CN106910139A - A kind of prominent flooding disaster emergency evacuation analogy method in colliery - Google Patents
A kind of prominent flooding disaster emergency evacuation analogy method in colliery Download PDFInfo
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Abstract
The invention discloses a kind of prominent flooding disaster emergency evacuation analogy method in colliery, according to the prominent flooding disaster emergency evacuation simulation demand in colliery, data acquisition and identification based on Internet of Things, build mine geology environment and underground scene, by permeable point and its relevant information acquisition, tunnel water flow simulation, personnel escape's Behavior modeling and the Intelligent Dynamic route searching of dashing forward, realize that emergency evacuation is simulated.By building geologic body, tunnel, equipment component in VR simulated environment, evacuating personnel, prominent flooding disaster, ground subsidence dynamic phenomenon are portrayed, to observe the disaster environment of surrounding, implement correct escape scheme；Security information platform is built, is drilled for emergency evacuation decision-making and evacuation, evaluated and early warning.Using advanced cutting edge technology method, with colliery, actual conditions are combined, for the preventing and treating of mine disaster, staff training, emergency management and rescue aid decision provide technical platform.
Description
Technical field
The present invention relates to a kind of coal mining safe practice, more particularly to a kind of prominent flooding disaster emergency evacuation simulation side in colliery
Method.
Background technology
According to statistics, the Eleventh Five-Year Plan period there is 10 people and the particularly serious prominent flooding disaster of the above 26 in national colliery altogether, averagely
It is annual that 5.2, common dead 506 people occur.Although the current prominent flooding disaster occurrence frequency in colliery and lethal number are totally in decline
And reducing tendency, but its prevention and control situation still allows of no optimist, and great prominent flooding disaster accident happens occasionally.Must persevere in ground
Strengthen the comprehensive prevention and Study on treatment technology of the prominent flooding disaster of mine.After accident generation, due to well is upper and lower cannot just normal open
Letter, underground distress personnel cannot in time obtain ground maneuvers staff unified command, and the non-permeable exploiting field operating personnel that dashes forward is unclear
Chu dashes forward the disaster accident that permeable place occurs, and the permeable place operating personnel that dashes forward does not know about down-hole mining general status and dynamic is excellent
Change escape route, cause underground distress personnel to fail to withdraw or have selected the escape route of mistake in time, and it is unfortunate wrecked.Cause
This, when flooding disaster rescue is dashed forward in colliery, grasps scene, disaster characteristic, the disaster rule of disaster accurately and in time
Mould, disaster are to the disturbance destructiveness of coal mine down-hole tunnel and regional extent, the environment of place where the accident occurred point that may have influence on
Parameter and water lever fluctuating situation are the premises for carrying out science decision.
At present, the hardware design of mine rescue multimedia collection system is carried out as design basis with Hi3512 processors, is adopted
With Microsoft Visual C, the supporting SDK of dual code stream network video server, microsoft foundation class (MFC) etc software development
There is search to find that server apparatus address, video record, audio intercommunication transmission, sensor gathered data show for instrument, exploitation
Software systems.With reference to general-purpose platform project, non-coal underground mine safety management "one-stop services" platform is set up.From early warning angle
Degree, sets up mine dynamic comprehensive pre-alarming system, and the tactics of prevention of taking the initiative reduce the incidence of mine accident, reduce personnel
Injures and deaths；For the accident having occurred and that, Three-Dimensional Dynamic rescue aid decision-making system is set up, take the mode of Passive Defence, reduced
The harm of accident, reduces various losses to greatest extent.
The problem that method of the prior art is primarily present is：
The research of mine water disaster analogy method is concentrated mainly on the genesis mechanism and forecasting research aspect of prominent flooding disaster, bag
Include on the basis of analysis water filling of mine mechanism and water disaster origin, propose corresponding preventing and treating and control measures, inquire into coal mine flood
Mechanism of production and prevention and controls, Crack cause and prophylactico-therapeutic measures of these methods primarily directed to mine water disaster, and for floods
Emergency disposal and rescue method after accident generation is more rare.The analogy method of mine water disaster mainly uses Numerical-Mode
Plan technology, the preservation and the characteristics of motion of mechanical behavior, water for geological materials and Geotechnical Engineering are simulated；In the anti-of floods
Theoretical side is controlled, based on floods prevention and administering, catastrophe evolution and the diffusion theory of system, simply network analysis is not yet formed
With arranged hydrogeological data and data, the visualization that the prevention of the visualization system of formation also only for floods is carried out
Simulation, has very big difference with actual Accidents Disasters, disaster relief scene.
The content of the invention
It is an object of the invention to provide a kind of prominent flooding disaster emergency evacuation analogy method in colliery.
The purpose of the present invention is achieved through the following technical solutions：
The prominent flooding disaster emergency evacuation analogy method in colliery of the invention, including step：
A, data acquisition and identification：
According to the prominent flooding disaster emergency evacuation simulation demand in colliery, by that to mining area Correlative data analysis, colliery can be adopted
The data of collection are divided into 2 classes：Modeling basic data and dynamic monitoring data；
B, 3D model construction：
In order to realize the prominent flooding disaster emergency evacuation simulation in colliery, mine geology environment and underground scene are built, using brill
Hole, geological structure, 3D seismic profiles, remote sensing image build include the 3D geologic bodies of stratum and construction, using a cloud, traverse point and
Tunnel line builds 3D underground network models, and device model and people from 3DMAX are set up using chamber, well, barrier data
Member's model；
C, emergency evacuation simulation：
Based on constructed 3D models, with reference to dynamic monitoring data, realize emergency evacuation simulate, including dash forward permeable point and its
Relevant information acquisition, tunnel water flow simulation, personnel escape's Behavior modeling and Intelligent Dynamic route searching；
Prominent permeable point and its relevant information acquisition modes are：By Internet of Things Real-time Monitoring Data, by mine groundwater
Numerical simulation, the interactive tools provided by system, relevant information mainly include prominent permeable amount, the related letter of prominent permeable type
Breath；
Tunnel water flow simulation with acquired prominent permeable point and its relevant information as |input paramete, with reference to underground network mould
Type, tunnel topological structure, permeable spread circuit generating algorithm, it is considered to the row of goaf type and digging area drainage system by prominent
Outlet capacity, with Δ t as time step, is divided into t time period, then can calculate water level, the stream of each node of any time
Flow path in speed and 3D tunnels；
Personnel escape's Behavior modeling is that the water level of each node at each moment, flow velocity are moved after being occurred based on the prominent flooding disaster in colliery
State factor, with reference to prominent permeable type, personnel in the pit's feature, by using disaster diffusion method, obtains personnel escape's speed；
Intelligent Dynamic route searching needs comprehensive analysis solving the shortest path and balance optimizing factor, result is met reality
Demand, with feasibility, application convenient to carry out；
The design of D, VR simulated environment is realized：
VR simulated environment includes the static object of geologic body, tunnel, equipment component, meanwhile, portray evacuating personnel, dash forward saturating
The dynamic phenomenon of water disaster, ground subsidence etc, using viewpoint tracking, realizes that the evacuation with personnel as the first visual angle is imitated
Very, to observe the disaster environment of surrounding, correct escape scheme is implemented；
With the personnel escape's speed for being obtained, with human motion skeleton as action modes, by Fast Collision Detection, realize
