372 results about "Underground tunnel" patented technology

The invention provides a soft rock tunnel surrounding rock parameter dynamic identification method and system based on data driving, and relates to the technical field of underground tunnel mechanical parameter dynamic identification, and the method comprises the steps: obtaining multi-element tunnel surrounding rock parameters, and building a joint probability distribution model of the multi-element surrounding rock parameters based on a Copula theory; performing Monte Carlo simulation, and generating a high-dimensional parameter sample library meeting physical constraints in the parameter constraint space based on the joint probability distribution model; establishing a tunnel three-dimensional numerical model and performing automatic numerical simulation to generate multivariate response data; constructing a Kriging agent model of a Gaussian kernel function based on multivariate response data training, establishing a nonlinear mapping relation between parameter input and deformation output, constructing an inversion objective function by taking the minimum root-mean-square error of multi-measurement-point displacement as an objective, and performing inversion solution by using an adaptive particle swarm optimization algorithm to obtain inversion identification parameters, and a dynamic feedback mechanism is constructed to realize adaptive tracking of the time-varying characteristics of the surrounding rock parameters.

The invention relates to the field of unmanned aerial vehicle inspection, in particular to an unmanned aerial vehicle automatic flight control method and system for underground cable trench inspection, and the system comprises an environment sensing subsystem and an underground tunnel navigation subsystem. The visual sensor module obtains image data, the multi-sensor joint calibration module processes laser radar and camera data, the multi-layer fusion algorithm module fuses the calibration data, the underground tunnel navigation subsystem solves the problem of navigation obstacle avoidance, map construction of a tunnel environment and accurate estimation of the pose of an unmanned aerial vehicle are achieved, and an inspection route is planned and optimized. All the modules are integrated to achieve efficient and safe inspection of the underground cable trench, the inspection safety and efficiency are remarkably improved, the defects of a traditional manual inspection method are overcome, wide application prospects are achieved, safe operation of the underground cable can be effectively guaranteed through implementation of the system, and powerful support is provided for stability of an electric power system.

The invention discloses an underground vehicle positioning method based on visual target information fusion, and relates to underground vehicle positioning. The method comprises the steps that visual targets are arranged on the side wall and the top of an underground roadway at preset intervals; collecting multi-source sensor data; extracting a target ID (Identity) and a pixel coordinate # imgabs0 # of the target in an image coordinate system; according to the vehicle-mounted visual camera, converting the extracted pixel coordinate # imgabs2 # of the target into a three-dimensional coordinate # imgabs3 # under a camera coordinate system by using a pre-calibrated camera internal reference matrix K and an external reference matrix # imgabs1 #; querying target coordinates of the corresponding target in a world coordinate system from a database according to the target ID; according to the target coordinate and the three-dimensional coordinate # imgabs4 #, solving the position and attitude of the vehicle relative to a world coordinate system by solving an inverse projection problem, and obtaining a visual target positioning result; and performing multi-sensor fusion according to the recognition state of the visual target to obtain a vehicle positioning result. According to the method, the problems of large positioning accumulative error of the underground long and straight roadway and positioning sudden change caused by visual target misrecognition are solved.

The invention provides a combined judgment method and system for the shield deslagging quantity, and relates to the technical field of underground tunnel construction, and the method comprises the following steps: obtaining a first deslagging quantity measured by a slag transfer groove, a first weight measured by a weight system and a first volume measured by a volume system every first tunneling distance, a weight system and a volume system are arranged on the belt conveyor; the first weight is converted to obtain a second volume corresponding to the first weight, the first deslagging amount is compared with the first volume and the second volume, three transverse deviations are obtained, and the transverse deviations are the absolute value of the difference value between any two volumes; and if all the transverse deviations are smaller than the first preset threshold value, it is judged that the deslagging amount within the first tunneling distance is normal. According to the scheme, the three modes of slag transfer tank measurement, weight system measurement and volume system measurement are used in a combined mode, errors caused by a single measurement mode are reduced, and the measurement accuracy of the slag tapping amount is improved.

