727 results about "Mine tunnel" patented technology

The embodiment of the invention discloses a mine gas regulation and control method and device based on multi-modal data and a medium, and relates to the technical field of gas regulation and control, and the method comprises the steps that multi-source real-time sensing data, roadway point cloud data and CFD airflow simulation grid data in a target mine roadway are obtained, space-time alignment is carried out to determine a real-time roadway data cube, and the real-time roadway data cube is obtained; determining gas concentration field distribution and causal contribution popularity data in a preset future time window through a multi-mode depth causal model and the real-time roadway data cube; generating a risk field gradient feature vector based on gas concentration field distribution and causal contribution popularity data, and matching a decision path according to the risk field gradient feature vector; and when the decision path is a causal decision path, a fan / air door adjusting target point is determined, the fan / air door adjusting target point is simulated to determine a dynamic safety constraint boundary, a preset optimization objective function is solved to generate a fan rotating speed adjusting instruction and an air door opening degree control instruction, and fan / air door control is achieved.

The invention discloses a coal mine tunnel grouting reinforcement device, and relates to the technical field of tunnel grouting reinforcement, the coal mine tunnel grouting reinforcement device comprises grouting equipment, and the upper and lower sides of the grouting equipment are symmetrically fixed with pushing cylinder bodies; the adjusting cylinder bodies are symmetrically hinged to the upper side and the lower side of the grouting equipment; the number of the connecting plates is two, one ends of the connecting plates are hinged to the two pushing cylinder bodies correspondingly, and the other ends of the connecting plates are hinged to the adjusting cylinder bodies correspondingly; the telescopic equipment is fixed to the side, close to the connecting plate, of the grouting equipment; the supporting assembly is fixed to the output end of the telescopic equipment; and the grouting assembly is arranged in the supporting assembly in a sliding mode, penetrates through the telescopic equipment and drives stretching and grouting operation through the grouting equipment, the situation that primary grouting is extruded unevenly during secondary grouting can be avoided, gas in grout can be discharged easily, and the situation that the reinforcing effect is affected due to the fact that holes appear is avoided.

The invention relates to a strong mining roadway thick-layer transboundary supporting method, and belongs to the technical field of roadway supporting, and the method comprises the steps that geometric parameters, rock mass mechanical parameters and stress field parameters of a strong mining roadway are obtained; based on the geometric parameters, the rock mass mechanical parameters and the stress field parameters, the deformation process and the damage process of the strong mining roadway surrounding rock are simulated, and the incidence relation between each deformation stage of the strong mining roadway surrounding rock and the roof partition damage characteristic is obtained; determining a key stage of irreversible deformation of the strong mining roadway surrounding rock based on the association relationship; determining the critical time of transboundary anchoring of the thick layer based on the key stage; determining the support parameters of the anchor rod and the critical anchoring length of the thick layer transboundary; and supporting the top plate of the strong mining roadway based on the critical time, the supporting parameters and the thick-layer transboundary anchoring length. The method has the effect of improving the stability of the strong mining roadway surrounding rock.

The invention relates to the technical field of coal mine safety mining, and discloses a coal mine roadway high-stress area unloading-to-suction danger relieving method which comprises the following steps: step 1, a pressure relief stage: drilling holes in a roadway high-stress area to form a pressure relief channel; 2, a transfer stage, wherein stress is transferred to the deep part of the coal rock mass through the layout of the drill holes; and (3) an energy absorption stage: an energy absorption device is installed in the drill hole, the device comprises an outer steel pipe, an internal high polymer material and a monitoring element, the diameter of the drill hole in the step (1) is 50-150mm, the depth of the drill hole is 5-20m, a one-time hole forming process is adopted for construction, and the drill hole is formed in a high stress concentration area which is 6-20m away from the surface of the roadway and is arranged at intervals in the axial direction of the roadway. By constructing a pressure relief-transfer-energy absorption three-stage synergistic effect system, the whole-process dynamic regulation and control of the surrounding rock stress of the roadway is realized, and the problem that the pressure relief effect is uncontrollable due to the fact that a stress transfer path is not clear in the prior art is effectively solved.

