The full-face TBM tunneling equipment has significant advantages in improving the efficiency of tunneling, controlling the stability of surrounding rock, and realizing automatic one-time tunneling. It exerts its advantages and applies to the construction of mine tunnels in deep complex geological conditions, which has an impact on the promotion of safe, efficient and intelligent tunneling in mines. Profound. Based on the summary and analysis of the application of TBM equipment in coal mines, combined with the engineering geological characteristics of the auxiliary transport roadway in the west of Gaojiabao coal mine of Zhengtong coal Industry in Shaanxi, this paper clearly proposes the adaptability of TBM tunneling in deep mines. Based on this, it is considered that the use of open TBM is more scientific. , And put forward targeted adaptability design of main parameters of tunneling system and adaptability technology of engineering transportation system in field application. Research shows that the use of open TBM for deep complex geological disaster mines is more flexible, and is more conducive to the prevention and control of roadway jams and other disasters, while adaptive design should mainly consider the disaster prevention and mitigation capabilities of system components such as cutter heads and shields to meet Deep complex mines have special requirements for the application of TBM equipment, such as the use of large-diameter hobs in the cutter head system to increase the tool life of hard rock roadways and increase the expansion clearance to meet the expansion needs. The research and application results can provide a certain reference basis for the research and application of TBM efficient and intelligent tunneling technology in deep mines.

In order to realize the power quality detection of underground power supply system in coal mine, an on-line power quality detection system for coal mine is designed, which includes transformer, power quality online detection device host, mine communication base station, mine exchanger, etc. .The transformer is designed as flameproof type and adopts multi-tap independent winding voltage transformer. It can be applied to 3 kV, 6 kV and 10 kV voltage levels. The current transformer adopts multi-range current transformer and the maximum current on the primary side is 2000A.The detection host is designed to be flameproof and intrinsically safe. The hardware circuit based on DSP and MCU is designed, the C++ language is adopted as design the parameter measurement analysis software, design the evaluation method and evaluation flow based on the calculation of the electric energy quality time combination, and design the detection and management platform upper machine software based on Python language.The application indicated that the detection system was able to convert the collected data into the standard electrical energy quality data exchange format PQDIF, upload to the powering network detection and management platform, and realize data storage, calling, displaying, and generating a report.The system can easily set up monitoring points in all power supply facilities in the well, and realize on-line detection of the electrical energy quality of the power supply system in coal mines, achieve the full coverage of electrical energy quality detection of coal mine grids, comprehensively reflect the operation level of the grid in coal mines, and provide data support for the scientific assessment of the electrical energy quality and for the purpose of conducting governance and ensuring the safety and production of coal mines.

Taking the Hequ open-pit coal mine as the research object, using the limit equilibrium method and the finite element strength reduction method, the slope stability under the current mining conditions is analyzed, the best slope angle and structural form are proposed, and the steep slope mining plan of each end slope is studied. And its stability. The research results show that the use of convex slope structure on the end slope of the Hequ open-pit mine can increase the coal recovery rate while ensuring the stability of the slope. The overall slope angle of the east end bank is 28°, and the current stability coefficient is about 1, which is in a critical equilibrium state. The method of fast backfilling and pressing the bank can be used to increase the lower anti-sliding force to prevent slope instability. The east end slope profile can increase the recovery of 39,000 tons of raw coal annually. The overall slope angle of the west end slope is between 27° and 28°, and the stability coefficient meets the requirements of the reserve factor. When the convex slope structure is adopted, the maximum overall slope angle can reach 34°~36°. The use of steep slope mining can make The slope angle is increased by 4°, more coal is mined by about 280,000 tons, and the economic benefit is 10.31 million yuan.

In view of the application of reticulated shell structure in coal industry, the design of flat space truss on plant roof is introduced, and the definition of constraint state of support of flat space truss is analyzed.The equivalent spring stiffness of cantilever column support is solved by using the theory of material mechanics.The calculation method of tangential and normal support constraint state of grid support is clarified.Taking the roof of the main power house of Ji Lang De open pit coal mine as the engineering background.According to the calculation results of general finite element software of 3D3S design 2021 structure, the stress conditions of space truss under two different support constraints are discussed.

