moderately intact rock mass. S2. Determine the safe lag distance between the rear end of the cantilever tunneling machine and the front working face of the mechanized support trolley; wherein, the safe lag distance is the longitudinal projection distance along the tunneling direction between the front working face of the mechanized support trolley and the rear end of the cantilever tunneling machine. S3. Construct a geological-technology mapping rule base, and filter and call the corresponding initialized tunneling and support technology parameters based on the rock mass classification results of S1 for later use; S4. Deploy tunneling units, support units, and transportation units within the target tunnel; S5. Start the cantilever tunneling machine for tunneling operations, and simultaneously start the bridge transfer conveyor and belt conveyor for transportation operations, so that the transportation operations are carried out synchronously with the tunneling operations; after the cantilever tunneling machine completes the first full-section forming tunneling, that is, after completing the first cutting cycle, the mechanized support trolley immediately starts the support operation in the tunneling completed area; after the cantilever tunneling machine completes the second cutting cycle, the central control center activates the safety interlock judgment; S6. In the S5 tunneling-supporting-transporting collaborative operation, the sensing unit collects multi-dimensional operation data in real time, and uses the principal component analysis module of the optimization suggestion unit to perform dimensionality reduction on the data and extract the principal components as prediction variables; the BP neural network module is used to build a prediction model, generate dynamic adjustment optimization suggestions and feed them back to the central control center; S7. Divide the mining area into several mining units consisting of two mining routes and one pillar. Install access roads on the pillar at an angle of 40° to 50° to the direction of the mining routes. Mining routes within the mining area are mined one at a time. After mining a route in one step is completed, it is immediately sealed and cemented backfilled. After the backfill is cured and qualified, the control center issues a mining permit for the next route. The cantilever tunneling machine then enters the new route via the access road to carry out cutting operations.

[0011] Preferably, S1 specifically includes the following sub-steps: S1.1 Rock samples were taken and tested on one side of the target tunnel face to obtain the saturated uniaxial compressive strength of the rock. and rock mass integrity coefficient ; S1.2 Based on the basic rock mass calculation formula Calculate the basic mass of the rock mass ; S1.3 Based on the basic quality of the rock mass Rock mass classification determination: when When, the rock mass is defined as a fractured rock mass; when At that time, the rock mass was defined as a moderately intact rock mass.

[0012] Preferably, the safety lag distance mentioned in S2 is specifically set as follows: when the rock mass is a fractured rock mass, the safety lag distance is set to 0.5 to 0.9 m; when the rock mass is a moderately intact rock mass, the safety lag distance is set to 1.0 to 1.5 m.

[0013] Preferably, S3 specifically includes the following sub-steps: S3.1 Obtain tunneling support process parameters, including tunneling speed, safe lag distance, anchor spacing, and cutting power; S3.2 will use the different rock mass classification results from S1.3 to... The matching and mapping rules between the value range and the corresponding initialized tunneling support process parameters are pre-entered into the engineering geology and process parameter database of the central control center to construct a geology-process mapping rule library; S3.3 Based on the rock mass classification results, the data processing module filters the corresponding matching mapping rules in the geological-process mapping rule library and calls the initialized tunneling support process parameters corresponding to the matching mapping rule for later use; The specific content of the matching mapping rules that constitute the geological-technology mapping rule base includes: when At that time, the tunneling speed was set to 1.5 to 2.0 m / shift, the spacing between anchor bolts was set to 0.8m×0.8m to 0.9m×0.9m, the safety lag distance was set to 0.5 to 0.9m, and the cutting power was set to 150 to 200 kW. when At that time, the tunneling speed was set to 2.5 to 3.0 m / shift, the spacing between anchor bolts was set to 0.9m×0.9m to 1.0m, the safety lag distance was set to 1.0 to 1.5m, and the cutting power was set to 200 to 250 kW.

[0014] Preferably, S4 specifically includes the following sub-steps: S4.1 Position the cantilever tunneling machine at a distance of 1.0 to 2.0 m from the working face, attach the bridge transfer machine to the tail of the cantilever tunneling machine, and connect the tail of the bridge transfer machine to the belt conveyor. S4.2 The mechanized support trolley is positioned behind the cantilever tunneling machine and on one side of the bridge transfer machine, maintaining a lateral safety distance of 0.5 to 1.0 m between the mechanized support trolley and the bridge transfer machine, and maintaining the safety lag distance determined in S2 between the mechanized support trolley and the rear end of the cantilever tunneling machine along the tunneling direction.

[0015] Preferably, S5 specifically includes the following sub-steps: S5.1, based on the initialized tunneling support process parameters called in S3.3, starts the cantilever roadheader for tunneling operations, and simultaneously starts the bridge transfer conveyor and belt conveyor for transportation operations. Current and torque sensors are used to monitor the cutting current and resistance of the cantilever roadheader and the drive motor current of the belt conveyor in real time. Speed ​​sensors and high-definition cameras are used to monitor the belt speed and ore distribution video images on the belt conveyor in real time, ensuring a balanced and continuous ore flow load and stable tunneling operations. This ensures dynamic matching between transportation capacity and tunneling output. Specifically: Under normal operating conditions, the transport capacity With tunneling productivity To maintain dynamic matching, the following conditions must be met: ; in, This is a dynamic matching coefficient, with a value range of 1.15; Based on the above matching requirements, the initial setting value of the conveyor belt speed for the bridge transfer machine and the belt conveyor is 1.25~2.5m / s; When the drive motor current of the belt conveyor exceeds 110% of its rated current for more than 10 seconds, it is determined to be a transport overload, triggering the equipment overload protection. The central control center sends a command to the cantilever tunneling machine to reduce the cutting power. Based on the cutting power setting value called in S3.3, the cutting power of the cantilever tunneling machine is reduced by 10% each time. At the same time, the conveyor belt speed of the bridge transfer conveyor and the belt conveyor is adjusted in conjunction, and the conveyor belt speed is reduced by 10% each time, until the drive motor current of the belt conveyor returns to below 90% of its rated current. The current adjusted cutting power and conveyor belt speed are maintained to continue to complete the current cutting cycle. When entering the next cutting cycle, the cutting power and conveyor belt speed are automatically restored to the initial setting values ​​called in S3.3. S5.2 After the cantilever tunneling machine completes the first cutting cycle, the mechanized support trolley immediately carries out mechanized support operations in the tunneling completed area using fiber anchor mesh and anchor bolts. S5.3 During the tunneling-support collaborative operation, UWB positioning tags are used to obtain the relative position information of the cantilever tunneling machine and the mechanized support trolley in real time; after the cantilever tunneling machine completes the second cutting cycle, the control center initiates a safety interlock judgment, specifically: If, before the tunnel boring machine (TBM) requests to enter the next cutting cycle, the control center detects that the longitudinal distance between the mechanized support trolley and the TBM exceeds the safe lag distance determined by S2, and has not received a signal from the mechanized support trolley indicating that the support for the excavated area formed in the previous cutting cycle is complete, the control center sends a stop command to the TBM, prohibiting the TBM from moving forward. The TBM continues until the mechanized support trolley has completed the support work for the excavated area formed in the previous cutting cycle and sends a support completion signal to the control center, and the longitudinal distance between the mechanized support trolley and the TBM is within the safe lag distance range. Then, the control center releases the interlock and allows the TBM to resume tunneling operations.