The invention, which belongs to the technical field of mine safety monitoring, provides a multi-source information fusion-based roadway surrounding rock roof separation tour-inspection early-warning system comprising a data acquisition module, an edge calculation module, a cloud analysis module and an early-warning feedback module. The data acquisition module acquires multi-source data of surrounding rock of a coal mine tunnel in an automatic mode; the edge calculation module performs spatio-temporal data synchronization on the collected multi-source data and extracts data features; the cloud analysis module performs feature weighted fusion based on the multi-source data to construct a risk early warning model; and the early warning feedback module triggers graded early warning according to prediction data of the risk early warning model, and provides visual feedback, so that a set of automatic, full-coverage and multi-source data fused roadway roof separation monitoring system is constructed.

The invention discloses an intelligent integrated automatic pollution discharge, spray and dust suppression system for a coal mine tunnel, and relates to the technical field of automation. The system comprises a double-channel sensing assembly, a central controller, a mine communication link and an integrated pollution discharge spraying terminal group, the central controller obtains a dust image and a ground height image at the same time in combination with the double-channel sensing assembly, generates a roadway working condition grid map, completes dust level marking and ground height marking, extracts a dust cluster and a transition zone on the basis, and loads a pollution discharge component list. Constructing a descending chain from the outer edge of the dust cluster, selecting a ridge chain backbone, finally generating a cooperative control instruction set, issuing the cooperative control instruction set to the integrated pollution discharge spraying terminal group, and carrying out snapshot acceptance check by using a dual-channel sensing assembly after execution. According to the invention, accurate dust control, smooth sewage discharge and high resource utilization rate can be ensured, and the stability and long-term effectiveness of system operation can be maintained in a complex environment.

The invention relates to the technical field of computer aided design, in particular to a coal mine roadway support parameter processing system and method based on the Internet of Things, and the system comprises a data collection and integration module which receives real-time environment information from an Internet of Things terminal, obtains roadway excavation contour data, front geological forecast data and field equipment state information, and sends the data to a data processing module; and generating a roadway model associated with the environment information. According to the method, the real-time monitoring data of the Internet of Things and the roadway support design process are fused, a dynamic closed-loop optimization mechanism is constructed in support parameter processing, and the reliability and adaptability of the support system are improved. Roadway excavation outline, geological forecast and equipment state data are collected in real time and directly embedded into the three-dimensional roadway model, so that support design basic parameters get rid of limitation of traditional static geological hypothesis, and the support strength can be corrected in advance according to the deformation trend of surrounding rock in front.

The present invention discloses an intelligent evaluation model and method for coal mine roadway safety, which relates to the technical field of coal mine roadway safety evaluation. The model includes a data acquisition and preprocessing module, a tunneling working section roof safety evaluation module, a tunneling impact section safety evaluation module, a mining impact section safety evaluation module, and a roadway safety evaluation response feedback module. The present invention realizes real-time monitoring and dynamic evaluation of coal mine roadway safety by adding laser radar, anchor stress gauge, anchor cable stress gauge, roof separation meter and other equipment to the main equipment and anchor materials of the coal mine roadway through multivariate data fusion analysis. By proposing eight evaluation indicators under the three roadway usage scenarios of tunneling working section, tunneling impact section and mining impact section, the safety of coal mine roadways can be dynamically analyzed, monitored in real time, and timely feedback can be provided to ensure the safety and stability of coal mine roadways during their use cycle, thus solving the problem of difficult roadway safety evaluation.

The invention provides a mining inspection method and system based on ventilation parameter monitoring, and relates to the technical field of data processing. The method comprises the following steps: constructing a mine tunnel three-dimensional model according to mine tunnel structure information, and generating an optimal inspection path based on the mine tunnel three-dimensional model and distribution characteristics of a monitoring area; the inspection robot is controlled to conduct autonomous inspection based on the optimal inspection path, and mine ventilation parameters collected by the inspection robot are received; according to roadway section information acquired by the inspection robot, mine ventilation parameters corresponding to all wind measurement points in the section are determined, a wind flow distribution feature map is generated, and a ventilation abnormal area is recognized based on the feature map; and constructing a ventilation parameter time sequence model corresponding to the preset wind measurement point based on the mine ventilation parameters, performing ventilation parameter prediction by using the time sequence model, and determining a potential risk area according to a prediction result. According to the technical scheme, the accuracy and comprehensiveness of mine ventilation monitoring can be improved.