In order to solve floor heave and frequent maintenance problems of gob-side entry retaining for cutting roof in deep coal mines, the stress environment changes of gob-side entry retaining were analyzed combined with the abutment pressure of mining-induced surrounding rock. Based on the Slip-line field theory, the mechanics models of floor heave in gob-side entry retaining under different stress stages were established, and the failure mechanism of floor heave under different stress stages were studied. At last, the supporting test of floor were carried out for reinforced support. The results show that the stress environment changes of gob-side entry retaining can be divided into three stages: before roadway cutting roof, the primary mining after the roadway cutting roof and the gob-side entry retaining. The floor in three stages present symmetrical floor heave with small deformation, asymmetric deformation with floor heave higher in longwall face side than that in solid coal side, and asymmetric large deformation and failure with floor heave higher in solid coal side than that in goaf side. With the increase of mining depth, the minimum support loads of floor in gob-side entry retaining increases. And the floor heave rate of the restricting reinforced support at floor area decreases about 33.3%, the floor heave can reduce 804mm, and it is most suitable for controlling the deformation and failure of floor in the gob-side entry retaining under cutting roof in deep coal mines.

In response to the serious problem of the bottom heave of the soft rock mining roadway in Mindong No. 1 Mine，mineral composition analysis, numerical simulation and on-site monitoring methods are used to analyze the deformation and failure laws of the floor under the influence of mining, reveal the mechanism of the floor heave phenomenon in the roadway, and propose reasonable control countermeasures. The research results show that: (1) the floor contains a large amount of mineral components such as illite and montmorillonite that are easy to swell in contact with water, and the floor is a water-swellable bottom heave; (2) the closer the roadway is to the working surface, the more severe the impact of mining, The damage of the bottom plate becomes more and more serious, and the bottom plate bulges under the action of the higher stress of the two sides; (3) The type of the bottom drum of the 06 working face transportation along the trough is water swelling + mining-induced squeezing fluidity composite bottom drum. Therefore, according to the bottom heave law and the bottom heave mechanism of the 06 working face along the trough, the over-excavated bolt reinforcement backfill support proposal is put forward.

In order to solve the problem of roof fall and frame pressing when the fully mechanized top coal caving face passes through parallel and oblique goafs, taking the goaf group of coal pillar recovery in Zhangcun Coal Mine as the research object, FLAC3D is used to optimize the column spacing of the goaf supported by flame-retardant PVC concrete column, and the distribution characteristics of stress, displacement and plastic zone of the surrounding rock of the goaf are analyzed. The results show that considering the factors of safety, cost and construction, the flame retardant PVC concrete column spacing of 2 m is relatively better; With the continuous advancement of the working face to the roadway, the approach amount of the roof and floor increases first and then tends to be stable; The vertical stress of surrounding rock increases first and then decreases as a whole. After the support of flame retardant PVC concrete column, the plastic area of surrounding rock of empty roadway is significantly reduced, and the plastic area is mainly distributed at the top of roadway and near the working face; At the same time, the surrounding rock stress is transferred to the flame retardant PVC concrete column, and the approach amount of the top and bottom plate is significantly reduced, with the maximum value of 129 mm, which is 70% lower than that before support.

Xi’an Research Institute, China Coal Technology and Engineering Grop, Xi’an 710077, China) Abstract: In order to solve the problems of the large angle of the anchor rod hole on the two sides of the roadway and the high dust concentration in the working face, the airborne bolt drill is installed on the top platform of the roadheader instead of manually completing the construction of the anchor hole on the two sides of the roadway. At the same time, the construction of water injection hole in head-on coal seam in heading face can be realized. The field industrial test of the heading face of the 81309 withdrawal channel in Baode Coal Mine shows that the MJZ-400/ 300E airborne bolter has small structure size, strong applicability for matching with the roadheader, can realize multi-angle drilling construction, reduces the labor intensity of workers, and improves the production environment of the heading face.