The invention belongs to the technical field of underground disaster monitoring, and provides a tunnel pipe gallery disaster monitoring method and system based on multi-physics field coupling, which uses multi-physics field data for monitoring, can capture various subtle changes of soil bodies inside and around an underground tunnel / pipe gallery, and improves the monitoring accuracy of the underground tunnel / pipe gallery. Accurate data are provided for building of a tunnel / pipe gallery project disaster model and disaster prediction, the method is more reasonable compared with traditional single physical quantity monitoring and analysis, the situation that potential safety hazards are difficult to find due to incomplete data is greatly reduced, and the safety detection efficiency of underground engineering is remarkably improved; on this basis, time step alignment is carried out on the data, discrete multi-physical field data is mapped into continuous physical field distribution based on Kriging spatial interpolation, a seepage-mechanics-thermodynamics coupling equation is established to calculate and predict the settlement amount, and a reduced-order model algorithm is utilized to optimize the calculation time of more than 10 h of traditional data coupling calculation to be within 5 min.

The invention provides an underground tunnel driving risk evaluation method based on a dynamic Bayesian network. The method comprises the following steps: constructing an underground tunnel driving risk evaluation index system; determining Bayesian network nodes according to the underground tunnel driving risk evaluation index system, and constructing an underground tunnel driving risk dynamic Bayesian network model; obtaining a driving risk assessment result according to the dynamic Bayesian network model of the driving risk of the underground tunnel; and performing driving improvement according to the driving risk assessment result. The method can effectively identify and predict the driving risk probability of different road sections of the underground tunnel, provides risk early warning for drivers, and provides data support for a traffic management department to optimize an induction system and an accident prevention strategy, thereby improving the driving safety and traffic efficiency in the tunnel.

The embodiment of the invention provides an underground tunnel geometric parameter remote sensing inversion method, and belongs to the technical field of data processing, and the method specifically comprises the steps: building a sensitivity enhancement model corresponding to ground surface displacement caused by underground tunnel excavation in combination with an empirical model and a physical model; an InSAR geometric projection equation is introduced, and a function relation between underground tunnel geometric parameters and InSAR line-of-sight deformation is constructed; the method comprises the following steps: collecting time sequence I nSAR data of an underground tunnel in an excavation period, and measuring accumulative sight deformation of a research area according to the time sequence I nSAR data; based on the accumulated line-of-sight deformation, extracting tunnel deformation center positions in a plurality of cross sections and surface line-of-sight deformation of the cross section positions by using an image segmentation and morphological algorithm; and optimizing and constraining a parameter space based on known prior information, substituting the earth surface sight line direction deformation into the function relationship, and performing optimal solution by using a genetic algorithm to obtain other geometric parameters of the underground tunnel. Through the scheme of the invention, the reliability and adaptability of inversion are improved.

The invention discloses an air-ground cooperative system model prediction formation control method in an underground pipe gallery environment, and the method comprises the steps: constructing an air-ground cooperative system nonlinear model, and constructing an underground pipe gallery model; designing a high-order interference observer to estimate current unknown external disturbance, and establishing an interference prediction model to estimate future unknown external disturbance; a rolling optimization control strategy based on state prediction is designed, control signals of all followers are optimized according to the current state of the system and the predicted future state in each control period, and the tracking precision is ensured while the tracking precision is improved. Collision between followers, collision between the followers and the wall of the pipe gallery and obstacle avoidance between the followers and static and dynamic obstacles in the pipe gallery are achieved; and solving is carried out based on a distributed model prediction formation control algorithm combined with a Lyapunov stability theory, so that each follower keeps an expected formation configuration while tracking a leader trajectory. And the driving safety of the formation in the underground pipe gallery environment is ensured.

The invention discloses a tunnel stratum grouting reinforcement design method considering a vertical jacking construction load, and belongs to the technical field of underground tunnel engineering. The prediction method comprises the steps that the value range of the grout injection rate beta is determined, the value range of the thickness D of a grouting reinforcement ring is determined, the design range of the grouting reinforcement ring is determined, and the range of the grouting reinforcement ring and the value range of grouting pressure P are further determined; according to the foundation bearing capacity requirements of a grouting reinforcement ring and an undisturbed stratum and the maximum floating displacement threshold value of local segments caused by the grouting lifting effect, a theoretical basis is provided for design of the range and thickness D of the grouting reinforcement ring, the grout injection rate beta and the grout pressure P, and control over design parameters of the grouting reinforcement ring is achieved; the theory based on the method is more reasonable, the calculation process is simple, and the method can be used for tunnel stratum grouting reinforcement design in actual vertical jacking construction.