The invention discloses a coal mine tunnel surrounding rock three-dimensional intelligent sensing method and system. The sensing method comprises the following steps: S10, constructing a coal mine tunnel space three-dimensional sensing system based on three-dimensional laser full-section scanning and discrete measuring point real-time sensing, and obtaining a tunnel monitoring parameter data set through the sensing system; s20, constructing a roadway surface deformation prediction model based on real-time sensing data and a roadway point cloud redistribution model driven by prediction data according to the characteristics of the parameter data set; and S30, dynamically visualizing the roadway and the deformation point cloud data of the roadway by using the roadway surface deformation prediction model based on the real-time sensing data and the roadway point cloud redistribution model driven by the prediction data.

The invention relates to coal mine underground super-large-diameter drilling equipment and a drilling method.The coal mine underground super-large-diameter drilling equipment comprises a moving device advancing along a coal mine tunnel, a drilling device arranged on the moving device and a plurality of drill rod assemblies arranged on an output shaft of the drilling device and connected end to end, and each drill rod assembly comprises a rod body with a spiral propelling blade on the outer surface; a butt joint groove is formed in one end of the rod body, containing grooves are formed in the other end of the rod body and the end of the output shaft, and a drill bit assembly is arranged on the drill rod assembly at the farthest end. The butt joint assemblies are arranged, every two adjacent drill rod assemblies are tightly connected in the rotating direction of the drill rod assemblies through the thread structures, the phenomenon that the drill rod at the far end gradually droops is effectively prevented, a drilled hole in a coal seam is smoother, and compared with a flange connecting structure, the drill rod assembly is more convenient to use. The connecting structure can be automatically butted, fixed and unlocked by depending on the existing drilling device, is simple to operate, reduces the requirement on manpower, and is suitable for large drilling equipment.

The invention relates to the field of coal mine tunnel design, in particular to a method for cooperatively optimizing the width of a section coal pillar through undercut pressure relief and bottom plate filling. Comprising the steps of determining shear stress distribution in a first mining working face section coal pillar lower bottom plate; determining previous collapse positions of the basic roof; stoping and constructing a bottom cutting drilling hole in a maximum shear stress area in a lower bottom plate of the section coal pillar from the haulage roadway; lagging undercut pressure relief work is conducted, and bottom plate filling drilling is conducted from the track roadway to the position below the undercut pressure relief position at intervals; and grouting is conducted on the bottom plate rock stratum through the filling drill holes. According to the method, the bottom cutting drilling is constructed in the maximum shear stress area, so that the concentration of the shear stress of the bottom plate at the lower part of the section coal pillar is effectively reduced, and the stress of the section coal pillar is reduced. And furthermore, rock blocks at the bottom plate pressure relief position are upwards supported through bottom plate separation layer grouting filling at the lower part of the bottom cutting pressure relief position to prop against a cantilever structure formed by caving of the bottom plate, so that the overlying rock stress borne by the section coal pillar is shared, and the reserved width of the section coal pillar can be reduced.

The invention discloses an automatic continuous laying device for a flexible net of a coal mine tunneling roadway roof and a net laying method, and belongs to the technical field of coal mine roadway supporting. The device comprises a cantilever type fully-mechanized excavating machine, a top beam, a telescopic beam, a protection plate and a flexible net storage bin, and dynamic adjustment of the height and the pitch angle of the top beam is achieved through a supporting stand column lifting oil cylinder and an adjusting oil cylinder; different top plate inclination angles are adapted; the telescopic beam is driven by a telescopic oil cylinder to extend forwards to the coal wall, the flexible net is driven to be laid along the surfaces of the protection plate, the telescopic beam and the top beam, and the protection plate is overturned to be attached to the coal wall to achieve double protection of the top plate and the coal wall. The net laying method comprises the steps of top beam pre-adjustment in the cutting stage, telescopic beam net laying and top contact in the temporary supporting process, permanent supporting anchor rod fixing net pieces and continuous releasing of the flexible net with an anchoring point as a fulcrum in the reset stage. Integrated operation of cutting, supporting and net laying is achieved, automatic continuous net laying is achieved, linkage control is formed among all procedures, the applicability to roadway coal wall supporting is good, and the net laying operation efficiency is high.

