CN105389451B - A kind of in good time accurate modeling method for unmanned getting working face - Google Patents
A kind of in good time accurate modeling method for unmanned getting working face Download PDFInfo
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Abstract
The invention discloses a kind of in good time accurate modeling method for unmanned getting working face, belong to the unmanned getting working face modeling field in mine, this method fully obtains and utilizes roof and floor elevation, coal is thick, lithology, hardness, resistance to compression and tensile strength, coring length, the coal bodies such as sampling rate (ore body), the various operational parameter information of geologic body, by creating adaptively plastid interpolation, complex geologic body is initially modeled, the methods such as multiple modeling in good time true to nature, the multi-parameter of digging object is set up in good time, many attribute three-dimensional precision models, unmanned mining work is set to be in coal body (ore body) all the time, carried out under the premise of the accurate model of rock mass is known, so as to realize getting working face safety, reliably, efficiently, it is transparent, the unmanned exploitation of low cost.
Description
Technical field
The invention belongs to the unmanned getting working face modeling field in mine, and in particular to one kind is used for unmanned mining work
The in good time accurate modeling method in face.
Background technology
The unmanned digging in mine is namely based in the case that mining environment is ascertained automatically, is entered using automated mining equipment
The automatic digging of row, realizes unmanned digging, its premise necessary condition is exactly that mining environment is ascertained automatically.Realization is found out out automatically
Adopting the method for environment mainly has directly utilization hardware detecting equipment passively to find out local message and the essence found out based on operational parameter
Thin modeling technique actively determines two major class methods in advance, wherein " exploiting field coal rock layer is dynamically fine for the method closest with this method
Modeling technique "：The foundation of coal petrography three-dimensional modeling data structure, the geology interpolation modeling technique based on exploratory bore-hole data, with pick
With visit with model data update method, mend spy method and model refine technology, with adopting with surveying and model local correction technology, three-dimensional
Modeling error analysis technology.
It is local for certain class that the method for passively finding out local message using hardware detecting equipment depends on hardware detecting equipment
The performance of information detection, for example：Gamma-rays, radar detection, infrared acquisition, active power monitoring, vibration detection, dust detection,
High-pressure water jet-flash ranging etc. is only capable of detecting the relative information of coal petrography, and these methods do not consider global digging environment, and (roof and floor is high
Coal body (ore body), the geologic body such as journey, coal thickness, lithology, hardness, resistance to compression and tensile strength, coring length, sampling rate) change, and
And detecting devices is influenceed by the adverse circumstances of getting working face, detection performance is poor, is very easy to cause for involving great expense certainly
The damage of dynamicization extractive equipment.
" exploiting field coal rock layer dynamic fine modeling technology " has the following disadvantages：
1st, this method is and discusses the foundation of coal petrography three-dimensional modeling data structure, the geology based on exploratory bore-hole data to insert
Value modeling technique, with pick with visit with model data update method, mend spy method and model refine technology, with adopting with surveying and model innings
The isolated limited technology such as portion's correction technique, three-dimensional modeling error analysis technique, not formed can be managed with the unified of integration realization
By method system.
2nd, this method does not utilize roof and floor elevation, coal thickness, lithology, hardness, resistance to compression and tensile strength, coring length, taken
The overall situation operational parameter information such as the coal bodies such as sample rate (ore body), geologic body.
3rd, this method does not account for setting up geologic body interpolation algorithm storehouse, generates interpolation instrument.
4th, this method is not directed to survey data object, and prediction geologic body is smooth, heaving tendency, divides geology body region empty
Between.
5th, this method does not set up initial complex geologic body model method storehouse, while setting up floor elevation data automatically
Storehouse.
6th, this method does not carry out repeatedly modeling true to nature in good time towards operational parameter control.
The content of the invention
For above-mentioned technical problem present in prior art, the present invention proposes a kind of for unmanned getting working face
In good time accurate modeling method, it is reasonable in design, the deficiencies in the prior art are overcome, with good promotional value.