The invention relates to an underground tunnel directional drilling trajectory tracking control method based on a single-bend screw drill, which is characterized in that according to the underground coal mine directional drilling process characteristics, the geometrical relationship of the drill attitude is analyzed, the directional drilling trajectory extension rule is researched, and a directional drilling trajectory extension model is established, so that the underground coal mine trajectory extension condition can be basically described. A trajectory prediction model is constructed, an objective function is determined, a feedback correction link is set, and the control quantity needed by directional drilling trajectory tracking control is effectively determined. Simulation is carried out by adopting actual data of a coal mine, and a simulation result shows that the method can effectively realize underground coal mine directional drilling trajectory tracking control.

The invention is suitable for the technical field of communication data scheduling and intelligent network management, and provides a communication data classification management method and system based on AI analysis, and the method comprises the steps: obtaining an original node cache sending window value of a communication node located in a target construction region of a target underground tunnel, historical construction and communication data of the target underground tunnel are acquired; acquiring a plurality of sub-regions which are matched with the background information of the target construction region and are constructed and local historical data corresponding to each sub-region from historical construction and communication data, and extracting construction degree values and effective uploading data utilization rates of the sub-regions in different construction stages; according to the method, a characteristic mode recognition mechanism based on historical construction and communication data is introduced, dynamic self-adaptive adjustment of communication parameters (node cache sending window values) between construction stages is achieved, and the method is remarkably different from an existing management mode depending on static configuration or experience setting.

The invention provides an underground tunnel local damage repairing device which comprises a drill rod, the drill rod is of a hollow structure, a spiral blade is arranged on the drill rod, and a first liquid conveying pipeline and a second liquid conveying pipeline which are used for conveying rapid hardening liquid are arranged in the drill rod; the liquid outlet end of the first liquid conveying pipeline extends to the position close to the drill bit and is fixedly connected with the side wall of the drill rod, a one-way valve is arranged on the first liquid conveying pipeline, and rapid hardening liquid can be conveyed out of the drill rod in a one-way mode through the first liquid conveying pipeline; the drill rod comprises a hot melting section, the side wall, distributed on the hot melting section, of the drill rod is made of a hot melting material and connected with a hot melting cable, a bag folded into multiple layers is arranged in the hot melting section of the drill rod, the liquid outlet end of the second liquid conveying pipeline is communicated with the bag, and rapid hardening liquid can be conveyed into the bag through the second liquid conveying pipeline. According to the device, the quick-setting liquid can be output from the top of the drill rod, underground water is prevented from entering a pipeline to generate sudden surging, the quick-setting liquid is secondarily conveyed to enable the bag to abut against the damaged position of the tunnel, and the damaged position can be permanently plugged after solidification and hardening.

The invention discloses an adaptive control system and method for a dynamic evolution scene of a trackless rubber-tyred vehicle, and the method comprises the steps: firstly collecting surrounding environment information, constructing a dynamic and static spatio-temporal topological graph of an underground roadway, and carrying out the modeling analysis of a dynamic evolution and unstructured underground roadway environment; a multi-sensor sensing information value evaluation system suitable for the underground roadway environment is constructed, and the value of data obtained by each sensor is evaluated; establishing a long-acting path planning scheme of the trackless rubber-tyred vehicle, and realizing self-adaptive long-acting decision of the trackless rubber-tyred vehicle in a dynamic scene; establishing a trajectory prediction scheme in combination with historical trajectory information, and sending a pre-control command to the trackless rubber-tyred vehicle according to the trajectory prediction information; establishing a trajectory control scheme to enable the trackless rubber-tyred vehicle to track the planned trajectory in real time; through the process, the working efficiency of the trackless rubber-tyred vehicle in the underground coal mine is improved, and the running safety of the trackless rubber-tyred vehicle can be guaranteed.