[0016] More preferably, the fiber anchor mesh is made of an elastically proportioned material, wherein the volume content of high-strength fiber is 30% to 60%, the volume content of thermosetting resin matrix is ​​40% to 70%, and the sum of the volume contents of the two is 100%; the high-strength fiber is one or a combination of carbon fiber, basalt fiber, or glass fiber; the tensile strength of the fiber anchor mesh is not less than 800 MPa, and the shear strength is not less than 150 MPa.

[0017] Furthermore, the S5 cantilever tunneling machine dynamically adjusts its cutting power during tunneling operations: The cutting resistance and cutting current of the cantilever tunneling machine are monitored in real time using torque and current sensors. When an increase in cutting resistance is detected and the cutting current reaches 120% of its rated value, the cutting overload protection is triggered. The central control center automatically controls the cantilever tunneling machine to reduce the cutting power by 10% each time, based on the current cutting power, until the cutting current drops to 105% or below its rated value. When the cutting current continues to fall to 100% or below its rated value and remains stable for 1 minute, the cutting overload protection is released, and the current cutting cycle continues with the adjusted cutting power. When entering the next cutting cycle, the cutting power called by S3.3 is automatically restored. When the basic quality of the rock mass When changes occur, the rock mass hardness change is inferred from the ratio of the average cutting current to the rated current monitored in real time: if this ratio exceeds 1.2 for 5 consecutive minutes, it is determined that the rock mass hardness has increased, and the current rock mass working condition is switched to the medium intact rock mass working condition, automatically switching to... The corresponding cutting power is matched within the mapping rules; if this ratio remains below 0.8 for 5 consecutive minutes, it is determined that the rock mass fragmentation has increased, and the current rock mass working condition is switched to the fragmented rock mass working condition, automatically switching to... The corresponding cutoff power within the matching mapping rules; Among these, the treatment of overload protection during truncation has a higher priority than the treatment of basic rock mass quality. Cutting power switching caused by changes: When the cutting overload protection is triggered, the central control center automatically shields the basic quality of the rock mass. The cutting power switching command caused by the change will continue until the cutting overload protection is released, at which point the basic rock mass quality will be reassessed and the command executed. The change in cutting power switching.

[0018] Furthermore, S6 specifically includes the following sub-steps: S6.1 collects multi-dimensional operational data in real time covering the entire chain of mining, tunneling, support, and transportation, including roof delamination amount, support lag response time, energy consumption per unit advance, bolt consumption, equipment maintenance frequency, pure cutting time of tunneling machine, average load rate of conveyor, energy consumption of ventilation system, and dust concentration. S6.2 uses the principal component analysis module to perform dimensionality reduction on the multidimensional running data obtained in S6.1, and extracts the top three principal components with a cumulative variance contribution rate greater than 85% as predictor variables; S6.3 Construct a three-layer BP neural network model, with the input layer being the predicted variables, the hidden layer having 8 to 12 nodes, and the output layer being the comprehensive performance index; S6.4 Generate dynamic adjustment and optimization suggestions based on the comprehensive performance index: When the comprehensive efficiency index is in the range of [0.8, 1.0], it is defined as the high-efficiency zone, and the initial settings of the tunneling support process parameters and conveyor belt speed called in S3.3 remain unchanged; When the comprehensive efficiency index is in the range of [0.6, 0.8), it is defined as the warning zone. Under the premise that the equipment is not in the equipment overload protection state and the cutting overload protection is not triggered, the current tunneling speed or conveyor belt speed is increased by 5% each time. After each adjustment, the comprehensive efficiency index is re-evaluated after running for 3 to 5 minutes until the comprehensive efficiency index rises back to the range of [0.8, 1.0]. The tunneling speed or conveyor belt speed is adjusted and the current cutting cycle ends. The next cutting cycle restores the original tunneling support process parameters and conveyor belt speed before the adjustment. When the overall efficiency index is in the range of [0, 0.6), it is defined as a dangerous and inefficient zone. The appropriate adjustments are made: reducing the anchor bolt spacing by 0.1m, shortening the safety lag distance by 0.1m, or reducing the tunneling speed by 10%. If the overall efficiency index does not recover after one adjustment, the next adjustment is automatically switched to. Each adjustment is performed at most once. After each adjustment, the system runs for 3-5 minutes and the overall efficiency index is reassessed until it recovers to the range of [0.8, 1.0]. The system then runs at the adjusted anchor bolt spacing, safety lag distance, or tunneling speed until the current cutting cycle ends. The next cutting cycle restores the original tunneling support process parameters and conveyor belt speed before the adjustment. Among them, the adjusted spacing between anchor bolts shall not be less than 0.6m×0.6m, the safety lag distance shall not be less than 0.5m, and the tunneling speed shall not be less than 1.0m / shift; if the value of a certain item after adjustment is lower than the corresponding lower limit requirement, then skip the execution of that item and switch to the next item; the processing priority of equipment overload protection or cutting overload protection is higher than the execution of optimization suggestions.