Evacuating personnel is emulated.Human body action skeleton is including walking, running, creeping, 4 kinds of patterns of swimming, and position is tracked by viewpoint
Judgement personnel's local environment, so that the action model of controllers；
The Fast Collision Detection is detected including 2 classes：
People-crowd's collision detection and people-thing collision detection：Tunnel is divided into grid cell, by detect same unit and
Whether people-the people of adjacent cells overlaps in Z-direction, so that 2D or 3D bounding boxs are respectively adopted, realizes people-crowd's collision detection, leads to
Detection is crossed with people in unit and tunnel, the distance relation of barrier, people-thing collision detection is realized, prevents penetration phenomenon from occurring；
Prominent flooding disaster emulation relates generally to current in tunnel, the Visual retrieval in goaf：In tunnel water flow simulation base
On plinth, current flowing, smoothed particle method, texture ripple related art method are imitated using particIe system, according to water
Flow path in position, flow velocity and 3D tunnels, is shown by the form of figure or image on screen, realizes mine
Prominent flooding disaster dynamic simulation；
E, security information platform construction：
In the prominent flooding disaster emergency evacuation decision process in colliery, for limited time, resource, manpower constraints,
And situation constantly changes, Emergency decision person relies on experience, and with reference to optimal path is evacuated in real time, auxiliary emergency evacuation is determined
Plan, tissue withdraws danger zone in order；
Under VR simulated environment, mining area personnel build individual behavior, simulation by the possible prominent flooding disaster of virtual emulation
Escape；Meanwhile, group behavior is built, simulation is cooperated withdraws, and completes to evacuate rehearsal, instead of traditional safety training；
Drilled for emergency evacuation decision-making and evacuation, evaluated and early warning, including best-effort path reliability, best-effort path
Traffic efficiency and prediction, the reliability assessment of safety evacuation action time.
As seen from the above technical solution provided by the invention, the prominent flooding disaster in colliery provided in an embodiment of the present invention should
Anxious to evacuate analogy method, using advanced cutting edge technology method, with colliery, actual conditions are combined, be mine disaster preventing and treating,
Staff training, emergency management and rescue aid decision provide technical platform.
Brief description of the drawings
Fig. 1 is the architecture design schematic diagram of the prominent flooding disaster emergency evacuation simulation in colliery provided in an embodiment of the present invention；
Fig. 2 is modeling basic data schematic diagram in the embodiment of the present invention；
Fig. 3 is 3D model of geological structure body schematic diagrames in the embodiment of the present invention；
Fig. 4 a are embodiment of the present invention inter-road diatom schematic diagram data；
Fig. 4 b are superposition traverse point schematic diagram in the embodiment of the present invention；
Fig. 4 c are 3D tunnels line schematic diagram in the embodiment of the present invention；
Fig. 4 d are 3D underground network model schematics in the embodiment of the present invention；
Fig. 4 e are the space structure schematic diagram inside tunnel in the embodiment of the present invention；
Fig. 4 f are storage form and its partial data schematic diagram in the embodiment of the present invention；
Fig. 5 is prominent permeable point acquisition schematic diagram in the embodiment of the present invention；
Fig. 6 a, Fig. 6 b, Fig. 6 c, Fig. 6 d are respectively 4 DYNAMIC DISTRIBUTION feelings of moment water level ＞ 0.5m in the embodiment of the present invention
Condition schematic diagram；
Fig. 7 a are the 3D display result schematic diagrams of partial evacuation optimal path in the embodiment of the present invention；
Fig. 7 b are partial evacuation optimal path projection result schematic diagram in the x-y directions in the embodiment of the present invention；
Fig. 8 is Fast Collision Detection schematic diagram in the embodiment of the present invention；
Fig. 9 a, Fig. 9 b, Fig. 9 c, Fig. 9 d are respectively in the embodiment of the present invention individuality p from starting point s3O to terminal1Simulation escape
4 moment schematic diagrames of dynamic process；
When Fig. 9 e, Fig. 9 f, Fig. 9 g, Fig. 9 h are respectively the group behavior 4 during dynamically evacuating in the embodiment of the present invention
Carve schematic diagram.
Specific embodiment
With reference to the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground description, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Based on this
Inventive embodiment, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to protection scope of the present invention.
The prominent flooding disaster emergency evacuation analogy method in colliery of the invention, its preferably specific embodiment is：
Including step：
A, data acquisition and identification：
According to the prominent flooding disaster emergency evacuation simulation demand in colliery, by that to mining area Correlative data analysis, colliery can be adopted
The data of collection are divided into 2 classes：Modeling basic data and dynamic monitoring data；
B, 3D model construction：
In order to realize the prominent flooding disaster emergency evacuation simulation in colliery, mine geology environment and underground scene are built, using brill
Hole, geological structure, 3D seismic profiles, remote sensing image build include the 3D geologic bodies of stratum and construction, using a cloud, traverse point and
Tunnel line builds 3D underground network models, and device model and people from 3DMAX are set up using chamber, well, barrier data
Member's model；
C, emergency evacuation simulation：
Based on constructed 3D models, with reference to dynamic monitoring data, realize emergency evacuation simulate, including dash forward permeable point and its
Relevant information acquisition, tunnel water flow simulation, personnel escape's Behavior modeling and Intelligent Dynamic route searching；
Prominent permeable point and its relevant information acquisition modes are：By Internet of Things Real-time Monitoring Data, by mine groundwater
Numerical simulation, the interactive tools provided by system.Relevant information mainly includes prominent permeable amount, the related letter of prominent permeable type
Breath；
Tunnel water flow simulation with acquired prominent permeable point and its relevant information as |input paramete, with reference to underground network mould
Type, tunnel topological structure, permeable spread circuit generating algorithm, it is considered to the row of goaf type and digging area drainage system by prominent
Outlet capacity, with Δ t as time step, is divided into t time period, then can calculate water level, the stream of each node of any time
Flow path in speed and 3D tunnels；
Personnel escape's Behavior modeling is that the water level of each node at each moment, flow velocity are moved after being occurred based on the prominent flooding disaster in colliery
State factor, with reference to prominent permeable type, personnel in the pit's feature, by using disaster diffusion method, obtains personnel escape's speed；
Intelligent Dynamic route searching needs comprehensive analysis solving the shortest path and balance optimizing factor, result is met reality
Demand, with feasibility, application convenient to carry out；
The design of D, VR simulated environment is realized：
VR simulated environment includes the static object of geologic body, tunnel, equipment component, meanwhile, portray evacuating personnel, dash forward saturating
The dynamic phenomenon of water disaster, ground subsidence etc, using viewpoint tracking, realizes that the evacuation with personnel as the first visual angle is imitated
Very, to observe the disaster environment of surrounding, correct escape scheme is implemented；
With the personnel escape's speed for being obtained, with human motion skeleton as action modes, by Fast Collision Detection, realize
Evacuating personnel is emulated.Human body action skeleton is including walking, running, creeping, 4 kinds of patterns of swimming, and position is tracked by viewpoint
Judgement personnel's local environment, so that the action model of controllers；
The Fast Collision Detection is detected including 2 classes：
People-crowd's collision detection and people-thing collision detection：Tunnel is divided into grid cell, by detect same unit and
Whether people-the people of adjacent cells overlaps in Z-direction, so that 2D or 3D bounding boxs are respectively adopted, realizes people-crowd's collision detection, leads to
Detection is crossed with people in unit and tunnel, the distance relation of barrier, people-thing collision detection is realized, prevents penetration phenomenon from occurring；
Prominent flooding disaster emulation relates generally to current in tunnel, the Visual retrieval in goaf：In tunnel water flow simulation base
On plinth, current flowing, smoothed particle method, texture ripple related art method are imitated using particIe system, according to water
