GB2609742A - Tunneling and supporting method based on location-aware system of alpine bolter miner - Google Patents

Tunneling and supporting method based on location-aware system of alpine bolter miner Download PDF

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GB2609742A
GB2609742A GB2209146.6A GB202209146A GB2609742A GB 2609742 A GB2609742 A GB 2609742A GB 202209146 A GB202209146 A GB 202209146A GB 2609742 A GB2609742 A GB 2609742A
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alpine
point cloud
ultrasonic
laser
bolter
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GB2609742B (en
GB202209146D0 (en
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Zhang Wei
Hu Yinquan
Lin Xuefeng
Yang Jing
Huang Chongfu
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Chongqing Vocational Institute of Engineering
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Chongqing Vocational Institute of Engineering
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D20/00—Setting anchoring-bolts
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Mining & Mineral Resources (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Structural Engineering (AREA)
  • Acoustics & Sound (AREA)
  • Environmental & Geological Engineering (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

A tunnelling and supporting method for a drift section of a mine, preferably a coal mine. The method is based on a location-aware system of an alpine bolter miner. The drift section is firstly roughly reconstructed using an ultrasonic distance measuring sensor and imaging module to create an ultrasonic image of the drift section. Preliminary supporting is then conducted using first roof bolters using the ultrasonic image. The drift section is accurately reconstructed using a laser radar and laser point cloud imaging module to create a laser point cloud image of the drift section. Reinforcing and supporting is carried out using second roof bolters and side bolters according to the laser point cloud image. There may be 9 (nine) ultrasonic sensors and 9 (nine) laser radars. There may further be an underground localisation communication module in signal communication with an ultrasonic imaging module, laser point cloud imaging module and a well control remote control platform. The underground localisation communication module transmits the underground position of the alpine bolter miner and selects anchor point positions of the roof bolters using wireless communication.

Description

TUNNELING AND SUPPORTING METHOD BASED ON LOCATION-AWARE SYSTEM OF ALPINE BOLTER MINER
TECHNICAL FIELD
100011 The present disclosure relates to the technical field of mining, and specifically relates to a tunneling and supporting method based on a location-aware system of an alpine bolter miner.
BACKGROUND ART
100021 The alpine bolter miner is an all-in-one machine integrated with a heading machine and roof bolters, and parallel operation of the heading machine and the roof bolters can be achieved, so that the efficiency is high, and the alpine bolter miner is widely applied to mining at present In the tunneling and mining process of the alpine bolter miner in an underground drift, the condition of the section of the underground is drift needs to be monitored, and then according to different conditions of the section, the roof bolters are controlled to adjust the positions to drive anchor rods for supporting.
100031 In the prior art, CN101819036B provides a method for automatically measuring a space pose of a heading machine. Aiming at the actual situation of tunneling operation of the heading machine in a narrow space under a coal mine, an industrial camera, an industrial personal computer, a laser pointing instrument and an image acquisition card are arranged at the rear part of the heading machine to measure and calculate the pose of the coal rock section of the heading machine. The most reasonable pose of a machine body is determined, and then excavation operation is carried out through constructions, so that an operator is far away from hazardous locations, sudden accidents are reduced, and the excavation safety is improved. Therefore, the heading machine is in the optimal and most reasonable operation position and state, the maximum coverage angle is -1-60?, the displacement detection deviation is less than 10 mm, the deflection angle detection precision is +/-12', the pitch angle detection precision is +/-6', and the roll angle detection precision is +1-6', so that the mining quality and efficiency are improved.
100041 However, according to the technical solutions, the pose of the coal-rock section of the heading machine is measured only for the heading machine, the space poses of the roof bolters are not synchronously measured, the conditions of the drift section cannot be reestablished truly in the tunneling and mining process of the alpine bolter miner, and the roof bolters drive anchor rods for supporting according to the incompletely real section conditions. Therefore, position deviation may be generated, and the support effect is affected.
SUMMARY
100051 Aiming at the defects in the prior art, the present disclosure provides a tunneling and supporting method based on a location-aware system of an alpine bolter miner to solve the technical problems that in the prior art, roof bolters are used for supporting when anchor rods are driven according to incompletely real section conditions, position deviation may be generated, and the support effect is affected.