In order to solve the difficult problem of coal roadway support under the goaf, the causes of roadway deformation and failure under the previous passive support are systematically analyzed.Based on the failure law of overburden and the characteristics of cemented regenerated roof, combined with the composite beam theory and suspension theory of bolt support, a targeted bolt mesh cable active support scheme is proposed, and the roof duplex steel anchor cable beam + short beam support structure is designed and applied in the field.The results show that the application of bolt mesh cable support technology in coal roadway under goaf has realized the transformation of the support form of the lower layered roadway from passive support to active support, improves the roadway support strength, realizes the primary support of the large cross-section lower layered roadway, and the support effect is good. It can effectively control the deformation of the roadway surrounding rock, and can provide a reference for the roadway surrounding rock control under similar conditions.

The mining connection plan is one of the most important technical documents of coal enterprises. The accuracy of the mining connection plan directly determines whether the work of the mine can be carried out in a scientific and orderly manner. It is affected by many factors in the actual work. The accuracy of the mining connection plan is often difficult to guarantee. In order to solve this technical problem and further improve the accuracy of the preparation of the mining connection plan, Shendong Coal Group, closely combined with the actual production of the mining area, comprehensively analyzes the influencing factors of the accuracy of the mining connection. Starting from improving the preparation method, actively using the information technology means and strengthening the daily management, making full use of the refined management method and scientific quota calculation means, the accuracy of the mining connection is increased by about 10%.

Soft and broken coal seam is one of the key factors affecting gas drainage efficiency. It is difficult to maximize the drainage efficiency by using conventional bedding drilling, which seriously affects the connection of mining and drainage. In order to solve this problem, Changping Mine adopts zyl-17000d high-power directional drilling rig with torque up to 6000 n ? m, realizes the technical breakthrough of drilling length up to 300m, and the net pumping flow per meter of drilling hole reaches 0.025m3/min. Compared with ordinary bedding holes in the same area, the pumping volume is increased by 20.8 times and the construction period is shortened by 78d. The successful experiment of high-power directional drilling rig verifies that the high-power directional drilling rig meets the mechanical equipment requirements of long-distance drilling in soft and broken coal seam, and improves the effectiveness of drilling and extraction, which provides a technical reference for gas drainage in similar mines.

This paper takes the 150201 fully mechanized caving face of Yangchangwan coal mine as the engineering background, and established the mathematical model of spray dust control through the analysis of the variation of the air flow field of the spray control dust of the shearer, calculates the dust control spray angle and the quantity of the nozzle, and designs the fan screen dust control device suitable for the conditions according to the structure of the shearer, and realizes the dust control of the coal cutter fan cutting fan section. It can effectively solve the problem of coal cutting dust diffusion pollution; Through laboratory tests and field applications, it is shown that the effective range of the fan mist curtain dust control device is 3.5m above the spray pressure 6~8MPa, and the effective coverage area can reach more than 4.9m2. The total dust and respirable dust concentration in driver's position decreased from 534.6 mg/m3 and 156.8 mg/m3 to 146.8 mg/m3 and 48.6 mg/m3 respectively, and the dust reduction efficiency was 72.54% and 69.01% respectively; The concentration of total dust and respirable dust at 10m position at the tail of the shearer were reduced by 73.85% and 72.16% respectively. The fan-shaped fog curtain dust control device developed can effectively reduce the problem of transverse diffusion of coal cutting dust of the shearer, and the operating environment of the operators has been significantly improved.

The superposition effect of stress field caused by multi-seam mining is one of the important reasons for disasters such as coal and gas outburst, rock burst and large deformation instability in deep coal mines. Due to the influence of mined-out area in the overlying ding 5,6-22260 working face, the mining pressure of Wu8-32020 working face of Pingmei No. 6 Mine appeared sharply in the driving process, and the risk of disaster was high. In order to reveal the stress distribution law of surrounding rock of roadway in the affected driving face, the field test study of surrounding rock stress of wu8-32020 wind roadway was carried out based on the soft rock stress testing technology of rheological stress recovery method. The results show that: the influence of the overlying goaf on the stress distribution of the working face is mainly concentrated in the direction of deadweight stress, with a stress concentration coefficient of 1.75, while the influence of horizontal stress is relatively small. With the increase of the distance from the goaf, the stress of surrounding rock of the wind roadway in Wu8-32020 working face firstly increases and then decreases gradually. Through data fitting, the influence range of goaf is predicted to be about 75m on the right side of wind lane E 8-32020, that is, the horizontal distance from goaf is about 146m.

