CN106089279B - The more stress field coupling surrounding rock stability intelligent control methods of super large height mining face - Google Patents
The more stress field coupling surrounding rock stability intelligent control methods of super large height mining face Download PDFInfo
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- CN106089279B CN106089279B CN201610542524.2A CN201610542524A CN106089279B CN 106089279 B CN106089279 B CN 106089279B CN 201610542524 A CN201610542524 A CN 201610542524A CN 106089279 B CN106089279 B CN 106089279B
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- 239000011435 rock Substances 0.000 title claims abstract description 94
- 238000005065 mining Methods 0.000 title claims abstract description 59
- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000008878 coupling Effects 0.000 title claims description 13
- 238000010168 coupling process Methods 0.000 title claims description 13
- 238000005859 coupling reaction Methods 0.000 title claims description 13
- 230000008093 supporting effect Effects 0.000 claims abstract description 53
- 238000013507 mapping Methods 0.000 claims abstract description 6
- 230000009977 dual effect Effects 0.000 claims abstract description 5
- 239000003245 coal Substances 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 9
- 238000012806 monitoring device Methods 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 230000008447 perception Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 claims 1
- 230000000737 periodic effect Effects 0.000 claims 1
- 239000003381 stabilizer Substances 0.000 claims 1
- 230000035882 stress Effects 0.000 description 32
- 230000001808 coupling effect Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 230000006378 damage Effects 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000001802 infusion Methods 0.000 description 3
- 238000003825 pressing Methods 0.000 description 3
- 239000002131 composite material Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000021715 photosynthesis, light harvesting Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 1
- 206010044565 Tremor Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 210000001217 buttock Anatomy 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000010835 comparative analysis Methods 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 230000009993 protective function Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/12—Control, e.g. using remote control
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Operation Control Of Excavators (AREA)
- Devices Affording Protection Of Roads Or Walls For Sound Insulation (AREA)
Abstract
The invention discloses a kind of super large mining height surrounding rock stability intelligent control method, support earth pressure field caused by stability intelligence supporting unit is extensive with super large height mining face country rock, high intensity is migrated, and the unstable mining stress field to be formed is superimposed, and the relative equilibrium with mining induced stress is reached in face roof, rib.Bearing stress field determines that wall supporting stress field foundation prevents the wall caving strategy of rib " destruction-sliding " from determining based on crushing with the dual factors control method of rib horizontal shift.Establish the mapping library of the Parameters variations such as intelligent supporting cell pressure, posture and roof weighting.Intelligent supporting unit can perceive the monitor for stress signal in internal overlarge mining height hydraulic support posture, pressure and country rock by control of intelligent terminal, and transferring hydraulic support electrohydraulic control system by surrounding rock stability intelligent control center after comprehensive analysis processing sends the instruction such as control, early warning.The present invention is obviously improved super large height mining face surrounding rock stability and equipment intelligent level.
Description
Technical field
The present invention relates to a kind of coal-face surrounding rock stability control method, specifically in view of super large height mining face
The surrounding rock stability intelligent control method of more stress field coupling effects.
Background technology
Fully-mechanized mining working is the mechanization stope being made up of hydraulic support, coal-winning machine and drag conveyor, wherein
Hydraulic support support roof and floor, control rib, provide trouble free service space for coal-winning machine, drag conveyor and pedestrian and elapse work
Make face equipment reach, be the key equipment guarantee of progress of coal mining surrounding rock stability control.The underground engineerings such as colliery digging are lived
The dynamic redistribution for causing primitive stress, the stress distribution formed are referred to as mining stress field.Current working face primary recovery
Highly increasing, the fully mechanized mining equipment to put into operation once adopts complete thick height more than 8.0m, the extra space in rear portion goaf
So that roof key stratum develops into " revolution-landing " unstability by the rotary instability of common mining height, while wall caving probability increases, by force
Mining stress field caused by disturbed strata is moved brings extreme difficulty to working face adjoining rock stability supporting.Operated by artificial experience
Timely, accurate response can not be provided to ensure adjoining rock stability, and the control of super large height mining face surrounding rock stability must be by common
" support auxiliary country rock forms bearing structure " of mining height develops into the supporting pattern of " support dominates country rock and forms bearing structure ", profit
With the space stress field system of support earth pressure field construction work face relative equilibrium.