The invention relates to the technical field of coal mine roadway tunneling and supporting, in particular to a tunneling and anchoring all-in-one machine suitable for complex geological roadways, which comprises a walking body part, a loading part, a conveying part, a cutting part, a drilling and anchoring platform and a dust removal and temporary supporting system, a rear support deviation adjusting system is arranged at the tail part of the walking body part; the cutting part is used for tunneling, the loading part is used for collecting coal cinder, and the transporting part is used for receiving and transporting coal cinder; the anchor drilling platform comprises a top anchor supporting unit and a side anchor supporting unit; the dust removal and temporary supporting system comprises a supporting frame body, a supporting top plate is arranged on the supporting frame body in a sliding mode, and a telescopic supporting top rod is arranged between the supporting frame body and the walking body part. The invention further provides an anchor protection method suitable for the complex geological roadway, and the problems that in the current weak surrounding rock coal roadway tunneling three-soft stratum, wall caving is prone to occurring, roof caving is prone to occurring, wall breaking is prone to occurring, anchor rod supporting of a low roadway is difficult, and bottom plate argillization equipment is prone to tail swinging are solved.

The invention discloses a coal mine tunneling roadway advanced geological exploration and ground stress inversion method, particularly relates to the technical field of seismic signal processing in geophysical exploration, and is used for solving the problems of geological exploration signal distortion and insufficient stress inversion precision caused by strong noise interference of tunneling equipment in the prior art. Rock mass vibration signals are collected through an optical fiber sensor arranged on a roadway wall, equipment noise characteristics are identified through spectral analysis, a quantitative mapping relation between working condition parameters and noise characteristics is established, a noise reference time period is determined according to the quantitative mapping relation, a spatial coherence characteristic template is constructed, high-coherence noise components are inhibited through template comparison, and the noise reference time period is determined according to the spatial coherence characteristic template. Finally, the geological structure and stress field distribution in front of the working face are inverted based on the purified seismic wave signals, a stress concentration area and a disaster risk area are identified, the signal-to-noise ratio of the seismic signals in the strong noise environment and the reliability of the geological inversion result are effectively improved, and accurate technical support is provided for safe mining of a coal mine.

The invention relates to the technical field of protective equipment, in particular to an underground metal mine mining roof supporting device and an installation method.The underground metal mine mining roof supporting device comprises detachable telescopic supports, a plurality of first sliding blocks are arranged on the left detachable telescopic support and the right detachable telescopic support at intervals from front to back, a cylinder is installed on each first sliding block, and a piston rod is slidably connected into each cylinder; supporting plates are connected to the piston rods through bolts, telescopic top beams are hinged between the two supporting plates which correspond to each other left and right, a left supporting piece and a right supporting piece are connected to the telescopic top beams in a sliding mode, and the supporting pieces are hinged to the first sliding blocks on the same sides. Each supporting plate can independently ascend and descend, each telescopic top beam can independently swing to adjust the angle where the supporting plate is located, and each telescopic top beam can independently stretch and retract to be adjusted so as to adapt to supporting of uneven mine tunnels, the effect of flexible adjustment can be achieved, and therefore the supporting device can adapt to the mine tunnels of different sizes and different shapes; therefore, the risk of local stress concentration can be reduced, and the mining supporting effect is improved.

A concrete paver is suitable for mechanized paving of concrete pavements of mines, tunnels and related projects, particularly suitable for mechanized paving of concrete pavements of coal mine tunnels, and comprises a crawler walking part, a body part connected with the crawler walking part, a spiral conveying device connected with the body part, and a track frame part connected with the body part. The paving mechanism is mounted on the track frame part, the stirring device is connected with the body part, and the belt conveyor is mounted on the body part. The concrete paver provided by the invention can replace the concrete paving work of a manual construction roadway bottom plate, greatly improves the concrete paving quality and efficiency, and can adapt to the concrete paving work under the fluctuating working condition of the roadway bottom plate.