The invention relates to the technical field of underground roadway reinforcement, in particular to an underground roadway surrounding rock reinforcement grouting device and method. A reinforcing and grouting movement adjusting structure is slidably mounted on the reinforcing base; and a crack drilling reinforcement grouting structure for reinforcing and grouting surrounding rock of the roadway under the mine is assembled on the reinforcement grouting movement adjusting structure. The drilling and grouting integrated device has the advantages that efficient grouting is achieved, drilling and grouting are integrated, a drilling bidirectional motor drives a drilling rod to rotate for drilling operation, concrete grout is discharged into a surrounding rock crack hole from the outside of the drilling rod, efficient and continuous drilling and grouting operation is achieved, the construction efficiency is improved, reinforcing grouting is automatically triggered, and once cracks are monitored, the drilling and grouting integrated device can be used for drilling and grouting. According to the method, the surrounding rock structure can be repaired before being seriously damaged, the dangerous situation of roadway collapse caused by further expansion of cracks is effectively prevented, the safety of the roadway under the mine is greatly improved, and the life safety of underground operating personnel and the continuous proceeding of normal production activities are guaranteed.

The utility model discloses an accurate adjustment type maintenance assisting manipulator, which relates to the technical field of large train maintenance and comprises a maintenance vehicle, maintenance tools are lifted through a first folding arm connecting rod and a second folding arm connecting rod, the labor intensity of personnel is reduced, and the maintenance efficiency is improved. When the device is not used, the first folding arm connecting rod and the second folding arm connecting rod can be bent and stored, large space in an underground tunnel cannot be occupied, space is reserved for other operations of workers, when an operator pulls a power sensing handle upwards or downwards, the power sensing handle sends a signal to a power motor, and the power motor is driven by the power motor to rotate. The servo electric cylinder can drive the loading plate to ascend and descend in a follow-up mode, a worker can adjust the height of the hydraulic wrench set in a narrow tunnel conveniently, low-damping joints arranged on the first folding arm connecting rod and the second folding arm connecting rod can bear axial and radial loads, and therefore the hydraulic wrench set obtains gravity balance supporting, and meanwhile the hydraulic wrench set can work stably. And the bolt can still flexibly move on the horizontal plane, and the bolt dismounting operation is convenient.

The invention discloses a full-underground multifunctional full-scale test loading device, and belongs to the technical field of large structural mechanical tests. The integrated counter-force mechanism comprises a counter-force wall which is arranged in the circumferential direction; the quick-release waterproof loading mechanism is arranged in the counter-force wall and is electrically connected with the control system; and the auxiliary system is arranged on the inner side of the quick-release waterproof loading mechanism. The device can be used for carrying out loading tests on large components with various section forms, such as shield tunnels, subsurface tunnels, pipe galleries, large-diameter pipelines and the like, and the utilization rate of the platform is remarkably improved. According to the integrated counter-force mechanism, the compressive strength, the shear strength and the impermeability of the counter-force well wall are greatly improved, the underwater test function is added, and meanwhile a foundation is provided for performance upgrading of a loading system in the later period.

The invention discloses a mining intelligent ventilation scheduling decision-making system based on wind network calculation, and relates to the technical field of mining equipment, and the system comprises a data collection module which is used for collecting ventilation data of a whole mine; the wind network resolving module is used for reading the whole mine ventilation data in real time, carrying out wind network resolving and simulating the mine ventilation condition in real time to obtain a mine wind demand result; the data analysis module is used for analyzing the whole mine ventilation data and the mine wind demand result data; performing wind network diagnosis according to the underground roadway topological structure, and obtaining an optimization strategy according to a wind network diagnosis result; and the linkage control module is used for controlling automatic regulation and control of related equipment according to the optimization strategy. According to the invention, underground ventilation parameters are collected in a unified manner, wind network resolving data are analyzed in a unified manner, and ventilation facilities and equipment are subjected to linkage control, so that the purposes of supplying wind according to needs and controlling wind in catastrophe are achieved.