Based on the engineering background of gob side entry driving with narrow coal pillar in 487 working face of Hengyuan coal mine, the optimal roadway pillar width of tailgate in 487 working face is determined to be 5 m by means of theoretical calculation and numerical simulation. Based on numerical simulation, the stress distribution, surrounding rock deformation and plastic zone evolution characteristics of roof, solid coal and coal pillar in advance roadway after mining in 487 working face are analyzed. The high strength bolt and cable combination asymmetrical support technology is proposed individually, and the rationality of roadway support stress field is analyzed. The engineering practice shows that: under the influence of mining dynamic pressure the surrounding rock of gob side entry is disturbed severely by the working face existing within 30m of the advance working face. The maximum displacement of roof and floor and two sides are 574 mm and 759 mm respectively. The deformation of roadway surrounding rock tends to be stable after 30 m ahead of working face, the average displacement of roof to floor and two sides are 190 mm and 315 mm separately, which means 5 m coal pillar and bolt-cable combination asymmetric support technology effectively control the surrounding rock deformation of gob-side entry driving

In view of the deformation and instability phenomenon of the surrounding rock in the main roadway in the mining area caused by the mining operation after the working face enters the final mining stage, based on the mechanical model of the distribution of the advanced bearing pressure, the limit equilibrium theory and the half-plane solution method are used to theoretically calculate the peak value of the advanced bearing pressure. The location, the influence range and the stress at the main road in the mining area are analyzed. The main reason for the stress increase in the main road is that the overlying stratum on the working face is relatively complete, which intensifies the forward transmission of the advanced bearing pressure. Therefore, it is proposed to use deep hole pre-split blasting technology, and use the penetration of blasting cracks to form structural weak planes, thereby destroying the transmission path of the advanced bearing pressure, so as to reduce the impact range of working face mining and improve the stability of the surrounding rock in the roadway. ;According to the engineering geological conditions, quantitative analysis selects the key parameters of blasting roof cutting, and uses numerical simulation to verify the rationality of the plan; through on-site industrial test and mine pressure monitoring data analysis shows that: under blasting roof cutting conditions, 5#, 8# The approaching amount of the roof and floor of the measuring point is reduced by 41% and 55.5% respectively, and the moving amount of the two sides is reduced by 68.1% and 74.8% respectively, indicating that this scheme can improve the stress environment of the main roadway in the mining area and reduce the influence range of the advanced bearing pressure.

Abstract: Aiming at the potential fire hazard outside the goaf of 1715 fully mechanized top coal caving face in Honghui No. 1 coal mine, the specific caving situation of the working face is analyzed from the perspective of temporal and spatial evolution, the dynamic distribution model of porosity and permeability in the goaf of the working face is optimized, and the three zone range and air leakage of the goaf in different stages are calculated combined with COMSOL numerical simulation software, The space-time combined fire control measures suitable for the working face are put forward. The results show that when the total distribution air volume is certain, the "three belt" range of "two in and one return" W ventilation mode is smaller than that of u ventilation mode, and the air leakage of the latter is more serious and the hidden danger of spontaneous combustion is greater; After adopting the W-type ventilation mode of "two inlets and one return", with the increase of total air distribution volume, the range of three spontaneous combustion zones increases and extends to the deep part of goaf. Finally, it is determined that the air distribution scheme of 300m3/min air inlet roadway and 400m3/min auxiliary ventilation roadway is the best ventilation scheme during fire control of the working face, and the self combustion area is the narrowest; According to the time-space joint prevention and control technical scheme, the field verification was carried out in the working face, and the potential fire hazards outside 1715 working face were effectively solved. It has important reference significance for similar fire control in China.