[0019] The beneficial effects of this invention are: (1) Parallelization of processes, breaking the serial bottleneck: This invention completely changes the traditional serial mode of "digging → inspection and prying → support → transportation". By implementing support and transportation simultaneously within the safe lag distance set behind the cantilever tunneling machine, the three core processes overlap in time and are tightly connected in space; the transportation process is carried out simultaneously with the tunneling, avoiding ore accumulation or empty transportation; the support operation starts immediately after the cantilever tunneling machine completes a cutting cycle, without the need for manual entry into high-risk areas, and the equipment time utilization rate can be effectively increased from less than 25% in the traditional way to more than 30%; (2) Safety is proactive and the risk of personnel exposure is reduced: High-strength shear-resistant and breakable fiber anchor mesh is installed with anchor bolts using mechanized support trolleys, eliminating the need for manual entry into the unsupported roof to work, thus fundamentally eliminating the causes of accidents such as roof collapse and rib spalling; at the same time, through the collaboration of UWB positioning tags and the central control center, safety interlock judgment is realized, forming an active protection mechanism to ensure the shortest exposure time of the surrounding rock; (3) Cost optimization and dynamic control of the whole chain: Construct a safety-cost-efficiency collaborative optimization model for "ore flow", integrate principal component analysis and BP neural network model to realize online iterative optimization of parameters. The transportation unit automatically adjusts its speed through current monitoring and video feedback to ensure dynamic matching between transportation capacity and tunneling output, and avoid energy waste. In addition, the use of fiber anchor mesh without metal impurities avoids the pollution of ore by traditional metal anchors, reduces the difficulty and cost of subsequent ore beneficiation, and eliminates the shotcrete process, saving materials. (4) Lightweight equipment and strong process adaptability: There is no need to integrate support or prying actuators on the cantilever tunneling machine body, keeping the cantilever tunneling machine structure simple and the center of gravity stable; the support task is fully undertaken by a special mechanized support trolley, realizing functional decoupling; the "geology-process mapping rule library" formed based on the basic quality classification results of the rock mass realizes the precise adaptation of process parameters, and with the real-time collection of multi-dimensional operation data, the BP neural network model is driven to generate dynamic optimization suggestions and complete dynamic adjustment, so that the process has a strong geological self-adaptive capability; (5) Improved resource recovery rate and environmental benefits: Mechanical cutting replaces blasting, reducing excessive crushing of ore and increasing resource recovery rate to over 90%; Completely avoids dust, harmful gases and vibration impact generated by blasting, significantly improves the underground working environment, and highly meets the construction requirements of green mines; (6) Coordination of access mining and backfilling: Adopting a panel-layer-access hierarchical structure, the unique access mining and backfilling sequence coordination of metal mines is achieved through the sequence of mining every other day, the transfer of the oblique access connecting road, the principle of mining and backfilling one at a time, and the 72-hour backfill maintenance mechanism. Attached Figure Description

[0020] The accompanying drawings constituting this invention are provided to further understand this application and do not constitute an undue limitation of this application.

[0021] Figure 1 This is a flowchart of the present invention. Detailed Implementation

[0022] Combined with appendix Figure 1 The embodiments further illustrate the specific implementation of the continuous mining system and method for coordinated tunneling, support and transportation in metal mines provided by the present invention.

[0023] A continuous mining system for coordinated tunneling, support, and transportation in a metal mine includes a central control center, a tunneling unit, a support unit, a transportation unit, a sensing unit, a data acquisition unit, and an optimization suggestion unit. Preferably, the central control center includes a PLC controller, a data processing module, and a monitoring display, and the data processing module is equipped with safety interlock logic.

[0024] Preferably, the tunneling unit includes a cantilever tunneling machine; the support unit includes a mechanized support trolley; and the transportation unit includes a bridge transfer machine and several belt conveyors arranged in sequence.

[0025] Preferably, the sensing unit includes several UWB positioning tags, a current detection sensor, a torque sensor, a speed sensor, and several high-definition cameras. Specifically: the several UWB positioning tags are respectively installed on the cantilever tunneling machine, the mechanized support trolley, and the bridge transfer machine; the current detection sensor and the torque sensor are installed on the cutting motor of the cantilever tunneling machine and the drive motor of the belt conveyor; the speed sensor is installed on the drive drum of the belt conveyor; and the several high-definition cameras are respectively installed at the unloading point of each belt conveyor and on the cutting surface of the cantilever tunneling machine.

[0026] Preferably, the data acquisition unit is communicatively connected to the sensing unit, and is used to collect equipment operation data in real time and transmit it to the central control center.

[0027] Preferably, the optimization suggestion unit includes a principal component analysis module and a BP neural network module.

[0028] A continuous mining method for metal mines using a coordinated tunneling-supporting-transportation system, specifically including the following steps: S1. Conduct basic rock mass quality assessment on the surrounding rock of the target tunnel. Value classification divides the rock mass into two categories: fractured rock mass and moderately intact rock mass. This process includes the following sub-steps: S1.1 Rock samples were taken and tested on one side of the target tunnel face to obtain the saturated uniaxial compressive strength of the rock. and rock mass integrity coefficient ; S1.2 Based on the basic rock mass calculation formula Calculate the basic mass of the rock mass ; S1.3 Based on the basic quality of the rock mass Rock mass classification determination: when When, the rock mass is defined as a fractured rock mass; when At that time, the rock mass was defined as a moderately intact rock mass.

[0029] S2. Determine the safe lag distance between the rear end of the cantilever tunneling machine and the front working face of the mechanized support trolley; wherein, the safe lag distance is the longitudinal projection distance along the tunneling direction between the front working face of the mechanized support trolley and the rear end of the cantilever tunneling machine: When the rock mass is a fractured rock mass, the safety lag distance is set to 0.5–0.9 m; When the rock mass is of medium integrity, the safe lag distance is set to 1.0 to 1.5 m.

[0030] S3. Construct a geological-technology mapping rule base, and filter and call the corresponding initialized tunneling and support technology parameters based on the rock mass classification results of S1 for later use. This includes the following sub-steps: S3.1 Obtain tunneling support process parameters, including tunneling speed, safe lag distance, anchor spacing, and cutting power; S3.2 will use the different rock mass classification results from S1.3 to... The matching and mapping rules between the value range and the corresponding initialized tunneling support process parameters are pre-entered into the engineering geology and process parameter database of the central control center to construct a geology-process mapping rule library; S3.3 Based on the rock mass classification results, the data processing module filters the corresponding matching mapping rules in the geological-process mapping rule library and calls the initialized tunneling support process parameters corresponding to the matching mapping rule for later use; The specific content of the matching mapping rules that constitute the geological-technology mapping rule base includes: when At that time, the tunneling speed was set to 1.5 to 2.0 m / shift, the spacing between anchor bolts was set to 0.8m×0.8m to 0.9m×0.9m, the safety lag distance was set to 0.5 to 0.9m, and the cutting power was set to 150 to 200 kW. when At that time, the tunneling speed was set to 2.5 to 3.0 m / shift, the spacing between anchor bolts was set to 0.9m×0.9m to 1.0m, the safety lag distance was set to 1.0 to 1.5m, and the cutting power was set to 200 to 250 kW.