100061 According to the technical solutions of the present disclosure, the tunneling and supporting method based on a location-aware system of an alpine bolter miner comprises the following steps in a first achievable mode: 100071 roughly reconstructing a drift section by using an ultrasonic distance measuring sensor and an ultrasonic imaging module to obtain an ultrasonic imaging image of the drift section; 100081 carrying out preliminary supporting by using an advanced support system and first roof bolters according to the ultrasonic imaging image, 100091 carrying out accurate reconstruction on the drift section by using a laser radar and a laser point cloud imaging module to obtain a laser point cloud imaging image of the drift section; and [00101 carrying out reinforcing and supporting by using a second support system, second roof bolters and side bolters according to the laser point cloud imaging image 100111 According to the technical solution of the first achievable mode, the method to has the beneficial technical effects that firstly, the drift section is roughly reconstructed through ultrasonic imaging, preliminary supporting is carried out by using the advanced support system and the first roof bolters according to the ultrasonic imaging image, and the speed of completing preliminary supporting is high; and then, the drift section is accurately reconstructed through laser point cloud imaging, reinforcing and supporting are carried out by using the second support system, the second roof bolters and the side bolters according to the laser point cloud imaging image, position deviation is basically not generated when anchor rods are driven, and a built support effect is achieved. The whole support process is divided into two stages. While ultrasonic imaging and preliminary supporting are carried out, the drift section is accurately reconstructed and then reinforced and supported. The second stage and the first stage can be carried out in parallel, the time for completing supporting is saved, and the efficiency is improved.
100121 In combination with the first achievable mode, in a second achievable mode, the location-aware system comprises an ultrasonic distance measuring sensor, an ultrasonic imaging module, a laser radar and a laser point cloud imaging module; the ultrasonic distance measuring sensor is in signal connection with the ultrasonic imaging module; and the laser radar is in signal connection with the laser point cloud imaging module 100131 In combination with the second achievable mode, in a third achievable mode, the number of the ultrasonic distance measuring sensors is multiple, and the ultrasonic distance measuring sensors are uniformly arranged along the side face and the top of the alpine bolter miner.
100141 In combination with the third achievable mode, in a fourth achievable mode, the number of the ultrasonic distance measuring sensors is nine, and the ultrasonic distance measuring sensors are installed at the left front position, the left middle to position, the left rear position, the right front position, the right middle position, the right rear position, the top front position, the top middle position and the top rear position of the alpine bolter miner respectively in a bonding mode.
100151 In combination with the second achievable mode, in a fifth achievable mode, the number of the laser radars is multiple, and the laser radars are uniformly arranged along the side face and the top of the alpine bolter miner.
100161 In combination with the fifth achievable mode, in a sixth achievable mode, the number of the laser radars is nine, and the laser radars are installed at the left front position, the left middle position, the left rear position, the right front position, the right middle position, the right rear position, the top front position, the top middle position and the top rear position of the alpine bolter miner respectively in a bonding mode.
100171 In combination with the second, fifth and sixth achievable modes, in a seventh achievable mode, the laser radar is a semiconductor laser radar.
100181 In combination with the first achievable mode, in an eighth achievable mode, the location-aware system further comprises an underground localization communication module, and the underground localization communication module is in signal connection with the ultrasonic imaging module, the laser point cloud imaging module and a well remote control platform respectively and transmits the underground position of the alpine bolter miner, the ultrasonic imaging image and the laser point cloud imaging image to the well remote control platform; and 100191 the well remote control platform finds out soil and rock mass environment conditions of the position in the mining scheme according to the underground position of the alpine bolter miner, selects anchor rod driven point positions of the roof bolters in combination with the ultrasonic imaging image and the laser point cloud imaging image, and then transmits the anchor rod driven point positions to the alpine bolter miner.
100201 According to the technical solution of the eighth achievable mode, the method has the beneficial technical effects that when the alpine bolter miner carries out supporting in the tunneling and mining process, more suitable anchor rod driven point positions can be found out according to the underground position where the alpine bolter miner is located and in combination with the soil and rock mass environments of the drift section of the position in the mining scheme, and a better support effect is achieved.
100211 In combination with the eight available mode, in a ninth available mode, the underground localization communication module carries out localization and communication by adopting an ultra-wide-band wireless carrier communication 20 technology.
BRIEF DESCRIPTION OF THE DRAWINGS
100221 In order to more clearly illustrate the detailed description of the present disclosure or the technical solutions in the prior art, the drawings, which need to be used in the detailed description or the prior art description, are briefly described below.