Abstract：In order to solve the problems of slow-speed inspection , bad working environment and high labor intensity of workers of the belt conveyor in the existing severe cold open-pit coal mine, the solutions of rail hanging and rope hanging belt inspection robots suitable for the inspection task of the belt conveyor in the open-pit coal mine are proposed, Combined with the environmental characteristics of the severe cold open-pit coal mine, the installation mode, working principle and power consumption, endurance and other indicators, and then determining its scope of application. Since the low temperature environment puts forward strict requirements for the Lithium battery, the core energy storage unit of the robot, this paper tests the discharge performance of the battery at low temperature and studies the preheating and thermal insulation technology of the battery pack. The test results show that the battery capacity and discharge voltage in the preheating state are significantly improved, among which the discharge capacity at - 20 ℃ is increased by 33.4%, It is of great significance to ensure the stable operation of inspection robot under severe cold conditions. Key Words：open pit, inspection robot, severe cold, Lithium battery

In order to determine the failure mechanism of the unloading valve’s main valve of the emulsion pump, according to the actual working conditions of the unloading valve, the hydraulic model was established. During analysis the spool’s speed and displacement and valve’s pressure and flow rate in the opening and closing process of the main valve, it was found that the main valve spool vibrated severely during the opening process, and the pressure and flow fluctuation range was larger compared with the closing process, it had a greater impact on the failure of the main valve. After theoretical calculations, the steady-state opening amount of the main valve is obtained, the steady-state and transient opening process of the main valve are analyzed, and the changes of the main valve pressure, velocity, turbulent kinetic energy and fluid trajectory under various states are obtained, the damage reason at a/b/c of main valve was analyzed. The results show that a’s injure of the valve core is mainly caused by transient cavitation and vortex, b’s injure is mainly caused by transient and steady fluid vortex, and c’s injure of the valve sleeve are mainly caused by transient and steady cavitation.

At present, my country's thick coal seams mainly adopt fully mechanized caving mining technology, and problems such as over-caving or under-caving often occur during the caving process. Therefore, the three-dimensional reconstruction of the upper part of the rear scraper during the caving process is the core to realize the fully mechanized caving mining of extra-thick coal seams. One of the technical issues. Aiming at this problem, a laser scanning intelligent monitoring system for coal discharge is designed. The laser scanning method is used to obtain the point cloud data of the coal flow profile on the scraper conveyor near the coal caving port. According to the characteristic information of the coal flow on the scraper conveyor Real-time construction of a high-precision three-dimensional model of coal stockpile; proposed a three-dimensional reconstruction method of coal caving capacity suitable for fully mechanized caving face, combined with the latest iteration point algorithm (ICP) to solve the transformation relationship between each frame of laser data, design high Sub-regression filtering eliminates splicing errors and environmental noise, making the model effect more suitable for the actual working conditions of the working face; using the peak signal-to-noise ratio and the average structural similarity of the harmonic number evaluation method, the denoising performance of different algorithms is reasonably scored And the comparison proves that the algorithm in this paper has stronger applicability.

The key to open-pit coal mining is the setting up of water-resisting coal (rock) pillar and the control of slope stability, based on the background of the No. 2 Mine in Dananhu, Xinjiang, the paper studies the technique of coal (rock) pillar structure of the burnt rock slope under the coupling action of ground water and blasting vibration. Based on the field blasting test and numerical simulation analysis, the variation law of rock mass stress and Factor of safety is revealed, the range of blasting vibration is determined, and the water-proof coal (rock) pillar model of multi-rock strata is established, based on the analysis of the slope stability, the design scheme of the parameters of the burnt rock slope is given, and the parameters of the slope are optimized by the limit equilibrium method. The results show that the size of water-proof coal (rock) pillar is 50m at the boundary of burning area + 400m and the Slope Angle is 24 ° , which is 2 ° higher than the original design, under the coupling action of ground water and blasting vibration, the construction technology of water-resisting coal (Rock) pillar in burnt rock open-pit slope solves the problems of slope stability control and water gushing, under the premise of ensuring the safety of the slope, the maximum economic benefit of the burnt rock opencast mine is realized.