To achieve these goals, the present invention is adopted the following technical scheme that：
A kind of in good time accurate modeling method for unmanned getting working face, is carried out in accordance with the following steps：
Step 1：According to all kinds of survey datas, geologic body interpolation algorithm storehouse is set up, interpolation instrument is generated；
The geologic body interpolation algorithm storehouse include geology spline interpolation, Kriging interpolation, triangulation smooth interpolation and
It is inversely proportional Power Interpolation with square distance；
Step 2：For survey data object, prediction geologic body is smooth, heaving tendency, divides geologic body regional space, and
Judge survey data object；
If judged result is smooth floor elevation, row interpolation is entered using triangulation smooth interpolation method；
Or judged result is the larger floor elevation of fluctuations, then enters row interpolation using geology Spline Interpolation Method；
Or judged result is coal seam, then uses and enter row interpolation with the square distance Power Interpolation method that is inversely proportional；
Step 3：Initial complex geologic body model method storehouse is set up, while setting up coal rock layer floor elevation data automatically
Storehouse；
Step 4：Judge whether coal rock layer has tomography, buckling phenomena；
If judged result, which is coal rock layer, tomography, buckling phenomena, step 5 is performed；
Or judged result is that coal rock layer does not have tomography, buckling phenomena, then step 6 is performed；
Step 5：Design lane to visit, drill, carry out local repair spy, hole deviation is measured, to coal and adjoining rock coring, by right
Physical and mechanical parameter including lithology, hardness, resistance to compression and tensile strength, coring length and sampling rate is tested, and is obtained
Coal rock layer operational parameter information, supplements borehole data, and renewal coal rock layer floor elevation is controlled according to the operational parameter obtained
Database, renewal coal petrography layer model；
Step 6：Determine whether new boring parameter；
If judged result is that have new boring parameter, step 7 is performed；
Or judged result is without new boring parameter, then to perform step 8；
Step 7：The coal rock layer information operational parameter including roof and floor elevation, coal thickness disclosed is described as in real time
Column information, is added in column information database, and carrying out control in real time according to the operational parameter obtained updates coal petrography layer model；
Step 8：Determine whether new operational parameter；
If judged result is that have new operational parameter, step 9 is performed；
Or judged result is without new operational parameter, then to perform step 10；
Step 9：Using with the working face wall coal-rock interface detection information adopted, carried out according to the operational parameter obtained real-time
Update the pre- coal mining formation model in front of amendment working face；
Step 10：If judged result is to be not over, step 4 is performed；
Or judged result is that modeling terminates, then terminates modeling.
Preferably, in step 3, the initial complex geologic body model method storehouse include stratiform modeling, based on from
The pseudo- convex closure modeling of the block geologic body of scatterplot, the block geological modeling method of the variational methods based on section figure and complicated geological
Body subtracts computing modeling.
Preferably, layered modeling include macromodeling based on borehole data and microcosmic amendment Geologic modeling method,
Inner boundary extension Geologic modeling method based on bottom plate contour map and the insertion Geologic modeling method based on log sheet.
Preferably, the macromodeling based on borehole data and microcosmic amendment Geologic modeling method, are specifically included：First remove
The data of tomography influence, carry out Tin modelings and smooth interpolation, each tomography are gradually added according still further to fracture order, make it with owning
Data are disclosed to coincide；
The inner boundary extension Geologic modeling method based on bottom plate contour map, is specifically included：First with border extension method
Carry out local T in reversed fault and perpendicular fault, then border using extension and the intersection of normal fault carry out Tin as inner boundary,
Finally merge local T in result, form whole model；
The insertion Geologic modeling method based on log sheet, is specifically included：First look for section geologic body and construction
Corresponding relation, is inserted into intermediate frame and pinching frame, then carries out three-dimensional reconstruction.
Preferably, the pseudo- convex closure modeling of the block geologic body based on discrete point, is specifically included：First to discrete points data
Seek convex closure；Then the control area of internal boundary point is gradually cut out, until internal non-boundary point, a pseudo- convex closure is finally obtained.
Preferably, the block geological modeling method of the variational methods based on section figure, is specifically included：For sectional drawing
Shape differs larger situation, first uses variation thought, according to constraints, inserts intermediate frame, and pinch-out boundary is added with the thought of axis；
Then three-dimensional reconstruction is carried out, when there is branch, first individually modeling finally presses body and carries out union.
Preferably, the complex geologic body subtracts computing modeling, specifically includes：For existing stratiform, there is block and arteries and veins again
The geologic body of shape, in the case where not considering block and veiny border, is first modeled respectively by stratiform and bulk；Then to bulk
Geologic body carries out subtracting computing to stratified geological objects.