Country rock coupled wave theory illustrates the interacting of working face country rock and hydraulic support, interactional constitutive relations,
It is the basis for instructing support equipment design and maintenance work face stabilization.Patent 201010231729.1 goes out from the migration rule of country rock
Hair, establishes supporter and rock coupling model, and work country rock and support are carried out into supporting construction as an overall mechanical system
Designed with the Three-Dimensional Dynamic of parameter；Patent 201410453597.5 is based on support and country rock stiffness coupling, strength mis-matching and stably
A kind of property coupled relation, it is proposed that evaluation method of support compatibility.Above-mentioned two patent is only from Design of Powered Supports and scene
The angle of fitness-for-service assessment uses country rock coupled wave theory, can not substitute manual work and carry out live surrounding rock stability control.Patent
A kind of intelligent coupled mode two column protected type Hydraulic Support for Super Great Mining Height of 201410341867.3 inventions, specifically includes liquid support
Body, all kinds of sensing elements and controller, it is proposed that structure composition and the function description of Intelligent Hydraulic support, do not account for more
The specific control method of surrounding rock stability under stress field coupling effect.
Existing fully-mechanized mining working Automated condtrol mainly using support posture in itself, pressure and other parameters as object action control
System, due to perception of the shortage to stress field, surrounding rock stability controls not corresponding foundation, super large-mining-height under the conditions of multi- scenarios method
Make face comprehensive mechanization and a kind of surrounding rock stability intelligence for considering the more stress field coupling effects of working face is needed in automated mining badly
Control method.
The content of the invention
Technical problem：The present invention is directed to super large mining and high comprehensive mining face roof large deformation, thump and the frequent wall caving of rib
Problem is controlled etc. surrounding rock stability, a kind of surrounding rock stability control method based on more stress field coupling effects is proposed, utilizes liquid
The intelligent branch protective function of support is pressed to solve super large height mining face mining operations space safety security problem.
Technical scheme：A kind of more stress field coupling surrounding rock stability intelligent control methods of super large height mining face, are working
Surrouding rock stress monitoring device is preset in the roof rock of face, using face roof and rib as main control object, by intelligent supporting
Unit automatically generates appropriate support earth pressure field, with super large height mining face country rock is extensive, high intensity the is migrated shakiness to be formed
Determine mining stress field superposition, the relatively flat of the stress of primary rock, mining induced stress and support earth pressure is reached in face roof, rib
Weighing apparatus, rock crusher degree is reduced, reduce country rock macroscopic view displacement, realize adjoining rock stability control.
The stability intelligence supporting unit includes overlarge mining height hydraulic support, Hydraulic Support Posture and pressure and perceives dress
Put, pressure charging system and surrounding rock stability control of intelligent terminal, the stability intelligence supporting unit that working face forms side by side constitute
Stability intelligence support system.The overlarge mining height hydraulic support possesses large-diameter double flexible strength support post, telescopic top beams
With three-stage side protecting device, high-flow safety valve equistability executing agency.The sensing device is included in column and jack
Pressure, displacement transducer, and the support attitude transducer such as inclination angle.The surrounding rock stability control of intelligent terminal is placed in super large and adopted
On height hydraulic support front rod, possess signal acquisition, display function, Hydraulic Support Posture and pressure and country rock can be received simultaneously
Stress signal is simultaneously transferred to surrounding rock stability intelligent control center.The surrounding rock stability intelligent control center can call hydraulic pressure
Support electrohydraulic control system master controller.
The more stress field coupling surrounding rock stability intelligent control methods of above-mentioned super large height mining face, it is to top plate and rib
Surrounding rock stability control principle consider following aspect.
（1）The working face maximum length that hydraulic support can be born and hydraulic support stand ability, buttock constraint bar
The parameters such as part, roof strata thickness, Roof rock feature, roof destruction degree and mining height are closely related.As working face lengthens, top
Plate deflection is increasing, when face length reaches certain length scopeLWhen, top plate largest amount of subsidence becomes closer to, together
When support above top plate there is segmenting to press, show as working face interlude and end head to press the characteristics of inconsistent, substantially
Rule is that interlude is advanced, is fallen behind at two ends；When face length exceedesLWhen, the amount of crushing starts from single peak to more
Peak value converts, and occurs showing as three peak values shaped like " W " three peak phenomenon, support top top plate and synchronously pressing feature.
（2）Setting load and working resistance are rationally improved, carrys out controlroof deflection with reference to the self-bearing ability of country rock, while can
Effectively control rib horizontal displacement, reduces coal wall caving probability of happening.Using the dual factors constrained jointly top plate and rib
Control methods determine super large height mining face support setting load and working resistance.