Similar elements or portions are generally identified by similar reference signs throughout all attached figures. The dimensions of the various components or parts shown in the attached figures are not drawn to scale in practice.
100231 FIG. 1 is a flow chart of a tunneling and supporting method in the first
embodiment of the present disclosure; and
100241 FIG. 2 is a block diagram of a location-aware system in the second embodiment of the present disclosure.
DETAILED DESCRIPTION OF THE EMBODIMENTS
100251 The following describes the embodiments of technical solutions of the present disclosure in detail with reference to the attached figures. The following embodiment serves only to more clearly illustrate the technical solutions of the present disclosure, and therefore, as an example only and cannot limit the scope of protection of the present disclosure in this way.
100261 It is noted that technical or scientific terms used herein are to be taken in ordinary meanings as understood by one of those skilled in the art to which the present disclosure pertains unless otherwise indicated.
100271 Embodiment I 100281 The location-aware system comprises an ultrasonic distance measuring sensor, an ultrasonic imaging module, a laser radar and a laser point cloud imaging module, and the condition of the drift section can be constructed.
100291 The number of the ultrasonic distance measuring sensors is multiple. The ultrasonic distance measuring sensors are respectively connected with the ultrasonic imaging module and transmit a plurality of measured ultrasonic distance measuring values to the ultrasonic imaging module. The ultrasonic imaging module carries out ultrasonic imaging according to the ultrasonic distance measuring values, and reconstructs a drift section image at the position of alpine bolter miner. The distance measuring principle of the ultrasonic distance measuring sensor is as follows: the transmitting end of an ultrasonic sensor oscillates and transmits ultrasonic waves through amplification of a transmitting drive circuit. The ultrasonic waves are reflected back through the drift section, received by a sensor receiving end and then amplified and shaped through a receiving circuit. The embedded microkemel ultrasonic distance measuring system records the ultrasonic emission time and the reflected wave time through embedded devices. When reflected waves of the ultrasonic waves are received, the output end of the receiving circuit generates a jump. The time difference is calculated through counting of a timer, namely, the ultrasonic distance measuring value between the position where the ultrasonic distance measuring sensor is installed on the alpine bolter miner and the drift section can be calculated. The ultrasonic distance measurement is sound wave emission and has the fan-shaped emission characteristic of sound waves, so that when the ultrasonic imaging module carries out ultrasonic imaging according to a plurality of distance values, the rough condition of the drift section can be quickly constructed. The roof bolters can drive anchor rods to carry out preliminary supporting according to the rough condition of the drift section.
100301 The number of the ultrasonic distance measuring sensors is not restricted, preferably nine in the specific embodiments. The ultrasonic distance measuring sensors are uniformly arranged along the side face and the top of the alpine bolter miner and installed at the left front position, the left middle position, the left rear position, the right front position, the right middle position, the right rear position, the top front position, the top middle position and the top rear position of the alpine bolter miner respectively in a bonding mode.
100311 The number of the laser radars is multiple. The laser radars are respectively connected with the laser point cloud imaging module and used for transmitting a plurality of measured point clouds to the laser point cloud imaging module. The laser point cloud imaging module carries out three-dimensional imaging according to the point clouds, and reconstructs a drift section image at the position of alpine bolter miner.
The laser radar distance measuring principle is as follows: a laser diode is firstly aligned to a certain position of the drift section to emit laser pulses, and the laser pulses are scattered in all directions after being reflected. Part of scattered light returns to a sensor receiver and is imaged on an avalanche photodiode after being received by an optical system. The avalanche photodiode is an optical sensor with an internal amplification function, so that the avalanche photodiode can detect extremely weak optical signals and is very suitable for a low-light environment of a drift. The duration time from light pulses are sent to returned and received is recorded and processed, so that the laser distance measuring value between the position where the laser radar is installed on the alpine bolter miner and the drift section can be calculated. The laser diode is arranged on a rotating platform and rotates and scans for a circle to obtain point cloud.
100321 The number of the laser radars is not restricted, preferably nine in the specific embodiments. The laser radars are uniformly arranged along the side face and the top of the alpine bolter miner and installed at the left front position, the left middle position, the left rear position, the right front position, the right middle position, the right rear position, the top front position, the top middle position and the top rear position of the alpine bolter miner respectively in a bonding mode. The laser radar is high in measurement accuracy, can construct a more accurate drift section, is long in imaging processing time, and is preferably suitable for providing accurate drift section image information for the roof bolters after preliminary supporting is completed and during reinforcing and supporting. The laser radar is a semiconductor laser radar, and is small in size and high in reliability.