The advantageous effects that the present invention is brought：
The present invention proposes a kind of in good time accurate modeling method for unmanned getting working face, with prior art phase
Than a kind of, in good time accurate modeling method for unmanned getting working face, this method fully obtain and using roof and floor elevation,
The various exploitations ginseng of the coal body such as coal thickness, lithology, hardness, resistance to compression and tensile strength, coring length, sampling rate (ore body), geologic body
Number information, by create adaptively plastid interpolation, complex geologic body initially model, repeatedly in good time it is true to nature modeling etc., build in good time
The multi-parameter of vertical digging object, many attribute three-dimensional precision models, make unmanned mining work be in coal body (ore body), rock mass all the time
Carried out under the premise of accurate model is known, so as to realize safe, reliable, efficient, transparent, inexpensive unmanned of getting working face
Exploitation.
Brief description of the drawings
Fig. 1 is a kind of FB(flow block) of in good time accurate modeling method for unmanned getting working face of the invention.
Embodiment
Below in conjunction with the accompanying drawings and embodiment is described in further detail to the present invention：
As shown in figure 1, a kind of in good time accurate modeling method for unmanned getting working face, enters in accordance with the following steps
OK：
Step 1：According to all kinds of survey datas, geologic body interpolation algorithm storehouse is set up, interpolation instrument is generated；
The geologic body interpolation algorithm storehouse include geology spline interpolation, Kriging interpolation, triangulation smooth interpolation and
It is inversely proportional Power Interpolation with square distance；
Step 2：For survey data object, prediction geologic body is smooth, heaving tendency, divides geologic body regional space, and
Judge survey data object；
If judged result is smooth floor elevation, row interpolation is entered using triangulation smooth interpolation method；
Or judged result is the larger floor elevation of fluctuations, then enters row interpolation using geology Spline Interpolation Method；
Or judged result is coal seam, then uses and enter row interpolation with the square distance Power Interpolation method that is inversely proportional；
Step 3：Initial complex geologic body model method storehouse is set up, while setting up coal rock layer floor elevation data automatically
Storehouse, is to enrich in the later stage to mend to survey data work basis, initial complex geologic body model method storehouse includes following methods：
(1) stratiform modeling method：
1. macromodeling and microcosmic amendment Geologic modeling based on borehole data：First remove the data of tomography influence, carry out
Tin is modeled and smooth interpolation, and each tomography is gradually added according still further to fracture order, it is coincide with all exposure data.
2. the inner boundary based on bottom plate contour map extends Geologic modeling：First with border extension method to reversed fault and uprightly
Tomography carries out local T in, then border using extension and the intersection of normal fault carry out Tin as inner boundary, finally merge local T in
Result, form whole model.
3. the insertion Geologic modeling based on log sheet：The corresponding relation of section geologic body and construction is first looked for, then is inserted
Enter intermediate frame and pinching frame, then carry out three-dimensional reconstruction.
(2) the pseudo- convex closure modeling of the block geologic body based on discrete point：Convex closure first is asked to discrete points data, then gradually cut out
The control area of internal boundary point, until internal non-boundary point, finally obtains a pseudo- convex closure.
(3) the block geological modeling of the variational methods based on section figure：When section figure difference is larger, first
Variation thought is used, according to constraints, intermediate frame is inserted, pinch-out boundary is added with the thought of axis, then carries out three-dimensional reconstruction, it is right
In the situation for having branch, first individually modeling then presses body and carries out union.
(4) complex geologic body subtracts computing modeling：For existing stratiform, there is the geologic body of block and veiny again, first by stratiform
(not considering block and veiny border) and bulk are modeled respectively, then to being carried out subtracting fortune to stratified geological objects with block geologic body
Calculate.