Flow path in position, flow velocity and 3D tunnels, is shown by the form of figure or image on screen, realizes mine
Prominent flooding disaster dynamic simulation；
E, security information platform construction：
In the prominent flooding disaster emergency evacuation decision process in colliery, for limited time, resource, manpower constraints,
And situation constantly changes, Emergency decision person relies on experience, and with reference to optimal path is evacuated in real time, auxiliary emergency evacuation is determined
Plan, tissue withdraws danger zone in order；
Under VR simulated environment, mining area personnel build individual behavior, simulation by the possible prominent flooding disaster of virtual emulation
Escape；Meanwhile, group behavior is built, simulation is cooperated withdraws, and completes to evacuate rehearsal, instead of traditional safety training；
Drilled for emergency evacuation decision-making and evacuation, evaluated and early warning, including best-effort path reliability, best-effort path
Traffic efficiency and prediction, the reliability assessment of safety evacuation action time.
In the step A：
It is described modeling basic data be used for build emergency evacuation simulation needed for basic environment, including drilling, geological structure,
3D seismic profiles, remote sensing image, point cloud, traverse point, tunnel line, chamber, well, barrier and demographic data, by denoising, identification
And analysis of uncertainty, the data from multi-source, heterogeneous system are realized it is integrated, for 3D model constructions provide basic data.
The dynamic monitoring data includes that the prominent flooding disaster of water level, water flow velocity and the flow of Real-time Collection and colliery occurs
When dash forward permeable point, prominent permeable amount, permeable type of dashing forward, and Tracking Recognition down-hole personnel position and state, keep communication unimpeded, these
Data can effectively improve emergency evacuation simulation precision, for the prominent flooding disaster emergency management and rescue in colliery provide scientific basis.
The step B includes：
The method of the 3D model constructions is as follows：
According to mine geology condition and prominent flooding disaster emergency evacuation simulation demand, generalization layering is carried out to stratum, and
Borehole data is extracted according to layering, based on geological structure, 3D seismic profile data, tomography and fold is deduced and depicted
Spatial distribution, with reference to borehole data, build the grid model on each stratum, earth's surface become more meticulous using remote sensing image to build
Mould and render, obtain reliable 3D model of geological structure body；
The underground network model construction has 2 kinds of methods：
Using a cloud, by denoising, 3D underground network models are directly produced, then can be forced by Rendering
Genuine tunnel scene；
Or, based on tunnel line number evidence, with traverse point as sample, interpolation obtains 3D tunnels line；And as center line, with reference to
The cross sectional shape in tunnel, builds the grid model in tunnel；Again by Boolean calculation, 3D underground network models are produced, by tunnel
Infall is generalized as node, and tunnel is generalized as line segment, and the topological structure in tunnel is converted into automatically.
Personnel's model from 3DMAX includes：By building section, after extrusion stretching, Mesh Smoothing, Bu Ercao
Make, personnel and device model are built, including the chamber including track, ribbon conveyer, air door and air crossing, well and barrier.
The step C includes：
Prominent permeable point and its relevant information are obtained：
Dash forward permeable point and its prominent permeable amount, permeable type of relevant information of dashing forward are obtained by following method：
By Internet of Things Real-time Monitoring Data, once prominent flooding disaster occurs, it is rapid obtain really dash forward permeable point and its
Relevant information, is applied to emergency evacuation aid decision；
By mine groundwater numerical simulation, possible dash forward permeable point and its prominent permeable amount, permeable class of dashing forward are recognized and obtained
Type relevant information, is applied to the safety training rehearsal of emergency evacuation aid decision or personnel in the pit；
The interactive tools provided by system, set prominent permeable point and its relevant information, are mainly used in personnel in the pit
Safety training rehearsal；
Tunnel water flow simulation：
With acquired prominent permeable point and its relevant information as |input paramete, with reference to underground network model, tunnel topology knot
Structure, permeable spreads circuit generating algorithm, it is considered to the drainability of goaf type and digging area drainage system, with Δ t by prominent
It is time step, is divided into t time period, then can calculates water level, flow velocity and the 3D tunnels of each node of any time
In flow path；
The prominent permeable circuit generating algorithm that spreads mainly considers the gravity for the being controlled to prominent permeable current substantially work that current spread
Spread with, current be divided into it is lower to cross flow model and on to cross flow model, the permeable process path for spreading of dashing forward is considered as to tunnel
The traversal of topological structure, to determine the tunnel that is submerged, dash forward it is permeable after, if dashing forward permeable point in gallery and there are multiple lanes
Road, current can then spread in multiple tunnels of same level, until having height in the network node in multiple tunnels that current spread
Journey less than the level node, current then into lower to mode is spread, if current are in oblique line or vertical shaft, then current from
Move to enter and spread state downwards.By calculate it is prominent it is permeable spread circuit, disclose floods the condition of a disaster development law, be to formulate emergency escape
Scientific basis is provided；
Personnel escape's Behavior modeling：
Water level, the flow velocity dynamic factor of each node at each moment after being occurred based on the prominent flooding disaster in colliery, with reference to prominent permeable
Type, personnel in the pit's feature, by using disaster diffusion method, obtain personnel escape's speed；
Personnel in the pit's feature includes human behavior and personnel and subsurface environment relation.Human behavior, including with same genus
Property group behavior and including psychology, physical efficiency, the individual behavior of IQ information, the cognition degree of personnel and subsurface environment relation and
Fitness；
Intelligent Dynamic route searching：
Intelligent Dynamic route searching needs to consider solving the shortest path and balance optimizing factor, result is met reality
Demand, with feasibility, application convenient to carry out；
Personnel positions are obtained by personnel location system or interactive tools.Emergency evacuation outlet mainly includes auxiliary shaft, wind
Well, main shaft, hedging cavern, mobile lifesaving booth, its priority and its weights can determine according to practical situations, and each moment is each
Exporting assignable escape number should keep in balance；
As search graph, personnel positions are search starting point to topological structure with tunnel, and emergency evacuation outlet is terminal, for opening up
The node of any connection in structure is flutterred, the major influence factors of its weights are：
Lane space is distributed, including euclidean distance between node pair, the gradient, drift section and tunnel type, congestion level；
Current factor, including water level, flow velocity, flow path；
Personnel escape's behavior, including personnel escape's speed, the dynamic distance of personnel's walking；
Barrier, ventilating system are passed through degree-of-difficulty factor；
Depending on each factor can be according to mining area practical application to the influence degree evacuated, it is assumed that environment can be monitored or can be predicted,
During Shortest Path Searching, can according to by way of node and its evaluation time, obtain the water level at weights correspondence moment, flow velocity,
Flow path, personnel escape's behavior, tunnel congestion level information, so as to dynamic adjustment weights, it is to avoid recall.When search from
When all starting points reach certain terminal, you can obtain and evacuate optimal path；
According to optimal path and its corresponding time is evacuated, by network transmission system, each escape personnel is entered respectively
Evacuation of the row based on current real time information is guided, and notifies that personnel withdraw successively, to avoid getting congestion, it is ensured that crew smoothly removes
From；
If mining area can in real time obtain dynamic monitoring data, according to data cases, tunnel water flow simulation, personnel are escaped
Raw Behavior modeling carries out real-time dynamic corrections, to ensure evacuation action efficiently.