100331 In the embodiment, in order to gain better real-time performance for image processing, the ultrasonic imaging module and the laser point cloud imaging module are both installed in the alpine bolter miner.
100341 On the basis of the location-aware system of an alpine bolter miner, the embodiment provides a tunneling and supporting method based on a location-aware system of an alpine bolter miner, and the tunneling and supporting method is specifically carried out according to the following steps: 100351 Firstly, roughly reconstructing a drift section by using an ultrasonic distance measuring sensor and an ultrasonic imaging module to obtain an ultrasonic imaging to image of the drift section 100361 The ultrasonic distance measuring sensor and the ultrasonic imaging module are used for roughly reconstructing the drift section according to the ultrasonic imaging working principle introduced in the previous text, and the ultrasonic imaging image of the drift section can be obtained. The ultrasonic imaging image precision of the drift section is not high and can reach the centimeter level. However, the imaging speed is high, the real-time performance is good, and reference can be provided for preliminary supporting quickly.
100371 Secondly, carrying out preliminary supporting by using an advanced support system and first roof bolters according to the ultrasonic imaging image.
100381 The alpine bolter miner comprises four roof bolters and two side bolters. The working principle of the supporting part in the alpine bolter miner is as follows: after the alpine bolter miner is driven to a working face, the advanced support system starts to work, and the machine is supported between the top plate and the bottom plate. A cutting system, a second support system, a loading and transporting system and a water system start to work simultaneously. After one cutting cycle is completed, the alpine bolter miner also completes the supporting work of the four roof bolters and the two side bolters The alpine bolter miner retracts the advanced support system and walks to the next working cycle surface, the walking distance is generally 1 m, and then the advanced support system is used for supporting again.
100391 The ultrasonic imaging module is in signal connection with the advanced support system and the roof bolters of the alpine bolter miner respectively and transmits the ultrasonic imaging image to the advanced support system and the roof bolters. The advanced support system lays a roof mesh on the top of the drift according to the ultrasonic imaging image, and then the roof bolters drive the anchor rods on the roof mesh laid on the top of the drift to complete preliminary supporting. In the step, two roof bolters (defined as the first roof bolters in the embodiment) close to the front end of the alpine bolter miner are selected for preliminary supporting. The ultrasonic imaging image can provide preliminary position guidance for the mesh laying positions and the anchor rod driven positions. Preliminary supporting can only play a simple supporting role. Then, more suitable anchor rod supporting points are selected for driving anchor rods according to the actual situation of the drift section, and a better support effect is achieved. Therefore, the drift section needs to be accurately reconstructed and can be combined with a drift section imaging image which is closer to the reality, so that the more suitable anchor rod supporting points are found out.
100401 Thirdly, accurately reconstructing the drift section by using a laser radar and a laser point cloud imaging module to obtain a laser point cloud imaging image of the drift section.
100411 While ultrasonic imaging and preliminary supporting are carried out, the laser radar and the laser point cloud imaging module are used for accurately reconstructing the drift section according to the laser point cloud imaging working principle introduced before, and the laser point cloud imaging image of the drift section can be obtained The laser point cloud imaging image precision of the drift section is high and can reach the millimeter level. However, in the imaging process, the data volume of point cloud needing to be processed is large, and the processing time is relatively long. Therefore, in the embodiment, accurate reconstruction of the drift section is carried out after preliminary supporting is completed. The data processing time for accurate reconstruction of the drift section is provided on the premise that the preliminary supporting is used for supporting. The obtained laser point cloud imaging image of the drift section can provide reference for reinforcing and supporting.
100421 Fourthly, carrying out reinforcing and supporting by using a second support system, second roof bolters and side bolters according to the laser point cloud imaging image.
100431 The laser point cloud imaging module is in signal connection with the second support system, the roof bolters and the side bolters of the alpine bolter miner respectively and transmits the laser point cloud imaging image to the second support system, the roof bolters and the side bolters. In the step, the second support system paves a roof mesh and side meshes on the top and the side walls of the drift according to the laser point cloud imaging image, then two roof bolters drive the anchor rods to the roof mesh paved on the top of the drift, and two bolters drive the anchor rods to the side meshes paved on the side walls of the drift, so that reinforcing and supporting are completed. In the step, two roof bolters (defined as the second roof bolters in the embodiment) close to the rear end of the alpine bolter miner are selected for reinforcing and supporting. The laser point cloud imaging image can provide preliminary position guidance for the mesh laying positions and the anchor rod driven positions.
