The water jet nozzle is a penetrating drilling tool, which sends the pumped water to the nozzle through a high-pressure hose. It can work in a variety of working environments. When it dredges the blockage in the pipeline, its structural parameters will affect the jet flow field in the pipeline. Taking the self-propelled water jet nozzle as the research object, SolidWorks was used to establish the nozzle model with different parameter structures. Based on Fluent, the k-ε turbulence model was used to simulate the jet of nozzles with different nozzle sizes and arrangements in the pipeline. The distribution of the jet flow field and the change in velocity and displacement of nozzles with different parameters in the pipeline were compared, and then computational fluid dynamics (CFD) were used to process the simulation data for further research. The results show that when the inclination angle of the rear nozzle is 35°, the attenuation of the front jet velocity and the fluctuation of the wall fluid velocity are the smallest. When the nozzle aperture is increased from 2 mm to 3.5 mm, the vortex area inside the pipe is reduced, and the velocity attenuation of the front jet is also reduced, with the velocity attenuation rate decreasing by about 10%. This study provides a reference for the design and parameter optimization of self-propelled water jet nozzles.

Due to the opaqueness of rock and the limitation of detection technology, it is impossible to accurately describe the crack growth process and determine the law of rock breakage. Based on smoothed particle hydrodynamics and the finite element method (SPH-FEM), a numerical model for high-speed water jet breaking was established in this work to simulate the fragmentation process of rock impacted by a high-speed water jet, and to study the effects of different jet angles on the propagation of microscopic cracks inside the rock. Additionally, we further analyzed the jet impact angle on the microscopic crack propagation trend of the rock by applying confining pressure to the rock. Theoretical and experimental analyses showed that the inclination angle of the jet determined the direction of axial crack propagation in the tension-type center. When the inclination angle of the jet exceeded 20°, the ability of water jet erosion was insufficient, and the efficiency of rock fragmentation was low. However, in the range of 15° to 20°, the capacity of erosion was strong, lamellar crack propagation was obvious, and rock chip block spalling was easily produced. The impact of the water jet on the rock at varying angles under rock confining pressure will make the crack propagation direction deviate from the direction without confining pressure and gradually become parallel to the rock plane, thereby promoting unilateral crack propagation in the direction of water jet impact, making the rock more likely to produce unilateral rock chip spalling.

Underground obstacle detection is the premise of unmanned driving. Aiming at the problem of obstacle detection in coal mines using a millimeter-wave radar, this paper proposes a filtering algorithm for invalid targets in roadways. Firstly, the target information output by millimeter-wave radar is analyzed, and the obstacle information of the underground roadway is extracted. Then, the filter algorithm is used to filter the resolved empty targets, false targets and non-potentially dangerous targets. The empty target whose target distance is zero in radar data is filtered directly. The pseudo targets generated by the radar performance or the instability of the echo signal are filtered through the radar-effective target life cycle method. The non-threatening targets beyond the horizontal range threshold and longitudinal range threshold are filtered directly. The experimental results show that the average filtering rate of the algorithm is more than 87.82% in the static state. When the speed is 5 km/h, the average filter rate is 87.70% for smooth driving and 86.83% for uneven road surfaces. When the speed is 7 km/h, the smooth driving rate is 87.54%, and the uneven road surface is 86.56%. When the speed is 10 km/h, the smooth driving rate is 86.50%, and the uneven road surface is 86.44%. Although the filter rate decreases with the increase of speed or vehicle vibration in the running state, the average filter rate of the proposed algorithm can reach more than 86% under all conditions.

In order to solve the ecological environment pollution caused by a large amount of coal gangue accumulation and the problems of poor conveying performance and low support strength of paste filling materials. Based on the standard slump test and uniaxial compressive strength test, the slump and compressive strength (post-coagulation) of gangue paste under different aggregate size aggregations were obtained through orthogonal experiments in this study. The results show that the slump of the gangue filling paste with four types of aggregate size gradations is negatively correlated with the mass fraction, and the slump of the filling paste with a coarser aggregate content is more obviously affected by the mass fraction The increase of fine aggregate content has a significant impact on the compressive strength of the filling paste, which shows a trend of first increasing and then decreasing. When the mixing ratio of coarse aggregate and fine aggregate is 5:5, the compressive strength of the paste reaches the best. In addition, different proportions of aggregate mixing cause the filling paste to form different skeleton structures, including the skeleton void structure at 7:3 or 6:4, the skeleton dense structure at 5:5, and the skeleton suspension structure at 4:6, which are decisive for the final performance of the paste. By analyzing the experimental results of the compressive strength and slump of the gangue filling paste, it was found that the relationship between the compressive strength and slump of the gangue filling paste is a power index function. Through data fitting, it was found that the regression coefficient of the fitting function is no less than 0.97, and the fitting effect is good for evaluating the strength of the filling paste under the aggregate size grading.

Because of the unclear understanding of the characteristics associated with coupled rock breaking using multiple water jets, a numerical model combining smoothed particle hydrodynamics (SPH) and the finite element method (FEM) was established to investigate the rock-breaking capacity of a high-pressure, double-stranded water jet structure. The effectiveness of this model was verified through field experiments. The study further examined the specific energy required for rock breaking using the high-pressure double water jets and analyzed the effects of jet pressure, nozzle diameter, jet impact angle, and impact point spacing on rock-breaking volume. The results demonstrate that the rock-breaking ability of a high-pressure double water jets is better than that of a single water jet. When the impact angle of the high-pressure double water jets was 15° and the distance between impact points was 2.0 d, the rock damage effect was the best. By comparing the specific energies for rock breaking of a single water jet and a double water jet, it was concluded that the best rock-breaking nozzle diameter is 1.6 mm. Furthermore, an orthogonal testing approach was employed to determine the main and secondary factors influencing the rock-breaking energy of the high-pressure double water jet. The order of significance was found to be jet pressure > impact angle > impact point spacing > nozzle diameter. These findings provide valuable guidance and reference for application in the coal mining industry.