The invention discloses a water mist nozzle adjusting method, computer equipment and water mist fire extinguishing equipment. The method comprises the steps that environment information of a target fire area is collected, and the environment information comprises at least one of gas components, temperature distribution and a flame profile; processing the environment information based on a preset deep learning algorithm, and determining fire features; determining a target angle of a water mist nozzle based on the fire features; and adjusting the water mist nozzle based on the target angle. The technical problem that at present, a fixed spray head is usually adopted for fire extinguishing in limited spaces such as underground tunnels, hidden areas such as cable interlayers cannot be covered due to the fixed angle, and fire reignition is caused is solved.

The invention discloses an underground tunnel type hydrogen storage library structure and a construction method, and relates to the technical field of underground hydrogen storage libraries, the underground tunnel type hydrogen storage library structure comprises a steel lining, a supporting layer and a supporting adjusting assembly, and the supporting layer covers the outer side of the steel lining; the supporting adjusting assembly comprises a displacement meter and an adjusting mechanism, the adjusting mechanism comprises a fixed cylinder and a sliding part, the displacement meter and the fixed cylinder are both arranged on the surrounding rock layer, and the sliding part is arranged on the fixed cylinder in a sliding mode and abuts against the outer side of the supporting layer; the sliding piece can slide close to or away from the supporting layer according to the rock surrounding layer offset measured by the displacement measuring meter. When the surrounding rock layer deviates due to landslide and other reasons, the displacement meter can measure the deviation amount of the surrounding rock layer and send a sensing signal to the hydraulic part, so that the hydraulic part controls the sliding part to be close to or away from the supporting layer according to the deviation amount, supporting compensation of the supporting layer and adaptive adjustment of supporting stress of the steel lining are achieved, and the supporting effect of the supporting layer is improved. Collapse of the hydrogen storage reservoir is prevented.

The invention relates to a point cloud map construction method, device and system, engineering machinery and a program product. The method comprises the following steps: acquiring IMU data and laser radar point cloud data; performing forward propagation integration on the IMU data, performing timestamp accumulation on the laser radar point cloud data, and generating an IMU data integration result and a point cloud data sequence which are aligned in time sequence; correcting the distortion of the point cloud data according to the back propagation of the IMU data integration result, extracting geometric features from the distortion-removed point cloud data, calculating the point-surface residual error, and constructing a state estimation constraint; aiming at a map matching failure scene, optimizing the contour residual error; fusing multiple types of residual errors to construct a residual error set; and iteratively correcting the system state through a first predetermined algorithm, and synchronously generating an odometer and a map of the underground roadway. According to the method, the IMU and laser radar data can be cooperatively processed in stages, and the forward and back propagation algorithms and multi-residual joint optimization are combined, so that high-precision state estimation and map construction are realized.

The invention discloses a flame-retardant antifouling organic-inorganic composite coating for an underground coal mine roadway and a preparation method of the flame-retardant antifouling organic-inorganic composite coating, and relates to the technical field of composite coatings. When the flame-retardant antifouling organic-inorganic composite coating for the underground coal mine roadway is prepared, inorganic filler is soaked in conductive slurry to prepare modified inorganic filler; the modified polyurethane emulsion, the calcined wollastonite powder, the modified inorganic filler and water glass are mixed with water and then coated, and the flame-retardant antifouling organic-inorganic composite coating for the underground coal mine roadway is prepared after curing. The prepared flame-retardant antifouling organic-inorganic composite coating for the underground coal mine roadway has the advantages of flame retardance, static electricity resistance, stain resistance, super-hydrophobicity, moisture resistance, wear resistance, high bonding strength and high tensile strength. And the coating has good brightness, can improve the sight condition of underground work, and changes the overall dark environment of an underground roadway.