In order to study the occurrence and migration law of gas under the influence of complex geological factors such as geological structure, coal quality and stratigraphic characteristics, taking xiaohuigou coal mine as an engineering case, the accurate prediction of gas content under the dominant influence of geological structure is deeply studied, and the means of Pan Kriging interpolation model and gas geological unit division are adopted, The gas content prediction algorithm model is deeply discussed, and the dynamic gas geological prediction and analysis system is developed by using computer software technology and gas geological classification evaluation method. The results show that the system realizes the dynamic drawing and comprehensive analysis of mine gas geological map, and completes the accurate prediction of gas content and the informatization and accurate management of gas geological information, Provide decision-making basis and auxiliary means for gas prevention and control.

The probability integral parameters of surface movement in thick alluvial mining area are closely related to the occurrence conditions of alluvial and bedrock layers. In this paper, based on the measured data of surface observation station of multi-seam and multi-working face mining under the condition of thick alluvial layer in Donghuantuo Coal Mine, the probability integral parameters of surface movement under the condition of different thickness ratio of alluvial layer to bedrock are inversed by genetic algorithm. The results show that the measured maximum subsidence value is 10893 mm, the maximum inclination is 62.3 mm/m, and the maximum curvature is 1.69. Genetic algorithm is used to solve the problem of probability integral parameter inversion of multi-working face mining, and the inversion subsidence coefficient is corrected. When the thickness ratio of alluvial layer to bedrock Hs/Hj≤1, the subsidence coefficient is 0.82, the main influence angle tangent is 1.81, the inflection point offset coefficient is 0.04, and the mining influence propagation angle is 90°-0.4α; when Hs/Hj>1, subsidence coefficient is 0.96, main influence angle tangent is 2.05, corner offset coefficient is 0.03, mining influence propagation angle is 90°-0.3α;The research results have good effect in the application analysis of mining influence of Xi Village, which verifies the correctness of the surface movement law and parameters of the mine.

To study the change characteristics of the key functional groups affecting the oxidation process of lignitic coal, the in-situ diffuse reflectance Fourier infrared spectrometer was used to increase the temperature from 30 ℃ to 450 ℃ in air and nitrogen atmosphere. In addition, the peak fitting of the infrared spectrum curve at room temperature was carried out to find out the types and contents of functional groups contained in the coal sample, and then the change rule of each functional group in the process of pyrolysis and oxidation was compared to find out the key functional groups affected by coal oxidation. The results show that the coal samples mainly contained oxygen-containing functional groups, followed by hydroxyl, aliphatic hydrocarbon and aromatic hydrocarbon. The hydroxyl groups affected in the oxidation process were mainly intermolecular association hydroxyl groups, free hydroxyl groups and intramolecular hydroxyl groups were not affected by oxygen, only by temperature. Therefore, the key oxidation functional groups in hydroxyl group were the intermolecular association hydroxyl group. The other key oxidation affected were: six vibration forms of aliphatic hydrocarbon, aromatic -CH and aromatic ring C=C- skeleton, carbonyl group, carboxyl group, anhydride.

　　To explore the influence law of low temperature of coal oxidation atmosphere generated CO, through temperature programmed device, the ESR scanning test and coal oxidation kinetics theory, from the perspective of macro and micro analysis of coal oxidation in the heating stage reaction active group, functional groups and different inlet temperature under the condition of the activation energy of the rule of variation of size, concentration of free radicals.. The results showed that low temperature atmosphere inhibited the oxidation process of coal by inhibiting the chain reaction of free radicals and its excitation effect and increasing the apparent activation energy required by the reaction system. At the initial stage of the oxidation reaction, the CO inhibition rates of 5℃, -15℃ and -35℃ reached 11%, 41% and 73% compared with the intake conditions of 25℃, while in the later stage of the experiment, the inhibition effect of low temperature atmosphere on CO was weakened and even could be ignored.