100441 According to the technical solutions of the embodiment, firstly, the drift section can be roughly reconstructed through ultrasonic imaging, preliminary supporting is carried out by using the advanced support system and the first roof bolters according to the ultrasonic imaging image, and the speed of completing preliminary supporting is high; and then, the drift section is accurately reconstructed through laser point cloud imaging, reinforcing and supporting are carried out by using the second support system, the second roof bolters and the side bolters according to the laser point cloud imaging image, position deviation is basically not generated when anchor rods are driven, and a built support effect is achieved. The whole support process is divided into two stages. While ultrasonic imaging and preliminary supporting are carried out, the drift section is accurately reconstructed and then reinforced and supported. The second stage and the first stage can be carried out in parallel, the time for completing supporting is saved, and the efficiency is improved.
100451 Embodiment II 100461 Before mining, the underground distribution position of a coal seam and whether soil, rock mass or binary medium (rock-soil mixture) is wrapped outside the coal seam can be preliminarily judged through full-hole sampling geological exploration generally, and a mining scheme is formed by combining geological exploration results. The mining scheme comprises pre-planned tunneling direction and depth, and whether the environment is soil, rock mass or a binary medium after the mining scheme reaches a certain underground position.
100471 In the actual tunneling mining process of a mine, the alpine bolter miner can be controlled to carry out tunneling and mining according to the mining scheme. When the alpine bolter miner reaches a certain underground position, whether the environment where the drift is located is soil, rock mass or a binary medium can be known according to the mining scheme formed by geological exploration before mining.
100481 In the technical solutions provided by the first embodiment, when supporting is carried out according to the ultrasonic imaging image and the laser point cloud imaging image, the point positions of the anchor rods can be selected from the shape of the drift section, but whether the drift section is soil, rock mass or a binary medium cannot be reflected in the image. Theoretically, when the anchor rods are driven on a rock mass, the support effect is better than that when the anchor rods are driven on soil or a binary medium.
100491 In the embodiment, in order to make the anchor rods drive the rock mass as much as possible, on the basis of the first embodiment, the following technical solution is adopted 100501 The location-aware system of an alpine bolter miner further comprises an underground localization communication module, and the underground localization communication module is in signal connection with the ultrasonic imaging module, the laser point cloud imaging module and a well remote control platform respectively and transmits the underground position of the alpine bolter miner, the ultrasonic imaging image and the laser point cloud imaging image to the well remote control platform; and 100511 the well remote control platform finds out soil and rock mass environment conditions of the position in the mining scheme according to the underground position of the alpine bolter miner, selects anchor rod driven point positions of the roof bolters in combination with the ultrasonic imaging image and the laser point cloud imaging image, and then transmits the anchor rod driven point positions to the alpine bolter miner.
100521 In the specific embodiments, the underground localization communication module adopts an ultra-wide-band wireless carrier communication (UWB) technology to carry out localization and communication. The UWB technology is a wireless carrier communication technology, does not adopt sinusoidal carriers, but utilizes nanosecond-level non-sine wave narrow pulses to transmit data, so that the UWB technology occupies a wide frequency spectrum range, is low in power spectrum density of transmitted signals, is insensitive to channel fading, has extremely high penetration capacity, and can be accurately positioned underground. Through the underground localization communication module, the underground position of the alpine bolter miner can be obtained in real time and transmitted to the well remote control platform and the two-in-one function of localization and communication is achieved.
100531 The well remote control platform can call out an exploitation scheme through software according to the underground position of the alpine bolter miner, and inputs the coordinates of the underground position of the alpine bolter miner into a geological environment of the exploitation scheme to find out soil and rock mass environment conditions of the position. Then, in combination with the ultrasonic imaging image and the laser point cloud imaging image, the anchor rod driven point positions of the roof bolters are selected, and then the anchor rod driven point positions are transmitted to the alpine bolter miner through the underground localization communication module. For example, the rock mass is arranged on the left rear portion of the drift section of the position where the alpine bolter miner is located, the binary medium is arranged on the left middle portion, and the soil is arranged on the left front portion, so that when the anchor rod driven point positions are selected, the anchor rods driving to the left rear portion and the left middle portion are preferentially considered within the operable angles of the roof bolters. The alpine bolter miner controls the roof bolters to drive the anchor rods to complete supporting according to the anchor rod driven point positions.