The utility model provides an underground tunnel deformation joint water leakage diversion structure which comprises a deformation joint filling material and a middle-buried rubber waterstop and further comprises geotechnical cloth, a spring water seepage pipe, sealant and a stainless steel water receiving box, the geotechnical cloth wraps the spring water seepage pipe to form a structure that the geotechnical cloth wraps a spring framework water-permeable diversion pipe, and the spring framework water-permeable diversion pipe is arranged in the middle-buried rubber waterstop. The output ends of the spring water seepage pipes are connected with drainage side ditches on the two sides of a tunnel to form a first flow guide structure, the upper portion of the geotextile wrapped spring framework water seepage flow guide pipe structure is filled with deformation joint filling materials, the outer side of the geotextile wrapped spring framework water seepage flow guide pipe structure is sealed through sealant, and a stainless steel water receiving box is arranged at a deformation joint of the downstream face of the structure. The stainless steel water receiving box is fixed to the downstream face of the structure through stainless steel expansion bolts, the spring water seepage pipe seeps into the drainage box from the bottom of the structure, and a second flow guide structure is formed. When the underground tunnel deformation joint water leakage diversion structure is adopted, deformation joint water leakage can be treated without damaging a tunnel structure or chiseling off a small amount of the structure, and the integrity of the tunnel structure can be effectively protected.

The invention discloses a method and a system for rapidly analyzing an over-break and under-break condition of an underground tunnel group, relates to the technical field of pumped storage power station engineering measurement, and solves the problems of low model construction efficiency and poor model construction precision of the existing three-dimensional laser scanning technology in construction of a tunnel model. According to the scheme, the method comprises the steps of obtaining three-dimensional point cloud data in a tunnel; preprocessing the three-dimensional point cloud data to obtain tunnel three-dimensional point cloud data; carrying out partition down-sampling processing based on density characteristics and curvature characteristics based on the tunnel three-dimensional point cloud data, and carrying out tunnel three-dimensional reconstruction; constructing a tunnel three-dimensional design model based on the design parameters on the design drawing; aligning the three-dimensional reconstruction model of the tunnel with the three-dimensional design model of the tunnel, and identifying and marking an over-excavation and under-excavation area; on the basis of the aligned tunnel three-dimensional reconstruction model and tunnel three-dimensional design model, extracting feature points of the to-be-measured section, and calculating an over-break value of the to-be-measured section on the basis of the feature points; and the model construction precision and efficiency are improved.

The invention discloses a comprehensive monitoring method and system based on an optical cable sensor network, and belongs to the technical field of underground engineering monitoring, and the system comprises a wireless sensor subsystem which is used for collecting environment parameter information; the wireless transmission module is used for transmitting the environment parameter information back to a receiving node of the optical cable in a wireless signal mode; the edge computing node is used for analyzing and preprocessing the received environment parameter information in real time by adopting a self-adaptive weighted fusion algorithm; and the data processing module is used for carrying out fusion analysis on the preprocessed environment parameter information to realize monitoring and early warning on the underground tunnel space. According to the invention, various data types in the tunnel environment can be comprehensively collected, analysis is carried out through a fusion algorithm and machine learning, and the safety monitoring level of the tunnel is effectively improved.

The invention discloses a shield tunneling machine soil pressure balance control method and system based on multi-parameter dynamic optimization, and relates to the technical field of shield tunneling machine control. The method comprises the following steps: calculating a support force required in a shield tunneling process under a current working condition and a theoretical shield soil bin pressure observation value, and establishing a relationship through a linear fitting mode to obtain a soil bin pressure transfer coefficient under a current stratum condition; calculating the theoretical support force of the tunnel face in the tunneling process, and calculating the preset value of the shield soil bin pressure in combination with the soil bin pressure transfer coefficient; and acquiring a real-time shield soil bin pressure observation value, and performing multi-parameter collaborative optimization on an error between the preset value of the shield soil bin pressure and the real-time shield soil bin pressure observation value by using a particle swarm optimization algorithm to obtain an optimized control parameter. According to the method, the pressure of the soil bin can be adjusted more accurately according to actual conditions, so that dynamic balance of an excavation face in the construction process is ensured, and safety and stability of underground tunnel construction are guaranteed.

The invention relates to an underground tunnel construction method and system, and relates to the field of underground tunnel construction.The underground tunnel construction method comprises the steps that geological stability influence analysis is conducted according to optimal waterproof barrier layout distribution, first geological stability distribution is obtained, tunnel construction simulation is conducted, and first construction time information is obtained; correcting the first construction time information according to the construction time of the waterproof barrier to obtain first corrected construction time information; according to the first corrected construction time information, the first geological stability distribution and the maximum waterproof score, a first tunnel construction score is obtained through calculation, tunnel route planning optimization continues to be conducted, and an optimal tunnel route is obtained. Through the method, the technical problem that the construction progress and the construction safety are affected due to the fact that tunnel route planning cannot accurately avoid an underground water high-risk area due to the fact that a traditional method lacks accurate evaluation on underground water influence factors can be solved; the scientificity and the accuracy of tunnel route setting can be improved, and the construction progress and the construction safety are ensured.