（3）Working face is improved to press fore-stock and top plate, the composite rigidity of floor strata, it will help promote roof break
Position is moved to goaf, reduces size and load action time of the roof weighting to support impact dynamic load lotus.The advance of the face
Speed is faster, and the amount of crushing is smaller, then roof strata bearing capacity is stronger, but not influences top plate final subsidence amount.Using
High setting load improves composite rigidity and accelerates exploitation rate aggregate measures reply roof weighting.
（4）Coal wall caving process can be divided into for shearing（Drawing crack）Destroy and be with sliding two stages of unstability, generation destruction
The necessary not a sufficient condition of coal wall caving, whether wall caving additionally depends on the control that support destroys body generation sliding unstability to drawing crack to rib
Effect processed.Improve setting load and working resistance is merely able to block destructive process, rib can be prevented by improving wall supporting power and wall supporting scope
Sliding.
（5）Thump presses through journey, and the only support by hydraulic support can not resist impact to press through the strong dynamic load of journey, must
Rapid yield must be carried out.Realize that system capacity dissipates by high-flow safety valve, prevent support system from protecting unstability.
According to aforementioned stable control principle, the surrounding rock stability intelligent control flow of the further present invention is.
（1）According to geological conditions, stope arrange etc. initial parameter determine overlarge mining height hydraulic support form, support rigidity,
Working face maximum length and end restraint condition, the efficient coupling of rigidity and intensity is realized, ensure working face adjoining rock stability can
Control property.
（2）By support earth pressure field fine for Roof Control support stress field and to rib control wall supporting stress field,
Dual factors control method based on coal wall caving and constraint of crushing determines the column pressure threshold needed for the balance of bearing stress field
Value；It is critical according to needed for wall supporting device controls coal wall caving " destruction-sliding " process mutually to help power to determine that wall supporting controls jack
Pressure threshold.
（3）Statistics shows indication to press through the roof pressure of journey and deflection, as the foundation for carrying out advanced early warning, the indication
It is the dynamic process in exploitation process constantly improve with reference to man-machine interactively.
（4）Pressure from surrounding rock monitoring device signal in the range of the real-time pickup area of adjoining rock stability control of intelligent terminal, intelligence branch
Unit inner column, wall supporting jack and advancing jack pressure parameter and Hydraulic Support Posture parameter are protected, it is steady to be transferred to country rock
Qualitative intelligent control center, is analyzed and processed, in supporting（Non- shifting frame）Transferred when the hydraulic support of state is under-voltage electro-hydraulic
Electro hydraulic valve corresponding to control system to column and jack sends instruction and carries out fluid infusion operation until meeting to require；Surrounding rock stability
Upper computer software is controlled by the column pressure and support posture of each supporting unit of working face（Highly）Parameter comparison is analyzed, with pressing
Indication maps comparative analysis, and the condition of satisfaction sends early warning, assists manual decision, total tune advance of the face management.
Present invention tool has the advantage that：（1）Face length, two ends constraint are determined based on working face country rock coupling principle
And the initial parameter such as hydraulic support rigidity, provide premise guarantee for the controllable row of surrounding rock stability intelligent control；（2）Surrouding rock stress
Monitoring device is integrated with intelligent support system, improves and stress field of the surrounding rock is perceived（Inverting）Accuracy and regulation and control it is effective
Property；（3）The lasting strength holding state of face timbering unit has been ensured, has effectively improved combined rigidity, with reference to quickly propelling
Ensure the rear shifting in top plate rock beam fracture position goaf direction；（4）Compared with manual control in time, accurately, there is data accumulating, learn
Habit, analysis and dynamic adjustment function, are improved to press the reliability of advanced early warning.（5）High-flow safety valve is realized under thump
Energy dissipation, the safety of hydraulic support equipment is ensured.
Brief description of the drawings
Fig. 1 is the surrounding rock stability intelligent control schematic diagram of the present invention.
Fig. 2 is face length direction hydraulic support stand group elastic support rock beam model.
Fig. 3 is the adjoining rock stability intelligent control flow figure using the present invention.
Wherein, 1- surrounding rock stabilities control of intelligent terminal；2- column pressure sensors；3- wall supportings jack pressure senses
Device；4- extensible canopy jack pressure sensors；5- obliquity sensors；6- high-flow safety valves；7- overlarge mining height hydraulic supports；8-
Column；9- three-stage side protecting plates；10- pushing beams；11- surrouding rock stress measurement apparatus.