The step D includes：
VR simulated environment includes the static object of geologic body, tunnel and equipment component, meanwhile, to portray evacuating personnel,
Prominent flooding disaster, the dynamic phenomenon of ground subsidence, using viewpoint tracking, realize that the evacuation with personnel as the first visual angle is imitated
Very, to observe the disaster environment of surrounding, correct escape scheme is implemented；
With the personnel escape's speed for being obtained, with human motion skeleton as action modes, by Fast Collision Detection, realize
Evacuating personnel is emulated, and the human body action skeleton is including walking, running, creeping, 4 kinds of patterns of swimming, where being tracked by viewpoint
Location determination personnel's local environment, so that the action model of controllers；
Prominent flooding disaster emulation is related to current in tunnel, the visualization in goaf, on the basis of the water flow simulation of tunnel, utilizes
ParticIe system imitates current flowing, the technical method of smoothed particle method and texture ripple, according to water level, flow velocity, with
And the flow path in 3D tunnels, shown on screen by the form of figure or image, realize that mine is dashed forward flooding disaster
Dynamic simulation.
The step E includes：
In the prominent flooding disaster emergency evacuation decision process in colliery, for limited time, resource, manpower constraints,
And situation constantly changes, Emergency decision person relies on experience, and with reference to optimal path is evacuated in real time, auxiliary emergency evacuation is determined
Plan, tissue withdraws danger zone in order；
Under VR simulated environment, mining area personnel build individual behavior, simulation by the possible prominent flooding disaster of virtual emulation
Escape；Meanwhile, group behavior can be also built, simulation is cooperated withdraws, and completes to evacuate rehearsal, instead of traditional safety training；
Drilled for emergency evacuation decision-making and evacuation, evaluated and early warning, including best-effort path reliability, best-effort path
Traffic efficiency and prediction, the reliability assessment of safety evacuation action time.
The prominent flooding disaster emergency evacuation analogy method in colliery of the invention, using advanced cutting edge technology method, with colliery
Actual conditions are combined, for the preventing and treating of mine disaster, staff training, emergency management and rescue aid decision provide technical platform.
First, mentality of designing of the invention：
1.1st, general frame
The prominent flooding disaster emergency evacuation simulation in colliery is related to geology, hydrology, computer science, art of mathematics, is one
The cutting edge technology of individual intercrossing.
As shown in figure 1, the present invention devises a framework based on Internet of Things, mainly include：Data acquisition and identification, it is main
The identification of the collection, object and the personnel that are responsible for various data and monitoring；Network transmission, by such as internet, network management
System and cloud platform, transmit and process various information；Intelligent use, main completion 3D model constructions, emergency evacuation simulation, VR are imitated
True Environment Design is realized and decision-making and rehearsal, evaluation and early warning.
The software and hardware being related to mainly includes：AutoCAD, 3DMAX, GIS, Oracle, OpenGL, VC++ platform, Yi Jichuan
Sensor, personnel location system, geological prospecting equipment, GPS, three-dimensional laser scanner, PC, server and network transmission system
System.
1.2 specific methods
1st, data acquisition and identification
According to the prominent flooding disaster emergency evacuation simulation demand in colliery, by that to mining area Correlative data analysis, colliery can be adopted
The data of collection are divided into 2 classes：Modeling basic data and dynamic monitoring data.
1), modeling basic data be mainly used in build emergency evacuation simulation needed for basic environment, including drilling, texture
Make, 3D seismic profiles, remote sensing image, point cloud, traverse point, tunnel line, chamber, well, barrier, demographic data.By denoising, know
Not and analysis of uncertainty, the data from multi-source, heterogeneous system are realized it is integrated, for 3D model constructions provide basic data.
2), dynamic monitoring data mainly includes water level, water flow velocity and the flow of Real-time Collection, and the prominent flooding disaster in colliery
Dashed forward during generation permeable point, prominent permeable amount, permeable type of dashing forward, and Tracking Recognition down-hole personnel position and state, keep communication unimpeded.
These data can effectively improve emergency evacuation simulation precision, for the prominent flooding disaster emergency management and rescue in colliery provide scientific basis.
2nd, 3D model constructions
In order to realize the prominent flooding disaster emergency evacuation simulation in colliery, it is necessary to build mine geology environment and underground scene.Profit
3D geologic bodies (including stratum, construction) are built with drilling, geological structure, 3D seismic profiles, remote sensing image；A main use point cloud,
Traverse point, tunnel line build 3D underground network models；Various device models are set up using chamber, well, barrier data；And come
From personnel's model of 3DMAX.The main method of 3D model constructions is as follows：
1) according to mine geology condition and prominent flooding disaster emergency evacuation simulation demand, generalization layering is carried out to stratum,
And borehole data is extracted according to layering.Based on geological structure, 3D seismic profile data, tomography and pleat are deduced and depicted
The spatial distribution of wrinkle, with reference to borehole data, builds the grid model on each stratum.Earth's surface is become more meticulous using remote sensing image
Model and render, obtain reliable 3D model of geological structure body.
2) underground network model construction can have 2 kinds of methods.Using a cloud, by denoising, 3D tunnels are directly produced
Network model；Again tunnel scene true to nature can be obtained by Rendering.Or, based on tunnel line number evidence, it is with traverse point
Sample, interpolation obtains 3D tunnels line；And as center line, with reference to the cross sectional shape in tunnel, build the grid model in tunnel；Pass through again
Boolean calculation is crossed, 3D underground network models are produced.The infall in tunnel is generalized as node, tunnel is generalized as line segment, then can be certainly
The dynamic topological structure for being converted into tunnel.