[0031] S4. Deploy tunneling units, support units, and transportation units within the target roadway, specifically including the following sub-steps: S4.1 Position the cantilever tunneling machine at a distance of 1.0 to 2.0 m from the working face, attach the bridge transfer machine to the tail of the cantilever tunneling machine, and connect the tail of the bridge transfer machine to the belt conveyor. S4.2 The mechanized support trolley is positioned behind the cantilever tunneling machine and on one side of the bridge transfer machine, maintaining a lateral safety distance of 0.5 to 1.0 m between the mechanized support trolley and the bridge transfer machine, and maintaining the safety lag distance determined in S2 between the mechanized support trolley and the rear end of the cantilever tunneling machine along the tunneling direction.

[0032] S5. Start the cantilever tunneling machine for tunneling operations, and simultaneously start the bridge transfer conveyor and belt conveyor for transportation operations, so that transportation operations are carried out synchronously with tunneling operations; after the cantilever tunneling machine completes the first full-section forming tunneling, that is, after completing the first cutting cycle, the mechanized support trolley immediately starts support operations in the tunneling completed area; after the cantilever tunneling machine completes the second cutting cycle, the central control center initiates the safety interlock judgment, which specifically includes the following sub-steps: S5.1, based on the initialized tunneling support process parameters called in S3.3, starts the cantilever roadheader for tunneling operations, and simultaneously starts the bridge transfer conveyor and belt conveyor for transportation operations. Current and torque sensors are used to monitor the cutting current and resistance of the cantilever roadheader and the drive motor current of the belt conveyor in real time. Speed ​​sensors and high-definition cameras are used to monitor the belt speed and ore distribution video images on the belt conveyor in real time, ensuring a balanced and continuous ore flow load and stable tunneling operations. This ensures dynamic matching between transportation capacity and tunneling output. Specifically: Under normal operating conditions, the transport capacity With tunneling productivity To maintain dynamic matching, the following conditions must be met: ; in, This is a dynamic matching coefficient, with a value range of 1.15; Based on the above matching requirements, the initial setting value of the conveyor belt speed for the bridge transfer machine and the belt conveyor is 1.25~2.5m / s.

[0033] When the drive motor current of the belt conveyor exceeds 110% of its rated current for more than 10 seconds, it is determined to be a transport overload, triggering the equipment overload protection. The central control center sends a command to the cantilever tunneling machine to reduce the cutting power. Based on the cutting power setting value called in S3.3, the cutting power of the cantilever tunneling machine is reduced by 10% each time. At the same time, the conveyor belt speed of the bridge transfer conveyor and the belt conveyor is adjusted in conjunction, and the conveyor belt speed is reduced by 10% each time, until the drive motor current of the belt conveyor returns to below 90% of its rated current. The current adjusted cutting power and conveyor belt speed are maintained to continue to complete the current cutting cycle. When entering the next cutting cycle, the cutting power and conveyor belt speed are automatically restored to the initial setting values ​​called in S3.3. S5.2 After the cantilever tunneling machine completes the first cutting cycle, the mechanized support trolley immediately carries out mechanized support operations in the tunneling completed area using fiber anchor mesh and anchor bolts. S5.3 During the tunneling-support collaborative operation, UWB positioning tags are used to obtain the relative position information of the cantilever tunneling machine and the mechanized support trolley in real time; after the cantilever tunneling machine completes the second cutting cycle, the control center initiates a safety interlock judgment, specifically: If, before the tunnel boring machine (TBM) requests to enter the next cutting cycle, the control center detects that the longitudinal distance between the mechanized support trolley and the TBM exceeds the safe lag distance determined by S2, and has not received a signal from the mechanized support trolley indicating that the support for the excavated area formed in the previous cutting cycle is complete, the control center sends a stop command to the TBM, prohibiting the TBM from moving forward. The TBM continues until the mechanized support trolley has completed the support work for the excavated area formed in the previous cutting cycle and sends a support completion signal to the control center, and the longitudinal distance between the mechanized support trolley and the TBM is within the safe lag distance range. Then, the control center releases the interlock and allows the TBM to resume tunneling operations.

[0034] It is worth noting that the fiber anchor mesh is made of an elastically proportioned material, wherein the volume content of high-strength fiber is 30%–60%, the volume content of thermosetting resin matrix is ​​40%–70%, and the sum of the two volume contents is 100%; the high-strength fiber is one or a combination of carbon fiber, basalt fiber, or glass fiber. The tensile strength of the fiber anchor mesh is not less than 800 MPa, the shear strength is not less than 150 MPa, and it can achieve controllable fracture under mechanical disturbance or subsequent mining blasting impact; the fiber anchor mesh is installed by a mechanized support trolley, eliminating the need for shotcrete.

[0035] Furthermore, the S5 cantilever roadheader dynamically adjusts its cutting power during the roadheader operation: The cutting resistance and cutting current of the cantilever tunneling machine are monitored in real time using torque and current sensors. When an increase in cutting resistance is detected and the cutting current reaches 120% of its rated value, the cutting overload protection is triggered. The central control center automatically controls the cantilever tunneling machine to reduce the cutting power by 10% each time, based on the current cutting power, until the cutting current drops to 105% or below its rated value. When the cutting current continues to fall to 100% or below its rated value and remains stable for 1 minute, the cutting overload protection is released, and the current cutting cycle continues with the adjusted cutting power. When entering the next cutting cycle, the cutting power called by S3.3 is automatically restored. When the basic quality of the rock mass When changes occur, the rock mass hardness change is inferred from the ratio of the average cutting current to the rated current monitored in real time: if this ratio exceeds 1.2 for 5 consecutive minutes, it is determined that the rock mass hardness has increased, and the current rock mass working condition is switched to the medium intact rock mass working condition, automatically switching to... The corresponding cutting power is matched within the mapping rules; if this ratio remains below 0.8 for 5 consecutive minutes, it is determined that the rock mass fragmentation has increased, and the current rock mass working condition is switched to the fragmented rock mass working condition, automatically switching to... The corresponding cutoff power within the matching mapping rules; It is worth noting here that the treatment of overload protection during truncation has a higher priority than the basic quality of the rock mass. Cutting power switching caused by changes: When the cutting overload protection is triggered, the central control center automatically shields the basic quality of the rock mass. The cutting power switching command caused by the change will continue until the cutting overload protection is released, at which point the basic rock mass quality will be reassessed and the command executed. The change in cutting power switching.