Embodiment
By taking certain ore deposit 8.2m super large mining height hard coal working faces as an example, embodiments of the invention are made further to retouch with reference to accompanying drawing
State.Such as Fig. 2, the first basic data such as collecting work face condition of coal seam occurrence and arrangement, strengthen two ends constraint, based on country rock coupling
Rationally opinion and hydraulic support group elastic support rock beam model determine the parameters such as supporting element stiffness and face length, ensure work
Make the relatively stable and controllable of face support system.
As shown in figure 1, two column protected type overlarge mining height hydraulic support 7 is placed in working face, country rock roof and floor, supporting and retaining system coal are supported
Wall, large-diameter double-telescopic upright post 8 is installed, back timber front end sets extensible canopy 10, and three-stage side protecting plate 9 rides on extensible canopy 10 and realized
Collaborate.The cavity of resorption of column 8 is provided with pressure sensor 2 and high-flow safety valve 6.Wall supporting jack pressure sensor 3 and extensible canopy
Jack sensor 4 is separately mounted to the cavity of resorption of wall supporting jack and extensible canopy jack.Three are installed on back timber, connecting rod and base
Individual obliquity sensor 5.Surrouding rock stress monitoring device 11, surrounding rock stability are arranged in country rock above overlarge mining height hydraulic support 7
Control of intelligent terminal 1 is arranged at front rod, with column 8 and column pressure sensor 2, the wall supporting jack and very heavy top pressure of wall supporting
Force snesor 3,4, three obliquity sensors 5 of extensible canopy jack and extensible canopy jack sensor and super large mining height hydraulic pressure branch
Frame 7 has collectively constituted a stability intelligence supporting unit, and stability intelligence supporting unit can gather corresponding control area
Surrouding rock stress signal, whole working face sharenIndividual intelligent supporting unit side by side constitutes stability intelligence support system.
Hydraulic support branch bulging is determined according to dual factors control methodsP, the setting of column pressure thresholdP 1.Hard coal body rib
Destroy based on mainly being destroyed with drawing crack, establish " drawing crack -- sliding " mechanical model of hard coal coal wall caving, most easy hair is calculated
Raw drawing crack breakdown point, required wall supporting height, the critical wall supporting power of support and extensible canopy are to rib support force, so that it is determined that wall supporting is very heavy
Push up cavity of resorption pressure thresholdP 2, extensible canopy jack cavity of resorption pressure thresholdP 3.Support earth pressure empirically data, preliminary design roof weighting
Or the pressure and height change of fracture process force piece one-element grouphIndication, as early warning foundation（Running passes through people
Industry and traffic is mutual, enrich constantly roof weighting or the mapping relations of disrumpent feelings and column pressure and the amount of crushing）.To prevent under thump
Overlarge mining height hydraulic support unstability, from fast-response, high-flow safety valve, rapid yield dissipation impact energy.
The surrounding rock stability intelligent control flow of the present invention is as shown in Figure 3：In intelligent supporting unit, adjoining rock stability intelligence
Control terminal 5 gathers surrouding rock stress measurement apparatus 11, column pressure sensor 2, wall supporting jack pressure sensor 3 and pushed away in real time
The parameter of jack pressure sensor 4 and three obliquity sensors 5 is moved, surrounding rock stability intelligent control center is transferred to, encloses
Rock stability intelligent control center embedded program can resolve to obtain support height variation delta by three dip angle parametersh, and tie
The conjunction amount of crushing is finally inversed by bearing stress field.Surrounding rock stability control centre is by the beginning of the actually detected signal arrived and bracket upright post
Bulging force thresholdP 0, wall supporting force thresholdP 2、P 3Contrast, bearing stress field contrast with mining stress field, analyze the intelligent supporting unit
Whether supporting state is in（Non- shifting frame）Or meet regularization condition, if so, then calling electrohydraulic control system program to column and shield
Electro hydraulic valve corresponding to side jack, extensible canopy jack sends instruction and carries out fluid infusion operation until meeting pressure sets requirement, protects
Each parameter is demonstrate,proved to be in the range of given threshold all the time.Surrounding rock stability intelligent control center is by each intelligent supporting unit of working face
Column pressure, jack pressure, support posture and high variable quantity Δh, mining stress field change with come press indication mapping contrast
Analysis, early warning is sent if pressing indication mapping condition if meeting, with reference to accurate the determining and ageing, root of manpower intervention checking early warning
Accelerate face propulsion speed according to early warning total tune, strengthen setting load, control mining height, or take timely unloading pressure protection etc. to arrange
Apply.
The under-voltage fluid infusion operation of the column 8, can be completed by the pressure charging system shown in Fig. 2, can also set a set of
High pressure lifting column system, special high pressure pumping station is called to complete.