3) such as 3DMAX modeling tools are utilized, by building section, after extrusion stretching, Mesh Smoothing, boolean operation,
Structure personnel and device model, including chamber, well, barrier (such as track, ribbon conveyer, air door, air crossing).
3rd, emergency evacuation simulation
Based on constructed 3D models, with reference to dynamic monitoring data, realize that emergency evacuation is simulated.Key step is as follows：
1) prominent permeable point and its relevant information are obtained
Dash forward permeable point and its prominent permeable amount, permeable type of relevant information of dashing forward can be obtained by following method：
1. by Internet of Things Real-time Monitoring Data, once prominent flooding disaster occurs, can obtain rapidly really dash forward permeable
Point and its relevant information, are applied to emergency evacuation aid decision；
2. by mine groundwater numerical simulation, recognize and obtain possible dash forward permeable point and its prominent permeable amount, dash forward permeable
Type of relevant information, is applied to the safety training rehearsal of emergency evacuation aid decision or personnel in the pit；
3. the interactive tools for being provided by system, set prominent permeable point and its relevant information, are mainly used in device for underground man car
The safety training rehearsal of member.
2) tunnel water flow simulation
With acquired prominent permeable point and its relevant information as |input paramete, with reference to underground network model, tunnel topology knot
Structure, permeable spreads circuit generating algorithm, it is considered to the drainability of goaf type and digging area drainage system, with Δ t by prominent
It is time step, is divided into t time period, then can calculates water level, flow velocity and the 3D tunnels of each node of any time
In flow path.
The prominent permeable circuit generating algorithm that spreads mainly considers the gravity for the being controlled to prominent permeable current substantially work that current spread
Spread with, current be divided into it is lower to cross flow model and on to cross flow model, the permeable process path for spreading of dashing forward is considered as to tunnel
The traversal of topological structure, with the tunnel for determining to be submerged.It is prominent it is permeable after, if dashing forward permeable point in gallery and there are multiple lanes
Road, current can then spread in multiple tunnels of same level, until having height in the network node in multiple tunnels that current spread
, less than the node of the level, current are then into lower to spreading mode for journey；If current are in oblique line or vertical shaft, then current are certainly
Move to enter and spread state downwards.By calculate it is prominent it is permeable spread circuit, disclose floods the condition of a disaster development law, be to formulate emergency escape
Scientific basis is provided.
3) personnel escape's Behavior modeling
Water level, the flow velocity dynamic factor of each node at each moment after being occurred based on the prominent flooding disaster in colliery, with reference to prominent permeable
Type, personnel in the pit's feature, by using disaster diffusion method, obtain personnel escape's speed.
Personnel in the pit's feature includes human behavior and personnel and subsurface environment relation.Human behavior, including with same genus
Property group behavior and have personnalité individual behavior, such as psychology, physical efficiency, IQ information；Personnel and subsurface environment relation, it is main
Refer to cognition degree, fitness of the personnel to subsurface environment.
4) Intelligent Dynamic route searching
Intelligent Dynamic route searching needs to consider solving the shortest path and balance optimizing factor, result is met reality
Demand, with feasibility, application convenient to carry out.
Personnel positions can be obtained by personnel location system or interactive tools.Emergency evacuation outlet mainly include auxiliary shaft,
Ventilating shaft, main shaft, hedging cavern, mobile lifesaving booth, its priority and its weights can determine according to practical situations, and each moment
Respectively exporting assignable escape number should keep in balance.
As search graph, personnel positions are search starting point to topological structure with tunnel, and emergency evacuation outlet is terminal.For opening up
The node of any connection in structure is flutterred, the major influence factors of its weights are：1. lane space distribution, including euclidean distance between node pair,
The gradient, drift section and tunnel type, congestion level；2. current factor, including water level, flow velocity, flow path；3. personnel escape
Behavior, including personnel escape's speed, the dynamic distance of personnel's walking；And the 4. current degree-of-difficulty factor of barrier, ventilating system.Respectively
Depending on factor can be according to mining area practical application to the influence degree evacuated.Assuming that environment can be monitored or can be predicted, in shortest path
In search procedure, water level, flow velocity, flow path, the people at weights correspondence moment can be obtained according to by way of node and its evaluation time
Member's human behavior reaction, tunnel congestion level information, so as to dynamic adjustment weights, it is to avoid recall.When search from all starting points to
During up to certain terminal, you can obtain and evacuate optimal path.
5) according to optimal path and its corresponding time is evacuated, by network transmission system, respectively to each escape personnel
Carry out the evacuation based on current real time information to guide, notify that personnel withdraw successively, to avoid getting congestion, it is ensured that crew smoothly removes
From.
If 6) mining area can in real time obtain dynamic monitoring data, can be according to data cases, to tunnel water flow simulation, people
Member's human behavior reaction simulation carries out real-time dynamic corrections, to ensure evacuation action efficiently.
4th, VR simulated environment design is realized
VR simulated environment includes the static object of such as geologic body, tunnel, equipment component etc；Simultaneously, it is necessary to portray
The dynamic phenomenon of evacuating personnel, prominent flooding disaster, ground subsidence etc.Using viewpoint tracking, it is capable of achieving with personnel as the
The evacuation emulation at one visual angle, to observe the disaster environment of surrounding, implements correct escape scheme.
With the personnel escape's speed for being obtained, with human motion skeleton as action modes, by Fast Collision Detection, realize
Evacuating personnel is emulated.Human body action skeleton is including walking, running, creeping, 4 kinds of patterns of swimming, and position is tracked by viewpoint
Judgement personnel's local environment, so that the action model of controllers.Fast Collision Detection needs to carry out 2 class detections, and people-crowd touches
Hit detection and people-thing collision detection.Tunnel is divided into grid cell, is by the people-people for detecting same unit and adjacent cells
It is no to be overlapped in Z-direction, so that 2D or 3D bounding boxs are respectively adopted, realize people-crowd's collision detection.By detect in same unit people with
Tunnel, the distance relation of barrier, realize people-thing collision detection, prevent penetration phenomenon from occurring.
Prominent flooding disaster emulation relates generally to current in tunnel, the visualization in goaf.On the basis of the water flow simulation of tunnel,
Current flowing, smoothed particle method, texture ripple related art method are imitated using particIe system, according to water level, stream
Flow path in speed and 3D tunnels, is shown by the form of figure or image on screen, realizes that mine is dashed forward permeable
Disaster dynamic simulation.
5th, security information platform construction
In the prominent flooding disaster emergency evacuation decision process in colliery, for limited time, resource, manpower constraints,
And situation constantly changes, Emergency decision person needs to rely on experience, with reference to optimal path is evacuated in real time, aids in emergency evacuation
Decision-making, tissue withdraws danger zone in order.