[0036] S6. In the S5 tunneling-supporting-transporting collaborative operation, the sensing unit collects multi-dimensional operational data in real time, and uses the principal component analysis module of the optimization suggestion unit to perform dimensionality reduction on the data, extracting principal components as predictive variables; the BP neural network module is used to build a predictive model, generate dynamically adjusted optimization suggestions, and feed them back to the central control center. Specifically, this includes the following sub-steps: S6.1 collects multi-dimensional operational data in real time covering the entire chain of mining, tunneling, support, and transportation, including roof delamination amount, support lag response time, energy consumption per unit advance, bolt consumption, equipment maintenance frequency, pure cutting time of tunneling machine, average load rate of conveyor, energy consumption of ventilation system, and dust concentration. S6.2 uses the principal component analysis module to perform dimensionality reduction on the multidimensional running data obtained in S6.1, and extracts the top three principal components with a cumulative variance contribution rate greater than 85% as predictor variables; S6.3 Construct a three-layer BP neural network model, with the input layer being the predicted variables, the hidden layer having 8 to 12 nodes, and the output layer being the comprehensive performance index; S6.4 Generate dynamic adjustment and optimization suggestions based on the comprehensive performance index: When the comprehensive efficiency index is in the range of [0.8, 1.0], it corresponds to a working condition where the rock mass is stable and the equipment is operating well. This is defined as the high-efficiency zone, and the initial settings of the tunneling support process parameters and conveyor belt speed called in S3.3 remain unchanged. When the comprehensive efficiency index is in the range of [0.6, 0.8), it corresponds to a working condition with average rock mass conditions or high equipment load, which is defined as a warning zone. Under the premise that the equipment is not in the equipment overload protection state and the cutting overload protection is not triggered, the current tunneling speed or conveyor belt speed is increased by 5% each time. After each adjustment, the comprehensive efficiency index is re-evaluated after running for 3 to 5 minutes until the comprehensive efficiency index rises back to the range of [0.8, 1.0]. The tunneling speed or conveyor belt speed is then used to run until the end of the current cutting cycle. The next cutting cycle restores the original tunneling support process parameters and conveyor belt speed before the adjustment. When the comprehensive efficiency index is in the range of [0, 0.6), it corresponds to the working conditions of broken rock mass, unstable roof, or abnormal equipment operation, and is defined as a dangerous and inefficient zone. Select one of the following to execute: reduce the spacing between anchor bolts by 0.1m, shorten the safety lag distance by 0.1m, or reduce the tunneling speed by 10%. If the comprehensive efficiency index does not recover after executing one item, it will automatically switch to another item, and each adjustment can be executed at most once. After each adjustment, run for 3 to 5 minutes and re-evaluate the comprehensive efficiency index until the comprehensive efficiency index recovers to the range of [0.8, 1.0]. Then run at the adjusted spacing between anchor bolts, safety lag distance, or tunneling speed until the end of the current cutting cycle. The next cutting cycle will restore the original tunneling support process parameters and conveyor belt speed before the adjustment.

[0037] It is worth noting that the adjusted spacing between anchor bolts shall not be less than 0.6m × 0.6m, the safety lag distance shall not be less than 0.5m, and the tunneling speed shall not be less than 1.0m / shift. If the value of any item after adjustment is lower than the corresponding lower limit requirement, the item will be automatically skipped and the next item will be executed.

[0038] Furthermore, it is worth emphasizing that the processing priority of the equipment overload protection or cutting overload protection mentioned in this invention is higher than the execution of the optimization suggestions.

[0039] S7. Coordination steps for access and backfilling in the panel mining area, specifically including the following sub-steps: S7.1 divides the panel mining area into several mining units consisting of two mining routes and one pillar. A connecting roadway is laid on the pillar at an angle of 40° to 50° to the direction of the mining route. The cantilever tunneling machine moves between adjacent mining routes via the connecting roadway. S7.2 Within the panel area, the mining access road is mined in a staggered manner. After the mining of the first-step access road is completed, it is immediately sealed. High-concentration fine sand filling slurry is transported by gravity through the filling pipeline for cementing and filling. When the curing time of the filling body reaches 72 hours and the strength reaches more than 80% of the design value, a signal that the strength of the filling body meets the standard is sent to the central control center. S7.3 After verifying that the safety factor of the top plate of the filling body of the adjacent two-step approach is not less than 1.5 and that the equipment is in place, the central control center generates a mining permit instruction for the next mining approach and dispatches the cantilever tunneling machine to enter the next mining approach through the approach connecting road to start the cutting operation.

[0040] The continuous mining method provided by the present invention will be described in detail below with reference to specific embodiments: This embodiment takes the tunnel excavation project of a 1300m section I panel in the third mining area of ​​a nickel mine as the object, and the Protodyakonov coefficient f of the ore and rock in the test section is 12; the specific steps are as follows: S1. The saturated uniaxial compressive strength of the rock was directly obtained through indoor rock mechanics tests and acoustic wave tests. The rock mass integrity factor is 120 MPa. The value is 0.75: The basic mass of the rock mass in this test section was calculated. The value is 637.5, defining the rock mass as a moderately intact rock mass. ).

[0041] S2. Based on the rock mass classification results, the safe lag distance between the rear end of the cantilever tunneling machine and the front working face of the mechanized support trolley is determined to be 1.0 to 1.5 m.

[0042] S3. Based on rock mechanics theory and historical mine data, different rock masses... The matching mapping rules between value ranges and corresponding initialized tunneling support process parameters are pre-entered into the engineering geology and process parameter database of the central control center to construct a geology-process mapping rule library. Based on the rock mass classification results, the data processing module filters the corresponding matching mapping rules in the geology-process mapping rule library and calls the initialized tunneling support process parameters corresponding to the matching mapping rule for later use. The specific parameters called in this embodiment are detailed in Table 1 below.