Step 4：Judge whether coal rock layer has tomography, buckling phenomena；
If judged result, which is coal rock layer, tomography, buckling phenomena, step 5 is performed；
Or judged result is that coal rock layer does not have tomography, buckling phenomena, then step 6 is performed；
Step 5：Design lane to visit, drill, carry out local repair spy, hole deviation is measured, to coal and adjoining rock coring, by right
Physical and mechanical parameter including lithology, hardness, resistance to compression and tensile strength, coring length and sampling rate is tested, and is obtained
Coal rock layer operational parameter information, supplements borehole data, and renewal coal rock layer floor elevation is controlled according to the operational parameter obtained
Database, renewal coal petrography layer model；
Step 6：Determine whether new boring parameter；
If judged result is that have new boring parameter, step 7 is performed；
Or judged result is without new boring parameter, then to perform step 8；
Step 7：The coal rock layer information operational parameter including roof and floor elevation, coal thickness disclosed is described as in real time
Column information, is added in column information database, and carrying out control in real time according to the operational parameter obtained updates coal petrography layer model；
Step 8：Determine whether new operational parameter；
If judged result is that have new operational parameter, step 9 is performed；
Or judged result is without new operational parameter, then to perform step 10；
Step 9：Using with the working face wall coal-rock interface detection information adopted, carried out according to the operational parameter obtained real-time
Update the pre- coal mining formation model in front of amendment working face；
Step 10：If judged result is to be not over, step 4 is performed；
Or judged result is that modeling terminates, then terminates modeling.
The advantageous effects that the present invention is brought：
The present invention proposes a kind of in good time accurate modeling method for unmanned getting working face, with prior art phase
Than a kind of, in good time accurate modeling method for unmanned getting working face, this method fully obtain and using roof and floor elevation,
The various exploitations ginseng of the coal body such as coal thickness, lithology, hardness, resistance to compression and tensile strength, coring length, sampling rate (ore body), geologic body
Number information, by create adaptively plastid interpolation, complex geologic body initially model, repeatedly in good time it is true to nature modeling etc., build in good time
The multi-parameter of vertical digging object, many attribute three-dimensional precision models, make unmanned mining work be in coal body (ore body), rock mass all the time
Carried out under the premise of accurate model is known, so as to realize safe, reliable, efficient, transparent, inexpensive unmanned of getting working face
Exploitation.
Certainly, described above is not limitation of the present invention, and the present invention is also not limited to the example above, this technology neck
The variations, modifications, additions or substitutions that the technical staff in domain is made in the essential scope of the present invention, should also belong to the present invention's
Protection domain.
Claims (7)
1. a kind of in good time accurate modeling method for unmanned getting working face, it is characterised in that：Carry out in accordance with the following steps：
Step 1：According to all kinds of survey datas, geologic body interpolation algorithm storehouse is set up, interpolation instrument is generated；
The geologic body interpolation algorithm storehouse include geology spline interpolation, Kriging interpolation, triangulation smooth interpolation and with away from
From the Power Interpolation that square is inversely proportional；
Step 2：For survey data object, geologic body heaving tendency is predicted, geologic body regional space is divided, and judges to explore number
According to object；
If judged result is smooth floor elevation, row interpolation is entered using triangulation smooth interpolation method；
Or judged result is the larger floor elevation of fluctuations, then enters row interpolation using geology Spline Interpolation Method；
Or judged result is coal seam, then uses and enter row interpolation with the square distance Power Interpolation method that is inversely proportional；
Step 3：Initial complex geologic body model method storehouse is set up, while setting up coal rock layer floor elevation database automatically；
Step 4：Judge whether coal rock layer has tomography, buckling phenomena；
If judged result, which is coal rock layer, tomography or buckling phenomena, step 5 is performed；
Or judged result is that coal rock layer does not have tomography and buckling phenomena, then step 6 is performed；
Step 5：Design lane to visit and drill, carry out local repair spy, measure hole deviation, to coal and adjoining rock coring, by bag
Include the physical and mechanical parameter including lithology, hardness, resistance to compression and tensile strength, coring length and sampling rate to be tested, obtain coal
Rock stratum operational parameter information, supplements borehole data, and renewal coal rock layer floor elevation number is controlled according to the operational parameter obtained
According to storehouse and renewal coal petrography layer model；
Step 6：Determine whether new boring parameter；
If judged result is that have new boring parameter, step 7 is performed；
Or judged result is without new boring parameter, then to perform step 8；
Step 7：The coal rock layer information operational parameter including roof and floor elevation, coal thickness disclosed is described as column in real time
Information, is added in column information database, and carrying out control in real time according to the operational parameter obtained updates coal petrography layer model；
Step 8：Determine whether new operational parameter；
If judged result is that have new operational parameter, step 9 is performed；
Or judged result is without new operational parameter, then to perform step 10；
Step 9：Using with the working face wall coal-rock interface detection information adopted, real-time update is carried out according to the operational parameter obtained
Correct the pre- coal mining formation model in front of working face；
Step 10：Judge whether modeling terminates；
If judged result is to be not over, step 4 is performed；
Or judged result is that modeling terminates, then terminates modeling.