Under VR simulated environment, mining area personnel build individual behavior, simulation by the possible prominent flooding disaster of virtual emulation
Escape；Meanwhile, group behavior can be also built, simulation is cooperated withdraws, and completes to evacuate rehearsal, instead of traditional safety training.
Drilled for emergency evacuation decision-making and evacuation, evaluated and early warning, including best-effort path reliability, best-effort path
Traffic efficiency and prediction, the reliability assessment of safety evacuation action time.
2nd, specific embodiment, as a example by positioned at Hebei colliery.
Comprise the following steps that：
Step 1：Gathered and identification by mining area Correlative data analysis, carrying out following data：
Step 101：Modeling basic data acquisition with identification, including drilling, geological structure, 3D seismic profiles, remote sensing image,
Point cloud, traverse point, tunnel line, chamber, well, barrier, demographic data.By denoising, identification and analysis of uncertainty, to coming from
Multi-source, the data of heterogeneous system are realized integrated.
Fig. 2 illustrates the situation of partial data, wherein, * p_BData point to the address of storage modeling basic data, so as to
Realize the access to Various types of data.Can be by p_BData->P_Bore uses borehole data, including drilling numbering, position, takes off
The formation information for showing；Traverse point is imported into p_BData->p_Point->The space that p_PointTraverse is distributed, and pass through
OpenGL, VC++ platform visualize data.
Step 102：Dynamic monitoring data is gathered and identification, including the water level of Real-time Collection, water flow velocity and flow, Yi Jimei
Ore deposit prominent flooding disaster is dashed forward permeable point, prominent permeable amount, permeable type of dashing forward when occurring, and calculating is transferred to after various sensors are gathered
Machine is processed, stored, analyzed.By personnel location system, Tracking Recognition down-hole personnel position and state keep communication smooth
It is logical.
Step 2：3D model constructions, main method is as follows：
Step 201：According to mine geology condition and prominent flooding disaster emergency evacuation simulation demand, stratum is generally changed
Layering, be divided into the 4th be, water-bearing layer, water barrier, coal seam, water barrier, borehole data is extracted according to layering, build each
The grid model on stratum, models and renders by becoming more meticulous, and obtains reliable 3D model of geological structure body (Fig. 3).
Step 202：Based on tunnel line number according to (Fig. 4 a), with traverse point (Fig. 4 b middle datas), as sample, interpolation obtains 3D
Tunnel line (Fig. 4 c)；And as center line, with reference to the cross sectional shape in tunnel, build the grid model in tunnel；Transported by boolean again
Calculate, produce 3D underground networks model (Fig. 4 d), wherein, Fig. 4 e show the space structure inside tunnel.
The infall in tunnel is generalized as node, tunnel is generalized as line segment, then can automatically be converted into the topology knot in tunnel
Structure G (P, E), wherein, P is the node set for constituting tunnel, and p is node number, and E is the line segment aggregate for constituting laneway midline, e
It is line segment number.Storage form and its partial data in internal memory are as shown in fig. 4f.
Topological structure G is needed further to carry out continuity testing, if there is problem, it is necessary to again generalization, automatic turn
Metaplasia is into until by continuity testing.
Step 203：Using such as 3DMAX modeling tools, by building section, after extrusion stretching, Mesh Smoothing, boolean
Operation, builds personnel and device model, including chamber, well, barrier.Constructed model is imported into 3D underground network models
In, and carry out running fix.
Step 3：Based on constructed 3D models, with reference to dynamic monitoring data, realize that emergency evacuation is simulated.Key step is such as
Under：
Step 301：By Internet of Things Real-time Monitoring Data, once prominent flooding disaster occurs, can rapidly obtain real
Prominent permeable position and its relevant information；By mine groundwater numerical simulation, recognize and obtain it is possible dash forward permeable point and its
Prominent permeable amount, permeable type of relevant information of dashing forward；The interactive tools provided by system, set prominent permeable position and its correlation
Information.Fig. 5 shows prominent permeable position p of acquisition0, permeable amount of dashing forward Q=204m3/h。
Step 302：With the position p of acquired prominent permeable point0(x, y, z), prominent permeable amount Q are |input paramete, with reference to lane
Road network model, tunnel topological structure G, permeable spread circuit generating algorithm, it is considered to water currents factor by prominent, are with Δ t
Time step, is divided into t time period, then can calculate anyEach node p at momentj∈P(j
=1 ..., water level p), flow velocity and 3D tunnels in flow path.
Water currents factor includes goaf type, and such as dynamic change in goaf produces influence to current/water level；Digging
The influence of the drainability of area's drainage system, such as displacement；Lane space is distributed influence to current, such as 1. bifurcated, 2. tunnel
In level, downward, upward situation.
The prominent permeable circuit generating algorithm that spreads mainly considers the gravity for the being controlled to prominent permeable current substantially work that current spread
Spread with, current be divided into it is lower to cross flow model and on to cross flow model, the permeable process path for spreading of dashing forward is considered as to tunnel
The traversal of topological structure G, with the tunnel for determining to be submerged.It is prominent it is permeable after, if dashing forward permeable point in gallery and there are multiple lanes
Road, current can then spread in multiple tunnels of same level, until having height in the network node in multiple tunnels that current spread
, less than the node of the level, current are then into lower to spreading mode for journey；If current are in oblique line or vertical shaft, then current are certainly
Move to enter and spread state downwards.
It is lower to cross flow model：If i is roadway gradient, the n tunnels coefficient of roughness, the h depth of waters, b span lengths, A drift sections face
Product, l dashes forward permeable point to the distance for spreading position, and v flow velocitys, g is acceleration of gravity.
1. i is worked as<At 45 °：Q=vA=vbh
2. i is worked as>At=45 °：
Spread the time：
On to cross flow model：If V be creep up from minimum point to spread position after distance and cross-sectional area multiply
Product, QFolder、QRowIt is the water of dash forward permeable and draining.
Creep up from minimum point to the time required to spreading position：
Fig. 6 a, Fig. 6 b, Fig. 6 c, Fig. 6 d are the wherein 4 DYNAMIC DISTRIBUTION situations of moment water level ＞ 0.5m.
Step 303：Water level, the flow velocity dynamic factor of each node at each moment, knot after being occurred based on the prominent flooding disaster in colliery
Prominent permeable type, personnel in the pit's feature are closed, by using disaster diffusion method, t can be obtainediMoment j, colony personnel were in ekOn line segment
Escape speedWherein, j=(1 ..., n), n are colony's number, ek ∈ E, k=(1 ..., e).It is j colonies personnel
Normally travel speed on ek line segments,WithAccording to the water level on ek line segments, flow velocity, prominent permeable type and colony people
Member's feature is configured.
Personnel in the pit's feature includes human behavior and personnel and subsurface environment relation.Human behavior, including with same genus
Property group behavior and have personnalité individual behavior, such as psychology, physical efficiency, IQ information；Personnel and subsurface environment relation, it is main
Refer to cognition degree, fitness of the personnel to subsurface environment.