[0043] Table 1. Tunneling Support Process Parameters Equipment configuration: This embodiment uses one cantilever tunneling machine with a rated power of 315kW, one mechanized support trolley, one bridge transfer machine, and several belt conveyors (1.2m wide) that are sequentially connected and arranged in the main roadway.

[0044] S4. Position the cantilever tunneling machine 1.5m from its working face. Connect the receiving end of the bridge transfer conveyor to the unloading end at the rear of the cantilever tunneling machine. Arrange the belt conveyor behind the bridge transfer conveyor along the tunneling direction, extending the bridge transfer conveyor to the receiving end of the belt conveyor, with the receiving end of the belt conveyor located 1.0m behind the unloading point of the bridge transfer conveyor. Position the mechanized support trolley 1.2m behind the cantilever tunneling machine, placing it on one side of the bridge transfer conveyor and maintaining a safe lateral distance from it. The control center is located in a safety chamber 100m behind the tunnel.

[0045] S5. The cantilever tunneling machine is instructed to continuously cut, with the cutting power dynamically maintained at 250kW; the mechanized support trolley performs support operations within a safe lag distance of 1.2m as the tunneling progresses; after the cantilever tunneling machine completes the second cutting cycle, the central control center initiates a safety interlock judgment, and the PLC controller monitors the equipment spacing in real time through UWB positioning tags. Before the mechanized support trolley has completed the support operation on the excavated area formed by the previous cutting cycle, the cantilever tunneling machine shall not enter the next cutting cycle operation.

[0046] In this embodiment, the fiber anchor mesh used for support operations has a high-strength fiber volume content of 45% and a thermosetting resin matrix content of 55%. The high-strength fiber is a combination of carbon fiber and basalt fiber, with a tensile strength of 850MPa and a shear strength of 160MPa, eliminating the need for shotcrete. At the same time, during tunneling and transportation operations, the transportation capacity is maintained at 105% to 115% of the tunneling output.

[0047] S6. Collect nine multi-dimensional operational data items by shift, including roof delamination, support lag response time, energy consumption per unit advance, bolt consumption, equipment maintenance frequency, percentage of pure cutting time for tunneling machine, average load rate of conveyor, energy consumption of ventilation system, and dust concentration. After dimensionality reduction by principal component analysis module, these data are input into the BP neural network model (10 hidden layer nodes in this implementation). The comprehensive efficiency index is output: when the index is in the high-efficiency zone [0.8, 1.0], the current parameters are maintained; when it is in the warning zone [0.6, 0.8), suggestions for accelerating tunneling or transportation are generated; when it is in the dangerous and inefficient zone [6), safety adjustment strategies such as slowing down, shortening the safety lag distance, or reducing the spacing between bolts are implemented.

[0048] S7. Divide the mining area into panels. The panel length is set at 100m, the segment height is 22.5m, and each segment is divided into 5 layers with a layer height of 4.5m. The cross-sectional dimensions of the mining access road are 6.0m (width) × 4.5m (height), and the access road length is 50-100m. Divide each mining area into several mining units consisting of two mining access roads and one pillar. The access road connecting road is laid at a 45° angle to the mining access road direction. The filling coordination unit adjusts the number of mining access roads simultaneously mining in other mining areas based on the single access road ore extraction efficiency of 66.8t / h, access road footage efficiency of 14m / d, and single access road ore yield of 0.41-0.81 million tons. This ensures that the monthly production capacity of the mining area is not less than 12,000t / month, while guaranteeing the filling and roof connection quality of each mining access road.

[0049] As verified, the beneficial effects of this invention compared to traditional processes are detailed in Table 2 below.

[0050] Table 2. Comparison of the effects of improved indicators As shown in Table 2 above, the continuous mining method provided by this invention is significantly superior to traditional processes in terms of utilization rate, efficiency, cost, and resource recovery rate. It completely solves the problem of insufficient tunneling and support coordination in deep high-stress environments and achieves the requirements of safe, continuous, and green mining.

[0051] In this invention, terms such as "upper," "lower," "bottom," and "top" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are merely used to facilitate the description of the structural relationships of the various components or elements of this invention and do not specifically refer to any particular component or element in this invention, nor should they be construed as limiting the invention. Terms such as "connected" and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of the above terms in this invention based on the specific circumstances, and they should not be construed as limiting the invention.

[0052] Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A continuous mining system for coordinated tunneling, support, and hauling operations in a metal mine, characterized in that, It includes a central control center, tunneling unit, support unit, transportation unit, sensing unit, data acquisition unit, and optimization suggestion unit; The central control center includes a PLC controller, a data processing module, and a monitoring display. The data processing module is equipped with safety interlock logic. The tunneling unit includes a cantilever tunneling machine; The support unit includes a mechanized support trolley; The transport unit includes a bridge transfer machine and several belt conveyors that are sequentially connected. The sensing unit includes several UWB positioning tags, a current detection sensor, a torque sensor, a speed sensor, and several high-definition cameras. Among them, several of the UWB positioning tags are respectively installed on the cantilever tunneling machine, the mechanized support trolley, and the bridge transfer machine; the current detection sensor and the torque sensor are installed on the cutting motor of the cantilever tunneling machine and the drive motor of the belt conveyor; the speed sensor is installed on the drive drum of the belt conveyor; and several of the high-definition cameras are respectively installed at the unloading point of each belt conveyor and on the cutting surface of the cantilever tunneling machine. The data acquisition unit is communicatively connected to the sensing unit and is used to collect equipment operation data in real time and transmit it to the central control center. The optimization suggestion unit includes a principal component analysis module and a BP neural network module.