2. the in good time accurate modeling method according to claim 1 for unmanned getting working face, it is characterised in that：
In step 3, it is pseudo- that the initial complex geologic body model method storehouse includes stratiform modeling, the block geologic body based on discrete point
The block geological modeling method of convex closure modeling, the variational methods based on section figure and complex geologic body subtract computing modeling.
3. the in good time accurate modeling method according to claim 2 for unmanned getting working face, it is characterised in that：Institute
Stating stratiform modeling includes macromodeling and microcosmic amendment Geologic modeling method based on borehole data, based on bottom plate contour map
Inner boundary extends Geologic modeling method and the insertion Geologic modeling method based on log sheet.
4. the in good time accurate modeling method according to claim 3 for unmanned getting working face, it is characterised in that：Institute
Macromodeling and microcosmic amendment Geologic modeling method based on borehole data are stated, is specifically included：First remove the data of tomography influence, enter
Row Tin (Triangulated Irregular Network) is modeled and smooth interpolation, is gradually added respectively according still further to fracture order
Tomography, makes it be coincide with all exposure data；
The inner boundary extension Geologic modeling method based on bottom plate contour map, is specifically included：First with border extension method to inverse
Tomography and perpendicular fault carry out local T in, then border using extension and the intersection of normal fault carry out Tin as inner boundary, finally
Merge local T in result, form whole model；
The insertion Geologic modeling method based on log sheet, is specifically included：First look for the correspondence of section geologic body and construction
Relation, is inserted into intermediate frame and pinching frame, then carries out three-dimensional reconstruction.
5. the in good time accurate modeling method according to claim 2 for unmanned getting working face, it is characterised in that：Institute
The pseudo- convex closure modeling of the block geologic body based on discrete point is stated, is specifically included：Convex closure first is asked to discrete points data；Then gradually dig
The control area of internal boundary point is gone to, until internal non-boundary point, a pseudo- convex closure is finally obtained.
6. the in good time accurate modeling method according to claim 2 for unmanned getting working face, it is characterised in that：Institute
The block geological modeling method of the variational methods based on section figure is stated, is specifically included：When section figure difference is larger,
Variation thought is first used, according to constraints, intermediate frame is inserted, pinch-out boundary is added with the thought of axis；Then three-dimensional reconstruction is carried out,
When there is branch, first individually modeling finally presses body and carries out union.
7. the in good time accurate modeling method according to claim 2 for unmanned getting working face, it is characterised in that：Institute
State complex geologic body and subtract computing modeling, specifically include：For existing stratiform, there is the geologic body of block and veiny again, do not examining
In the case of considering block and veiny border, first modeled respectively by stratiform and bulk；Then with block geologic body to stratified geological objects
Progress subtracts computing.
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106296817B (en) * | 2016-08-08 | 2017-07-07 | 西安科技大学 | A kind of working face coal seam three-dimensional modeling method based on geologic data |
| CN107450311A (en) * | 2017-04-19 | 2017-12-08 | 吉林大学 | Inversion model modeling method and device and adaptive inverse control and device |
| CN107905786A (en) * | 2017-10-24 | 2018-04-13 | 北京天地玛珂电液控制系统有限公司 | A kind of coal-mining method and system based on transparent operation face |
| CN111612900B (en) * | 2020-04-01 | 2021-07-20 | 北京龙软科技股份有限公司 | Method and device for constructing coal seam transparentization three-dimensional geological model of stope face |
| CN112419500B (en) * | 2020-12-09 | 2023-03-14 | 上海申元岩土工程有限公司 | Three-dimensional geological model modeling method |
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| CN102750739A (en) * | 2012-06-06 | 2012-10-24 | 中国水电顾问集团成都勘测设计研究院 | Construction method of three-dimensional geologic model |
| CN104462649A (en) * | 2014-11-06 | 2015-03-25 | 中国有色金属长沙勘察设计研究院有限公司 | Automatic updating method of ore body block model reserves |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102750739A (en) * | 2012-06-06 | 2012-10-24 | 中国水电顾问集团成都勘测设计研究院 | Construction method of three-dimensional geologic model |
| CN104462649A (en) * | 2014-11-06 | 2015-03-25 | 中国有色金属长沙勘察设计研究院有限公司 | Automatic updating method of ore body block model reserves |
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