Step 304：If down-hole personnel position set S, personnel positions can be obtained by personnel location system or interactive tools
.If emergency evacuation exports set O, emergency evacuation outlet mainly includes auxiliary shaft, ventilating shaft, main shaft, hedging cavern, mobile lifesaving
Storehouse, its priority and its weights can determine according to practical situations；Meanwhile, in tiMoment respectively exports assignable escape number
Should keep in balance.
The priority of this ore deposit emergency evacuation outlet is divided into 5 grades, is successively (table 1)：
| Priority | Outlet | Quantity | Weights |
| 1 | Auxiliary shaft | 1 | 0.4~0.5 |
| 2 | Ventilating shaft | 1 | 0.2 |
| 3 | Main shaft | 1 | 0.1~0.15 |
| 4 | Hedging cavern | 1-3 | 0.1 |
| 5 | Mobile lifesaving booth | 2-3 | 0.1 |
Topological structure G with tunnel as search graph,It is search starting point, oj(the j=of ∈ 0
1 ..., o) be terminal, wherein, S, 0 ∈ P.For 2 node p of any connection in topological structurei、pj∈ P (i, j=1 ...,
P), its weights W (pi)=f (F) is the function of influence factor F (Factor), is related generally to：1. lane space distribution, including section
Distance, the gradient, drift section and tunnel type, congestion level between point；2. current factor, including water level, flow velocity, flow path；
3. personnel escape's behavior, including personnel escape's speed, the dynamic distance of personnel's walking；And 4. barrier, ventilating system are passed through
Degree-of-difficulty factor.Depending on each factor can be according to mining area practical application to the influence degree evacuated.Assuming that environment can be monitored or can be predicted,
During Shortest Path Searching, can be according to by way of node and its evaluation time, obtaining correspondence W (pi) water level at moment, flow velocity,
Flow path, personnel escape's behavior, tunnel congestion level multidate information, so as to dynamic adjustment W (pi).F is by mining area data cases
It is determined that, linearly or nonlinearly function can be used, such asWherein, ciIt is influence factor FiCoefficient, according to ore deposit
Depending on area's concrete condition and expertise.
When search from siStarting point reaches certain ojDuring terminal, you can obtain and evacuate optimal path.Fig. 7 a, Fig. 7 b show portion
Divide and evacuate optimal path, Fig. 7 a are that 3D shows result, it is seen that emergency exit；And Fig. 7 b are projection result in the x-y directions, can
See the overall distribution for evacuating optimal path.
Step 305：According to optimal path and its corresponding time is evacuated, by network transmission system, each is escaped respectively
Stranger person carries out the evacuation based on current real time information and guides, and notifies that personnel withdraw successively, to avoid getting congestion, it is ensured that crew
Smoothly withdraw.
Step 306：If mining area can in real time obtain dynamic monitoring data, can respectively turn according to dynamic data situation
Enter step 302 or step 303, to tunnel water flow simulation, personnel escape's Behavior modeling, carry out real-time dynamic corrections, to ensure to dredge
Dissipate action efficient.
Step 4：The design of VR simulated environment is realized
Step 401：VR simulated environment includes the static object of such as geologic body, tunnel, equipment component etc；Meanwhile,
Need to portray evacuating personnel, the dynamic phenomenon of dash forward flooding disaster, ground subsidence etc.If * p_Segment->p_Path[i](i
=1 ..., m) point to i-th evacuation optimal path, m for evacuate optimal path number, spline interpolation is carried out at its deep camber,
It is smooth without shake during personnel's conduct to ensure；Using viewpoint tracking, it is capable of achieving the evacuation with personnel as the first visual angle and imitates
Very (Fig. 4 e).
Step 402：With what is obtainedIt is personnel escape's speed, with human motion skeleton as action modes, by fast
Fast collision detection, realizes that evacuating personnel is emulated.
Human body action skeleton is including walking, running, creeping, 4 kinds of patterns of swimming.Position is tracked by viewpoint and judges people
Member's local environment parameter, such as water level, flow velocity, barrier, the gradient, so that the action model of controllers.
Fast Collision Detection needs to carry out 2 class detections：People-crowd's collision detection and people-thing collision detection.If i-th is dredged
Dissipate in optimal path and there is node pj ∈ P (j=1 ..., p), by depth-first search, obtain withAssociation grid
Unit (Fig. 8).Then, can be adopted if overlapping by detecting whether the people-people of same unit and adjacent cells overlaps in Z-direction
With 3D bounding box methods, as shown in A in Fig. 8；2D bounding box methods are otherwise used, as shown in B in Fig. 8, people-crowd's collision is realized
Detection, to accelerate detection speed.Can by detecting the distance relation of people and thing (such as tunnel, barrier) in same unit, realize people-
Thing collision detection, prevents penetration phenomenon from occurring.
Step 403：Prominent flooding disaster emulation relates generally to current in tunnel, the visualization in goaf.In tunnel current mould
On the basis of plan, current flowing, smoothed particle method, texture ripple related art method are imitated using particIe system, according to
According to the flow path in water level, flow velocity and 3D tunnels, (Fig. 6 a are shown on screen by the form of figure or image
To Fig. 6 d), realize the prominent flooding disaster dynamic simulation of mine.
Step 5：Security information platform construction method is as follows：
Step 501：In the prominent flooding disaster emergency evacuation decision process in colliery, for limited time, resource, manpower about
Beam condition, and situation constantly changes, and Emergency decision person needs to rely on experience, with reference to optimal path is evacuated in real time, aids in
Emergency evacuation decision-making, tissue withdraws danger zone in order.
Step 502：Under VR simulated environment, mining area personnel carry out individuality by the possible prominent flooding disaster of virtual emulation
Behavior and group behavior simulation escape, complete to evacuate rehearsal, instead of traditional safety training.
Individual behavior simulation escape is built, as shown in Fig. 9 a to Fig. 9 d, prominent permeable position can be obtained by step 301
p0, with reference to step 302, the result of calculation of step 303, ifBe search starting point, that is, personnel in the pit when flooding disaster of dashing forward occurs
Job position, o1∈ O are terminal, and individual p is simulation escape personnel.An evacuation optimal path, step can be obtained by step 304
Rapid 305 ensure that personnel withdraw, and evacuation emulation can be realized using step 4.Fig. 9 a to Fig. 9 d in turn, show during individual p gets around tunnel
Current, from s3To o1Simulation escape process, finally and successfully evacuation.
Group behavior simulation escape is built, as shown in Fig. 9 e to Fig. 9 h, personnel in the pit is dispersed in when prominent flooding disaster occurs
Tunnel diverse location, and there are different personnel each position.By step 3, step 4, the colony during dynamic is evacuated is simulated
Behavior, finally cooperates safe escape, it is to avoid jam situation occurs.