2. A continuous mining method for metal mines using a coordinated tunneling-supporting-transportation operation, employing the continuous mining system for metal mines using a coordinated tunneling-supporting-transportation operation as described in claim 1, characterized in that... Specifically, the following steps are included: S1. Conduct basic rock mass quality assessment on the surrounding rock of the target tunnel. The rock mass is classified into two types of working conditions: fractured rock mass and moderately intact rock mass. S2. Determine the safe lag distance between the rear end of the cantilever tunneling machine and the front working face of the mechanized support trolley; wherein, the safe lag distance is the longitudinal projection distance along the tunneling direction between the front working face of the mechanized support trolley and the rear end of the cantilever tunneling machine. S3. Construct a geological-technology mapping rule base, and filter and call the corresponding initialized tunneling and support technology parameters based on the rock mass classification results of S1 for later use; S4. Deploy tunneling units, support units, and transportation units within the target tunnel; S5. Start the cantilever tunneling machine for tunneling operations, and simultaneously start the bridge transfer conveyor and belt conveyor for transportation operations, so that the transportation operations are carried out synchronously with the tunneling operations; when the cantilever tunneling machine completes the first full-section forming tunneling, that is, after completing the first cutting cycle, the mechanized support trolley immediately starts the support operation in the tunneling completed area; after the cantilever tunneling machine completes the second cutting cycle, the central control center activates the safety interlock judgment; S6. In the S5 tunneling-supporting-transporting collaborative operation, the sensing unit collects multi-dimensional operation data in real time, and uses the principal component analysis module of the optimization suggestion unit to perform dimensionality reduction on the data and extract the principal components as prediction variables; the BP neural network module is used to build a prediction model, generate dynamic adjustment optimization suggestions and feed them back to the central control center; S7. Divide the mining area into several mining units consisting of two mining routes and one pillar. Install access roads on the pillar at an angle of 40° to 50° to the direction of the mining routes. Mining routes within the mining area are mined one at a time. After mining a route in one step is completed, it is immediately sealed and cemented backfilled. After the backfill is cured and qualified, the control center issues a mining permit for the next route. The cantilever tunneling machine then enters the new route via the access road to carry out cutting operations.

3. The continuous mining method for tunneling-supporting-transportation coordinated operation in metal mines according to claim 2, characterized in that, S1 specifically includes the following sub-steps: S1.1 Rock samples were taken and tested on one side of the target tunnel face to obtain the saturated uniaxial compressive strength of the rock. and rock mass integrity coefficient ; S1.2 Based on the basic rock mass calculation formula Calculate the basic mass of the rock mass ; S1.3 Based on the basic quality of the rock mass Rock mass classification determination: when When, the rock mass is defined as a fractured rock mass; when At that time, the rock mass was defined as a moderately intact rock mass.

4. The continuous mining method for coordinated tunneling-supporting-transportation operations in metal mines according to claim 3, characterized in that, The safety hysteresis distance mentioned in S2 is specifically: When the rock mass is a fractured rock mass, the safety lag distance is set to 0.5–0.9 m; When the rock mass is of medium integrity, the safe lag distance is set to 1.0 to 1.5 m.

5. The continuous mining method for coordinated tunneling-supporting-transportation operations in metal mines according to claim 4, characterized in that, S3 specifically includes the following sub-steps: S3.1 Obtain tunneling support process parameters, including tunneling speed, safe lag distance, anchor spacing, and cutting power; S3.2 will use the different rock mass classification results from S1.3 to... The matching and mapping rules between the value range and the corresponding initialized tunneling support process parameters are pre-entered into the engineering geology and process parameter database of the central control center to construct a geology-process mapping rule library; S3.3 Based on the rock mass classification results, the data processing module filters the corresponding matching mapping rules in the geological-process mapping rule library and calls the initialized tunneling support process parameters corresponding to the matching mapping rule for later use; The specific content of the matching mapping rules that constitute the geological-technology mapping rule base includes: when At that time, the tunneling speed was set to 1.5 to 2.0 m / shift, the spacing between anchor bolts was set to 0.8m×0.8m to 0.9m×0.9m, the safety lag distance was set to 0.5 to 0.9m, and the cutting power was set to 150 to 200 kW. when At that time, the tunneling speed was set to 2.5 to 3.0 m / shift, the spacing between anchor bolts was set to 0.9m×0.9m to 1.0m×1.0m, the safety lag distance was set to 1.0 to 1.5m, and the cutting power was set to 200 to 250 kW.

6. The continuous mining method for coordinated tunneling-supporting-transportation operations in metal mines according to claim 5, characterized in that, S4 specifically includes the following sub-steps: S4.1 Position the cantilever tunneling machine at a distance of 1.0 to 2.0 m from the working face, attach the bridge transfer machine to the tail of the cantilever tunneling machine, and connect the tail of the bridge transfer machine to the belt conveyor. S4.2 The mechanized support trolley is positioned behind the cantilever tunneling machine and on one side of the bridge transfer machine, maintaining a lateral safety distance of 0.5 to 1.0 m between the mechanized support trolley and the bridge transfer machine, and maintaining the safety lag distance determined in S2 between the mechanized support trolley and the rear end of the cantilever tunneling machine along the tunneling direction.

7. The continuous mining method for coordinated tunneling-supporting-transportation operations in metal mines according to claim 6, characterized in that, S5 specifically includes the following sub-steps: S5.1, based on the initialized tunneling support process parameters called by S3.3, starts the cantilever tunneling machine to carry out tunneling operations, and simultaneously starts the bridge transfer conveyor and belt conveyor to carry out transportation operations; Current and torque sensors are used to monitor the cutting current and resistance of the cantilever roadheader and the drive motor current of the belt conveyor in real time. Speed ​​sensors and high-definition cameras are used to monitor the belt speed and ore distribution on the belt conveyor in real time, ensuring a balanced and continuous ore flow and stable tunneling operations. This ensures a dynamic match between transport capacity and tunneling output. Specifically: Under normal operating conditions, the transport capacity With tunneling productivity To maintain dynamic matching, the following conditions must be met: ； in, This is a dynamic matching coefficient, with a value range of 1.05 to 1.15; Based on the above matching requirements, the initial setting value of the conveyor belt speed for the bridge transfer machine and the belt conveyor is 1.25~2.5m / s; When the drive motor current of the belt conveyor exceeds 110% of its rated current for more than 10 seconds, it is determined to be a transport overload, triggering the equipment overload protection. The central control center sends a command to the cantilever tunneling machine to reduce the cutting power. Based on the cutting power setting value called in S3.3, the cutting power of the cantilever tunneling machine is reduced by 10% each time. At the same time, the conveyor belt speed of the bridge transfer conveyor and the belt conveyor is adjusted in conjunction, and the conveyor belt speed is reduced by 10% each time, until the drive motor current of the belt conveyor returns to below 90% of its rated current. The current adjusted cutting power and conveyor belt speed are maintained to continue to complete the current cutting cycle. When entering the next cutting cycle, the cutting power and conveyor belt speed are automatically restored to the initial setting values ​​called in S3.