The invention discloses a navigation and positioning system of tunneling equipment for a coal mine tunnel, and relates to the technical field. The problems that in the prior art, in a complex coal mine tunnel environment, the position and posture of tunneling equipment are difficult to accurately determine, the quality and efficiency of tunnel tunneling are affected, the collection frequency and the processing mode cannot be dynamically adjusted according to the change condition of data, and the tunneling equipment is difficult to adapt to the complex and changeable tunnel environment are solved. According to the invention, data is collected through multi-sensor fusion, inertial navigation and environmental feature matching are combined, accurate positioning can be realized in a complex roadway environment, the collection frequency can be adjusted along with data changes, power consumption and processing burden are reduced, data preprocessing ensures the accuracy and reliability of data, the positioning precision and reliability are improved, and the method is suitable for large-scale popularization and application. The environment sensing module updates roadway information in real time, accurate data is provided for navigation, data quality is ensured through multi-layer parameter correlation analysis and anomaly detection, system performance is integrally improved, and efficient and safe coal mine roadway tunneling operation is achieved.

The invention relates to the technical field of mine safety monitoring, in particular to a coal mine tunnel deformation real-time monitoring device and system. The technical problems that in the working process of a traditional roadway monitoring technology in a geological structure complex area, data processing delay is large, and the best intervention opportunity may be missed due to data lag in the traditional technology are solved. According to the technical scheme, the real-time monitoring device and system for deformation of the coal mine tunnel comprise a fixed distance measuring unit, a reflection target array and a displacement calculation unit, the displacement calculation unit is used for obtaining original distance data from each laser distance measuring sensor to a corresponding reflection target in real time, and the original distance data is calculated through difference calculation between the original distance data and a preset reference distance. The real-time displacement variable quantity of each key deformation monitoring position is directly output, and the displacement variable quantity is directly used as a monitoring index of roadway deformation; according to the invention, through the direct correspondence between laser ranging and the reflection target, the scanning and three-dimensional reconstruction process in the traditional technology is abandoned, the single measurement period is shortened, and the real-time capture requirement of catastrophe precursor is met.

The invention provides an intelligent and efficient centralized dust control system and method for a coal mine driving face. The intelligent and efficient dust collection and control system for the coal mine driving face comprises an air draft part, a ventilation part and an intelligent air curtain adjusting assembly. The air draft part comprises an air draft barrel and an exhaust fan, and the exhaust fan is connected with the air draft barrel; the ventilation part comprises a ventilation barrel, an air guide plate, an arc-shaped fan cover and a ventilator; an end part air outlet and at least one side part air outlet are formed in the end part of the ventilating barrel; the end air outlet comprises an axial opening and a plurality of side openings, and a grid frame is arranged between the air deflector and the ventilator; the intelligent air curtain adjusting assembly comprises a driver and a plurality of switch plates, the switch plates correspond to the fan cover air outlets of the arc-shaped fan cover in a one-to-one mode, the output end of the driver is in transmission connection with the switch plates, and the ventilator and the driver are used for adjusting the first air curtain. According to the intelligent and efficient dust collection and control system for the coal mine driving working face, the ventilation and dust falling effects can be improved.

The invention discloses a full-anchoring anchor rod structure for mine roadway supporting, belongs to the technical field of roadway supporting, and aims to solve the problems that an anchor rod cannot be limited after being inserted into an anchor hole and is easy to move, and the stability of anchor rod supporting is influenced. Under the limiting action of a sliding groove, when the rotating pipe rotates, a fixing rod can be pushed to slide in the sliding groove under the action of a first hinge column, a second hinge column and a hinge rod, and the fixing rod slides towards the outer end of the sliding groove by controlling the rotating direction of the rotating pipe; at the moment, the three sets of fixing rods extrude the inner side wall of the anchor hole, the anchor rod can be stably fixed to the middle of the anchor hole, the anchor rod does not shift when grouting is conducted on the anchor rod, the stability of the anchor rod during grouting is improved, and the supporting quality of the anchor rod can be improved; meanwhile, the contact area between the anchor rod and the anchor hole can be increased through the fixing rod after follow-up grouting is completed, and the stability of the anchor rod for supporting the soft rock roadway is further improved.