100541 Through the technical solution of the embodiment, when the alpine bolter miner carries out supporting in the tunneling and mining process, more suitable anchor rod driven point positions can be found out according to the underground position where the alpine bolter miner is located and in combination with the soil and rock mass environments of the drift section of the position in the mining scheme, and a better support effect is achieved.
100551 Finally, it should be noted that the foregoing embodiments are merely intended for describing the technical solutions of the present disclosure, but not for limiting the present disclosure. Although the present disclosure is described in detail with reference to the foregoing embodiments, a person of ordinary skill in the art should understand that they may still make modifications to the technical solutions described in the foregoing embodiments or make equivalent replacements to some or all technical features thereof, without departing from the scope of the technical solutions of the embodiments of the present disclosure.

Claims (9)

  1. CLAIMS1. A tunneling and supporting method based on a location-aware system of an alpine bolter miner, comprising the following steps: roughly reconstructing a drift section by using an ultrasonic distance measuring sensor and an ultrasonic imaging module to obtain an ultrasonic imaging image of the drift section; carrying out preliminary supporting by using an advanced support system and first roof bolters according to the ultrasonic imaging image; accurately reconstructing the drift section by using a laser radar and a laser point cloud imaging module to obtain a laser point cloud imaging image of the drift section; and carrying out reinforcing and supporting by using a second support system, second roof bolters and side bolters according to the laser point cloud imaging image.
  2. 2. The tunneling and supporting method based on a location-aware system of an alpine bolter miner according to claim 1, wherein the location-aware system comprises an ultrasonic distance measuring sensor, an ultrasonic imaging module, a laser radar and a laser point cloud imaging module; the ultrasonic distance measuring sensor is in signal connection with the ultrasonic imaging module; and the laser radar is in signal connection with the laser point cloud imaging module.
  3. 3. The tunneling and supporting method based on a location-aware system of an alpine bolter miner according to claim 2, wherein the number of the ultrasonic distance measuring sensors is multiple, and the ultrasonic distance measuring sensors are uniformly arranged along the side face and the top of the alpine bolter miner.
  4. 4. The tunneling and supporting method based on a location-aware system of an alpine bolter miner according to claim 3, wherein the number of the ultrasonic distance measuring sensors is nine, and the ultrasonic distance measuring sensors are installed at the left front position, the left middle position, the left rear position, the right front position, the right middle position, the right rear position, the top front position, the top middle position and the top rear position of the alpine bolter miner respectively in a bonding mode.
  5. 5. The tunneling and supporting method based on a location-aware system of an alpine bolter miner according to claim 2, wherein the number of the laser radars is multiple, and the laser radars are uniformly arranged along the side face and the top of the alpine bolter miner.
  6. 6. The tunneling and supporting method based on a location-aware system of an alpine bolter miner according to claim 5, wherein the number of the laser radars is nine, and the laser radars are installed at the left front position, the left middle position, the left rear position, the right front position, the right middle position, the right rear position, the top front position, the top middle position and the top rear position of the alpine bolter miner respectively in a bonding mode.
  7. 7. The tunneling and supporting method based on a location-aware system of an alpine bolter miner according to claim 2, 5 or 6, wherein the laser radar is a semiconductor laser radar.
  8. 8. The tunneling and supporting method based on a location-aware system of an alpine bolter miner according to claim 1, wherein the location-aware system further comprises an underground localization communication module, and the underground localization communication module is in signal connection with the ultrasonic imaging module, the laser point cloud imaging module and a well remote control platform respectively and transmits the underground position of the alpine bolter miner, the ultrasonic imaging image and the laser point cloud imaging image to the well remote control platform; and the well remote control platform finds out soil and rock mass environment conditions of the position in the mining scheme according to the underground position of the alpine bolter miner, selects anchor rod driven point positions of the roof bolters in combination with the ultrasonic imaging image and the laser point cloud imaging image, and then transmits the anchor rod driven point positions to the alpine bolter miner.
  9. 9. The tunneling and supporting method based on a location-aware system of an alpine bolter miner according to claim 8, wherein the underground localization to communication module carries out localization and communication by adopting an ultra-wide-band wireless carrier communication technology.
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