The invention provides an autonomous operation method and system for a coal mine underground roadway repair robot, and the method comprises the steps: positioning a deformation region based on roadway three-dimensional point cloud data collected by a plurality of laser radars, and planning a navigation path according to the position information of the deformation region; detecting whether an exposed anchor rod exists in the deformation area or not through a first camera, if yes, cooperatively positioning the exposed anchor rod through a plurality of laser radars and the first camera, and controlling an auxiliary arm and a shearing clamp to shear; an operation mechanical arm and a breaking hammer are controlled to break the deformation area, float coal on a roadway bottom plate is recognized through a plurality of laser radars, and the operation mechanical arm and a bucket are controlled to gradually clean the float coal; and the repairing robot is controlled to run forwards to clean the step pitch, the anchor rod missing position is detected through a second camera, and the anchor rod drilling machine is controlled to drive an anchor rod to the anchor rod missing position. According to the method, accurate control over the whole process of roadway repairing operation is achieved, and the intelligence, the high efficiency and the safety of roadway repairing are improved.

The invention relates to the technical field of tunneling dust removal, and discloses a dust falling device based on underground roadway development tunneling, which comprises a barrel I, a fan barrel is fixed on one end surface of the barrel I, a plate body is fixed on the other end surface of the barrel I, a connecting end is fixed on one end surface of the plate body, and a liquid inlet pipe is fixed on the plate body; the liquid inlet pipe penetrates through the plate body and extends into the plate body, a filter screen is arranged in the first barrel body, and a connector is fixed to the bottom end of the liquid inlet pipe; external water is introduced, when flowing through a spiral blade, the spiral blade is driven to rotate, at the moment, the water generates a vortex, so that a disc body is driven to rotate on a first pipe body, finally, the water is sprayed out through a plurality of spray heads, sprayed water mist makes contact with dust and is adsorbed, the dust is treated, and the spraying area is increased in a rotary spraying mode; and the dust treatment efficiency is further improved.

A system for sealing prefabricated facilities or underground facilities may allow for the sealing and pressurizing of parts or all of an underground facility or enclosed facility via a plurality of sealable doors or prefabricated modules. The system may implement mechanical connections between walls or extensions of individual modules. The system may implement complementary mechanical connections or partially complementary mechanical connections between individual modules and may further include module interior or module exterior sealing layers for rigid layers. The system may implement mechanical connections between individual modules wherein each of the mechanical connections may utilize sealing complementary profiles constructed and arranged to provide for an airtight seal between modules. The system may be used to link surface facilities to underground facilities, tunnels or shafts, or to pressurize sections of tunnels or shafts. The system may be used to stabilize pressurized facilities from back-blast due to evacuation of said tunnels or shafts. The system may be used to construct pressurized surface habitats independent of, or linked to underground tunnels or facilities. The system may further be used to construct space platforms or space stations.

The present application relates to the technical field of three-dimensional modeling, and particularly relates to a method and system for constructing a three-dimensional model of a digitalized underground tunneling working face in a coal mine. The method comprises: performing the same grid division on a first point cloud of the tunneling working face before support work starts after a section of cutting work is completed, and on multiple second point clouds of the tunneling working face during a next section of cutting work after the support work is completed; comparing the grid regions of each second point cloud with the corresponding grid regions of the first point cloud to determine the vibration influence degree of each grid region of each second point cloud; determining the vibration trend coefficient of each grid region according to the change in the vibration influence degree of each grid region in each second point cloud; determining the data accuracy of each grid region according to the vibration trend coefficient of each grid region; filtering the point cloud according to the data accuracy of each grid region, and performing three-dimensional modeling according to the filtered point cloud, thereby improving the accuracy of three-dimensional modeling of the tunneling working face.