The utility model discloses a mine tunnel device for controlling mine ground pressure and a rock stratum, which is characterized in that through the arrangement of structures such as a driving paddle, a transmission component, a rotating shaft, a moving shaft, a cleaning plate, a cleaning brush and a filter plate, the filter plate is arranged on a water outlet to filter running water; the large particles in the flowing water can be conveniently separated, the situation that the drainage groove and the drainage pipe are blocked by the large particles in the flowing water, and consequently the drainage groove and the drainage pipe are blocked by water which cannot flow is avoided, and meanwhile in the using process, the driving shaft is driven by the flowing water to rotate, and the driving shaft drives the rotating shaft to rotate; the rotating shaft drives the cleaning brush on the cleaning plate to clean the filter plate, so that the filter plate can be effectively prevented from being blocked by large particles in flowing water, the situation that water cannot normally flow downwards is avoided, meanwhile, the flowing water is used as a driving power source, and existing resources can be effectively, reasonably and fully utilized.

The invention discloses a coal mine tunnel safety compensation detection device, and belongs to the technical field of coal mine tunnel detection. The device comprises a body, a fixed air inlet pipe is fixedly connected to the side wall of the body in a penetrating mode, a fixed pipe is fixedly connected to the outer side of the fixed air inlet pipe, an air inlet hose is fixedly connected to the outer side of the fixed pipe, a detection assembly is installed in the body, a compensation assembly is further installed in the body, and a pump body is fixedly connected in the body. A dust cleaning assembly is installed in the body and comprises a threaded rod rotationally installed in the body. Before detection and after detection, a threaded rod can be rotated, then a moving frame and a control frame are driven to move up and down, a cleaning towel on the outer side of a cleaning rod abuts against a compensation assembly and a detection assembly, and the cleaning effect on the compensation assembly and the detection assembly can be better achieved; and the compensation assembly and the detection assembly are kept in a good working state.

The present invention discloses a portable explosion protection device for underground ore mining, which relates to the field of mine blasting technology. The device comprises a protection unit for cooperating with the mine tunnel ground to form a sealed protection space, providing all-round and no-dead-angle protection for personnel entering the protection space. The protection unit can be folded and retracted, and the protection device is configured as a semicircular structure, cooperating with the ground to form a sealed protection space, which has a good protection effect on personnel. The semicircular structure can guide air flow more smoothly and has less resistance to wind, thereby reducing the airflow impact on the protective cover during explosion, and the device can be folded and carried.

The invention relates to a real-time dynamic measurement and control system and method for an empty roof distance of a coal mine tunnel based on energy feedback. According to the system, a multi-dimensional monitoring assembly comprises a drill hole, a roof multi-dimensional sensing module and a bottom plate reference target; the top plate multi-dimensional sensing module comprises a pressure-bearing shell, a quick-insertion type anchor rod, an X / Y / Z-direction stress sensor, a laser range finder, a processor I and a pre-pressing adjusting nut; the tail section of the quick-inserting type anchor rod is anchored in a drill hole, and the pressure-bearing shell is pressed on a top plate through the pre-pressing adjusting nut; the bottom plate reference target is correspondingly mounted on a bottom plate of a roadway; the edge intelligent sensing box is arranged in the roadway and comprises an outer shell and a processor II; the method comprises the following steps: synchronously acquiring X / Y / Z three-dimensional stress data and overhead distance data, sequentially calculating a three-dimensional energy accumulation value, a safety coefficient and a maximum overhead distance, then carrying out graded early warning, and meanwhile, sending monitoring data and early warning information to a monitoring server through a wireless access point. According to the system and the method, the roof rock mass stress and the empty roof distance can be monitored intelligently.

The invention relates to the technical field of equipment positioning, in particular to a method and system for calibrating the position of tunneling equipment in a coal mine roadway. The reflection signals are analyzed, and reflection components of different geological stratums are separated; constructing a neural network model, and generating a three-dimensional reflection intensity distribution diagram with a lithologic label; geological boundary point cloud data are extracted based on the distribution map, and a geological interface curved surface is constructed; acquiring multi-source motion trail data of the tunneling equipment, and calculating geological constraint deviation; and the geological constraint deviation and the multi-source motion trail data are fused, the optimal pose estimation is output, the pose estimation value is optimized, and the final coordinate position of the tunneling equipment is obtained. According to the method, the dynamic geologic layer reflection map is constructed as the standard reference for calibration by utilizing the reflection characteristic difference of different geologic layers in the coal mine tunnel, and the physical characteristics of the geologic layers are directly utilized as the calibration basis, so that the method adapts to complex geologic changes.