3. S5.2 After the cantilever tunneling machine completes the first cutting cycle, the mechanized support trolley immediately carries out mechanized support operations in the tunneling completed area using fiber anchor mesh and anchor bolts. S5.3 During the tunneling-support collaborative operation, UWB positioning tags are used to obtain the relative position information of the cantilever tunneling machine and the mechanized support trolley in real time; after the cantilever tunneling machine completes the second cutting cycle, the control center initiates a safety interlock judgment, specifically: If, before the tunnel boring machine (TBM) requests to enter the next cutting cycle, the control center detects that the longitudinal distance between the mechanized support trolley and the TBM exceeds the safe lag distance determined by S2, and has not received a signal from the mechanized support trolley indicating that the support for the excavated area formed in the previous cutting cycle is complete, the control center sends a stop command to the TBM, prohibiting the TBM from moving forward. The TBM continues until the mechanized support trolley has completed the support work for the excavated area formed in the previous cutting cycle and sends a support completion signal to the control center, and the longitudinal distance between the mechanized support trolley and the TBM is within the safe lag distance range. Then, the control center releases the interlock and allows the TBM to resume tunneling operations.

8. The continuous mining method for coordinated tunneling-supporting-transportation operations in metal mines according to claim 7, characterized in that, The fiber anchor mesh is made of an elastically proportioned material, wherein the volume content of high-strength fiber is 30% to 60%, the volume content of thermosetting resin matrix is ​​40% to 70%, and the sum of the volume contents of the two is 100%; the high-strength fiber is one or a combination of carbon fiber, basalt fiber or glass fiber. The tensile strength of the fiber anchor mesh is not less than 800 MPa, and the shear strength is not less than 150 MPa.

9. The continuous mining method for coordinated tunneling-supporting-transportation operations in metal mines according to claim 8, characterized in that, The S5 cantilever roadheader dynamically adjusts its cutting power during tunneling operations: The cutting resistance and cutting current of the cantilever tunneling machine are monitored in real time using torque and current sensors. When the cutting resistance increases and the cutting current reaches 120% of its rated value, the cutting overload protection is triggered. The central control center automatically controls the cantilever tunneling machine to reduce the cutting power by 10% each time, based on the current cutting power, until the cutting current drops to 105% or below its rated value. When the cutting current continues to fall to 100% or below its rated value and remains stable for 1 minute, the cutting overload protection is released, and the current cutting cycle continues with the adjusted cutting power. When entering the next cutting cycle, the cutting power will automatically be restored to the level called in S3.3; When the basic quality of the rock mass When changes occur, the rock mass hardness change is inferred from the ratio of the average cutting current to the rated current monitored in real time: if this ratio exceeds 1.2 for 5 consecutive minutes, it is determined that the rock mass hardness has increased, and the current rock mass working condition is switched to the medium intact rock mass working condition, automatically switching to... The corresponding cutting power is matched within the mapping rules; if this ratio remains below 0.8 for 5 consecutive minutes, it is determined that the rock mass fragmentation has increased, and the current rock mass working condition is switched to the fragmented rock mass working condition, automatically switching to... The corresponding cutoff power within the matching mapping rules; Among these, the treatment of overload protection during truncation has a higher priority than the treatment of basic rock mass quality. Cutting power switching caused by changes: When the cutting overload protection is triggered, the central control center automatically shields the basic quality of the rock mass. The cutting power switching command caused by the change will continue until the cutting overload protection is released, at which point the basic rock mass quality will be reassessed and the command executed. The change in cutting power switching.

10. The continuous mining method for coordinated tunneling-supporting-transportation operations in metal mines according to claim 9, characterized in that, S6 specifically includes the following sub-steps: S6.1 collects multi-dimensional operational data in real time covering the entire chain of mining, tunneling, support, and transportation, including roof delamination amount, support lag response time, energy consumption per unit advance, bolt consumption, equipment maintenance frequency, pure cutting time of tunneling machine, average load rate of conveyor, energy consumption of ventilation system, and dust concentration. S6.2 uses the principal component analysis module to perform dimensionality reduction on the multidimensional running data obtained in S6.1, and extracts the top three principal components with a cumulative variance contribution rate greater than 85% as predictor variables; S6.3 Construct a three-layer BP neural network model, with the input layer being the predicted variables, the hidden layer having 8 to 12 nodes, and the output layer being the comprehensive performance index; S6.4 Generate dynamic adjustment and optimization suggestions based on the comprehensive performance index: When the comprehensive efficiency index is in the range of [0.8, 1.0], it is defined as the high-efficiency zone, and the initial settings of the tunneling support process parameters and conveyor belt speed called in S3.3 remain unchanged; When the comprehensive efficiency index is in the range of [0.6, 0.8), it is defined as the warning zone. Under the premise that the equipment is not in the equipment overload protection state and the cutting overload protection is not triggered, the current tunneling speed or conveyor belt speed is increased by 5% each time. After each adjustment, the comprehensive efficiency index is re-evaluated after running for 3 to 5 minutes until the comprehensive efficiency index rises back to the range of [0.8, 1.0]. The tunneling speed or conveyor belt speed is adjusted and the current cutting cycle ends. The next cutting cycle restores the original tunneling support process parameters and conveyor belt speed before the adjustment. When the comprehensive efficiency index is in the range of [0, 0.6), it is defined as a dangerous and inefficient zone. The appropriate adjustments are made by reducing the anchor bolt spacing by 0.1m, shortening the safety lag distance by 0.1m, or reducing the tunneling speed by 10%, one by one. If the comprehensive efficiency index does not recover after one adjustment, the next adjustment is automatically switched to. Each adjustment is performed only once. After each adjustment, the system runs for 3-5 minutes and the comprehensive efficiency index is reassessed until it recovers to the range of [0.8, 1.0]. The system then runs at the adjusted anchor bolt spacing, safety lag distance, or tunneling speed until the end of the current cutting cycle. The next cutting cycle restores the original tunneling support process parameters and conveyor belt speed before the adjustment. The adjusted anchor bolt spacing must not be less than 0.6m × 0.6m, the safety lag distance must not be less than 0.5m, and the tunneling speed must not be less than 1.0m / shift. If the value of any adjustment is lower than the corresponding lower limit, that adjustment is skipped and the system switches to the next adjustment. The processing priority of equipment overload protection or cutting overload protection is higher than the execution of optimization suggestions.

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