As a sort of widely used material in mining construction, the systematic research for diffusion of clay-cement slurry in fractures is necessary, to optimize the long-time condition that grouting parameters design and practical engineering depend on empirical formulas. Based on the fundamental equations of fluid, the radical diffusion equations of generalized Bingham liquid are theoretically derived in a plane fracture. For the condition of long-time grouting in the bore at a time, the motion equations of radical diffusion of clay-cement slurry in the horizontal fracture are discussed, to compare the differences of grouting pressure with and without the consideration of temporal variation character of rheology parameters, and demonstrate the relationship among the fracture aperture, grouting flowrate, rheology parameters and the grouting pressure over time-dependent behavior. The results show that the grouting pressure of slurry is greatly influenced by temporal variation character of slurry, for a long period of grouting time in one time. For the case of constant grouting flowrate, the relationship between fracture aperture and grouting pressure is nonlinear. The wider fracture aperture, the lower grouting pressure would reach. Besides the width of fracture aperture have more influence on grouting pressure, comparing with the temporal variation character of slurry. Otherwise, the grouting flowrate and then time-dependent behavior takes dominant influence on grouting pressure, with the growth of diffusion distance, under the condition of different grouting flowrates. Also, there exist a nonlinearly positive relationship between the temporal variation character and grouting pressure. The influence effect would be more remarkable with growth of diffusion distance.

Based on the water-energy-grain input-output index system, used the SBM-DDF model to analyze the static cross-section data, and the ML index model to analyze the dynamic panel data. Calculated the input-output efficiency of the water-energy-grain complex system in 30 cities of Mongolia, Shaanxi, Gansu and Ningxia from 2004 to 2018, and decomposed the contribution and composition of the elements. The results show that the overall efficiency value is relatively stable in the range of 0.65~0.85, and the average contribution rate of the efficiency value of output factors reaches 77%, which is the main driving force of the overall efficiency value. Xi 'an, Tianshui, Yan 'an, Qingyang, Baotou, Hohhot and Ordos represent the best production frontier, and the system efficiency of cities in the upper reaches of the Yellow River is in urgent need of improvement. The average annual growth rate of TFP index is 1.019, and the overall TFP showed a gentle right-skewed W structure. Technological change was the main driving force of TFP growth, while technical efficiency had a restrictive effect on it. The regions that realize TFP growth are obviously concentrated in the provincial capitals and key urban agglomerations with fast economic development and relatively rich resources.

The roadway repair robot undertakes the operation task of coal mine roadway repair. The agile and efficient operation mechanism is the key component of coal mine roadway repair robot for flexible, efficient and autonomous operation, which determines its operation space and limit operation size. Aiming at the disadvantages of inflexibility and low operation efficiency of the existing coal mine roadway repair robot operation mechanism, a 4-DOF three arm coal mine roadway repair robot operation mechanism is proposed. The kinematics model of the operation mechanism is established based on the D-H parameter method, the forward and inverse kinematics of the operation mechanism is analyzed, and the relationship between joint rotation angle and end displacement with time is obtained. The working space and limit working size of the designed working mechanism are simulated and analyzed by using virtual prototype technology and Monte Carlo method respectively. The results show that the rotation angle of each joint changes smoothly and there is no sudden change. The working space obtained by the two analysis methods is similar, and the deviation of working limit size is less than 5%, and are better than the design value, which indicates that the operation mechanism meets the expected requirements. The research results have reference value for the design of agile and efficient operation mechanism of coal mine roadway repair robot.

In order to solve the safety problems faced by the exploration of the old roadway and room and pillar mined zone of the coal mine, combined with explosion-proof technology and robot technology, a coal mine roadway exploration robot is researched and designed. The design scheme of the robot is described. The robot system mainly includes the robot body, wireless relay and handheld remote control terminal. The system composition and working principle of each part are introduced in detail. The software system design flow and implementation method of the robot are further described, including the flow design of the main control program, the information collection and display alarm program, and the flow design of the data transmission and communication program. The road-exploring robot developed successfully is applied in the field. The experiment and application results show that the robot has good adaptability, high efficiency, safety and high efficiency, and can replace the manual exploration of old tunnel, which is the development direction of mine old tunnel exploration.