The invention discloses a side wall anchor protection device and an anchor rod drill carriage, the side wall anchor protection device comprises a lifting assembly and an anchor protection mechanism, the lifting assembly comprises a base, a lifting oil cylinder and a mounting frame, the lifting oil cylinder is mounted on the base, and the lifting oil cylinder is connected with the mounting frame and can drive the mounting frame to move up and down; the anchor protection mechanism is installed on the installation frame and at least comprises a first side wall anchor protection assembly, a second side wall anchor protection assembly and a top plate anchor protection assembly, the first side wall anchor protection assembly and the second side wall anchor protection assembly are used for anchor protection operation of two side walls of the roadway respectively, and the top plate anchor protection assembly is used for anchor protection operation of a top plate of the roadway. The side wall anchor protection assembly and the top plate anchor protection assembly are integrated on the installation support of the side wall anchor protection device, when an anchor rod drill carriage conducts anchor protection operation, multi-arm lifting can be completed at the same time, side wall anchor protection and top plate anchor protection can be conducted at the same time, and the side wall supporting efficiency of a large-section coal mine tunnel is greatly improved.

The invention belongs to the technical field of data processing, and provides a roadway contour extraction method, system, equipment and medium based on three-dimensional point cloud in order to solve the problems of inaccuracy, low efficiency and the like in existing coal mine roadway feature extraction. Combined noise filtering is carried out on a space formed by connecting angular points of fitting contours on adjacent slices, so that scattered noise and useless shielding are effectively reduced, and the data definition and reliability are improved; based on neighborhood calculation perpendicularity features, a top plate, the ground and the side wall of the roadway are recognized, and non-roadway structure data such as pipelines are accurately removed in combination with a cylinder fitting method and a plane fitting method, so that the accuracy of roadway contour extraction is ensured; and fitting the outermost plane based on the farthest points of the point clouds on the upper, lower, left and right surfaces by adopting a segmentation-projection method, and extracting irregular roadway contours from the top surface, the ground and the side surfaces to realize refined roadway contour extraction.

The utility model relates to a mine tunnel infrared thermal imager convenient to erect, which comprises a device plate body, adjusting assemblies arranged on two sides of the front end of the device plate body, a thermal imager shell arranged between the two adjusting assemblies, a thermal imaging probe arranged at the front end of the thermal imager shell, a groove arranged at the rear end of the device plate body, and an erecting assembly arranged inside the groove. The device plate body can be directly placed on the ground, the thermal imager shell is supported, the support and the thermal imager shell are integrally arranged, in the process of supporting the thermal imager shell, the height of the thermal imager shell can be adjusted through the adjusting assembly, and therefore the thermal imager shell can be conveniently and rapidly supported. In addition, when the thermal imager shell needs to be installed at a high position, the two L-shaped plate bodies can be driven to move through the elastic force of the spring in the first fixing cylinder, and the thermal imager shell is freely clamped to the surfaces of mine supports or other devices at different positions.

The invention belongs to the technical field of coal mine tunneling equipment positioning, and provides a method and a system for positioning a tunneling and anchoring all-in-one machine in a coal mine tunneling roadway in order to solve the problems of error accumulation, environmental interference and system reliability existing in a traditional underground positioning mode. The method comprises the following steps: acquiring multi-source sensing data acquired by a multi-source sensor array deployed on a digging and anchoring all-in-one machine; performing time synchronization and space synchronization processing on the multi-source sensing data to obtain a fusion data set under a unified timestamp and a unified coordinate system; and inputting the fusion data set into an improved Kalman filtering framework for data fusion, performing distance correction by using a mahalanobis distance, and determining a real-time pose state of the driving and anchoring all-in-one machine according to a data fusion result and a distance correction result. According to the invention, the positioning precision, the system robustness and the reliability of the digging and anchoring all-in-one machine under extremely severe working conditions are obviously improved, and the inherent defects of large accumulative error, easiness in environmental interference and easiness in failure in a traditional single sensor positioning mode are effectively overcome.