It is described to press indication to map, it is comprehensive statistics trend or length direction roof weighting（It is caving）Form is each with working face
Hydraulic support pressure, posture in intelligent supporting unit（Including height）, wall supporting jack pressure change and mining induced stress pair
Should be related to, come press the foundation of indication mapping library and improve be with reference to one of manual intervention based on neutral net scheduling algorithm from remembering
Recall, learning process.
The intelligent supporting unit, runs into the thump process such as bump, passes through the timely release of high-flow safety valve 6
Energy dissipation is carried out to slow down the destruction to hydraulic support.
Above-described embodiment is that effective embodiment of the present invention is described, and not the scope of present aspect is limited
It is fixed, under the premise of the design spirit of the present invention is not departed from, various modifications and change that ordinary skill technical staff makes to the present invention
Enter, all should fall into the protection domain of claims of the present invention determination.
Claims (3)
1. the more stress field coupling surrounding rock stability intelligent control methods of super large height mining face, it is characterised in that：By working face
The stability intelligence supporting unit being arranged side by side in face automatically generates appropriate support earth pressure field, with super large height mining face country rock
On a large scale, high intensity migrate to be formed unstable mining stress field superposition, reach the stress of primary rock in face roof, rib
The dynamic equilibrium of field, mining stress field and support earth pressure field, rock crusher degree is reduced, reduce country rock macroscopic view displacement, realized
Adjoining rock stability controls；Surrouding rock stress monitoring device is being set in front of working face in country rock, and stability intelligence supporting unit is except perception
It can also receive the signal of the surrouding rock stress monitoring device outside self information, and by gathered information transmission to surrounding rock stability
Intelligent control center；Stability intelligence supporting unit：Specifically include overlarge mining height hydraulic support, Hydraulic Support Posture and feeling of stress
Know device, surrounding rock stability control of intelligent terminal, wherein overlarge mining height hydraulic support is realized to super large height mining face country rock
Supporting, Hydraulic Support Posture and pressure sensing device are realized to be felt to the intelligence of overlarge mining height hydraulic support posture and support earth pressure field
Know, surrounding rock stability control of intelligent terminal realizes the intelligent supporting to country rock by carrying out intelligent control to hydraulic support；Super large
Mining height hydraulic support：Large-diameter double-telescopic upright post, extensible canopy, three-stage side protecting plate are specifically included, wherein being provided with column cavity of resorption
Pressure sensor and high-flow safety valve, wall supporting jack pressure sensor and extensible canopy jack sensor are separately mounted to three
The cavity of resorption of level face guard jack and extensible canopy jack, mounted angle sensor on back timber, connecting rod and base.
2. the more stress field coupling surrounding rock stability intelligent control methods of super large height mining face according to claim 1, its
It is characterised by, overlarge mining height hydraulic support pattern, support rigidity, working face is determined most according to geological conditions, stope arrangement parameter
Long length and end restraint condition, realize rigidity, the efficient coupling of strength and stability, ensure the controllable of working face adjoining rock stability
Property；By the amount of crushing, column pressure and Hydraulic Support Posture, the support earth pressure field above inverting intelligence supporting unit；It is logical
The active for crossing working face intelligence supporting unit performs action, realizes what support earth pressure field measured with the surrouding rock stress monitoring device
Mining stress field reaches dynamic equilibrium, and wherein super large height mining face object support stress field passes through based on coal wall caving and top plate
The dual factors control method determination of sinking constraint, the coal wall caving " destruction-cunning that target wall supporting stress field controls according to wall supporting device
Move " critical wall supporting power needed for process determines.
3. the more stress field coupling surrounding rock stability intelligent control methods of super large height mining face according to claim 1, its
It is characterised by, is changed according to face stabilizer intelligence supporting unit inner column pressure, support posture and wall supporting jack pressure
These indirect parameters, and the corresponding relation of country rock mining induced stress change direct parameter and roof weighting, by man-machine interactively, certainly
Memory and Learning Algorithm are established to press indication mapping relations storehouse, are realized along face length and the dynamic load for moving towards direction
Ore deposit is pressed and the advanced early warning of size periodic weighting.
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| CN115597664B (en) * | 2022-10-18 | 2024-02-06 | 中煤科工开采研究院有限公司 | Method and system for constructing digital fully-mechanized coal mining face of coal mine |
| CN116146280B (en) * | 2022-12-20 | 2024-04-19 | 中煤科工开采研究院有限公司 | Method and device for analyzing trend and area of coal wall caving of fully mechanized coal mining face |
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