Step 503：Drilled for emergency evacuation decision-making and evacuation, evaluated and early warning, mainly included：1) best-effort path
Reliability, test trafficability, degree of danger；2) best-effort path traffic efficiency, obtains and analyzes personnel's number and its average row
Walk speed, unit area averag density, unit width average discharge；And 3) safety evacuation action the time prediction, can
By property assessment.
3rd, the features of the present invention and beneficial effect
1st, the present invention devises a framework based on Internet of Things, mainly includes：Data acquisition and identification, it is main to be responsible for each
Plant the identification and monitoring of the collection, object and personnel of data；Network transmission, by such as internet, NMS and cloud
Platform, transmits and processes various information；Intelligent use, main completion 3D model constructions, emergency evacuation simulation, VR simulated environment set
Meter is realized and decision-making and rehearsal, evaluation and early warning.
2nd, according to the prominent flooding disaster emergency evacuation simulation demand in colliery, the collectable data in colliery are divided into the basic number of modeling
According to and dynamic monitoring data.Modeling basic data be mainly used in build emergency evacuation simulation needed for basic environment, by denoising,
Identification and analysis of uncertainty, the data from multi-source, heterogeneous system are realized it is integrated, for 3D model constructions provides basis number
According to.Dynamic monitoring data mainly includes water level, water flow velocity and the flow of Real-time Collection, and colliery is dashed forward when flooding disaster occurs and dashed forward
Permeable point, prominent permeable amount, permeable type of dashing forward, and Tracking Recognition down-hole personnel position and state, keep communication unimpeded.Can be effective
Emergency evacuation simulation precision is improved, for the prominent flooding disaster emergency management and rescue in colliery provide scientific basis.
3rd, it is |input paramete with dash forward permeable point and its prominent permeable amount, permeable type of relevant information of dashing forward, with reference to underground network mould
Type, tunnel topological structure, permeable spread circuit generating algorithm, it is considered to the row of goaf type and digging area drainage system by prominent
Outlet capacity, calculates the flow path in water level, flow velocity and the 3D tunnels of each node of any time, discloses floods calamity
Feelings development law, scientific basis is provided to formulate emergency escape.With reference to prominent permeable type, personnel in the pit's feature, by using calamity
Evil diffusion method, obtains personnel escape's speed.On this basis, solving the shortest path and balance optimizing factor are considered, according to
By way of node and its evaluation time, correspondingly the water level at moment, flow velocity, flow path, personnel escape's behavior, tunnel are gathered around to obtain weights
Stifled degree information, dynamic adjustment weights, Intelligent Dynamic route searching is obtained and evacuates optimal path.
4th, according to optimal path and its corresponding time is evacuated, by network transmission system, respectively to each escape personnel
Carry out the evacuation based on current real time information to guide, in the prominent flooding disaster emergency evacuation decision process in colliery, auxiliary is emergent to dredge
Decision-making is dissipated, tissue withdraws danger zone in order.Mining area personnel build individual and group by the possible prominent flooding disaster of virtual emulation
Body Behavior modeling is escaped, and simulation is cooperated withdraws, and completes to evacuate rehearsal, instead of traditional safety training.For emergency evacuation
Decision-making and evacuation are drilled, and are evaluated and early warning.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any one skilled in the art in the technical scope of present disclosure, the change or replacement that can be readily occurred in,
Should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Enclose and be defined.
Claims (6)
1. the prominent flooding disaster emergency evacuation analogy method in a kind of colliery, it is characterised in that including step：
A, data acquisition and identification：
It is by mining area Correlative data analysis, colliery is collectable according to the prominent flooding disaster emergency evacuation simulation demand in colliery
Data are divided into 2 classes：Modeling basic data and dynamic monitoring data；
B, 3D model construction：
In order to realize the prominent flooding disaster emergency evacuation simulation in colliery, build mine geology environment and underground scene, using drilling,
Texture is made, 3D seismic profiles, remote sensing image build includes the 3D geologic bodies of stratum and construction, using a cloud, traverse point and tunnel
Line builds 3D underground network models, and device model and personnel's mould from 3DMAX are set up using chamber, well, barrier data
Type；
C, emergency evacuation simulation：
Based on constructed 3D models, with reference to dynamic monitoring data, realize that emergency evacuation is simulated, including prominent permeable point and its correlation
Acquisition of information, tunnel water flow simulation, personnel escape's Behavior modeling and Intelligent Dynamic route searching；
Prominent permeable point and its relevant information acquisition modes are：By Internet of Things Real-time Monitoring Data, by mine groundwater numerical value
Simulation, the interactive tools provided by system, relevant information mainly include prominent permeable amount, permeable type of relevant information of dashing forward；
Tunnel water flow simulation with acquired prominent permeable point and its relevant information as |input paramete, with reference to underground network model, lane
Road topological structure, permeable spreads circuit generating algorithm, it is considered to the draining energy of goaf type and digging area drainage system by prominent
Power, with Δ t as time step, is divided into t time period, then can calculate the water level of each node of any time, flow velocity, with
And the flow path in 3D tunnels；
Personnel escape's Behavior modeling be after being occurred based on the prominent flooding disaster in colliery the water level of each node at each moment, flow velocity dynamic because
Element, with reference to prominent permeable type, personnel in the pit's feature, by using disaster diffusion method, obtains personnel escape's speed；
Intelligent Dynamic route searching needs comprehensive analysis solving the shortest path and balance optimizing factor, result is met actual need
Ask, with feasibility, application convenient to carry out；
The design of D, VR simulated environment is realized：
VR simulated environment includes the static object of geologic body, tunnel, equipment component, meanwhile, portray evacuating personnel, prominent permeable calamity
The dynamic phenomenon of evil, ground subsidence etc, using viewpoint tracking, realizes the evacuation emulation with personnel as the first visual angle, with
Just the disaster environment around observation, implements correct escape scheme；
With the personnel escape's speed for being obtained, with human motion skeleton as action modes, by Fast Collision Detection, personnel are realized
Evacuation emulation.Human body action skeleton is including walking, running, creeping, 4 kinds of patterns of swimming, and tracking position by viewpoint judges
Personnel's local environment, so that the action model of controllers；
The Fast Collision Detection is detected including 2 classes：
People-crowd's collision detection and people-thing collision detection：Tunnel is divided into grid cell, by detecting same unit and adjacent
Whether people-the people of unit overlaps in Z-direction, so that 2D or 3D bounding boxs are respectively adopted, realizes people-crowd's collision detection, by inspection
Survey with people in unit and tunnel, the distance relation of barrier, realize people-thing collision detection, prevent penetration phenomenon from occurring；
Prominent flooding disaster emulation relates generally to current in tunnel, the Visual retrieval in goaf：On the basis of the water flow simulation of tunnel,
Current flowing, smoothed particle method, texture ripple related art method are imitated using particIe system, according to water level, stream
Flow path in speed and 3D tunnels, is shown by the form of figure or image on screen, realizes that mine is dashed forward permeable
Disaster dynamic simulation；
E, security information platform construction：
In the prominent flooding disaster emergency evacuation decision process in colliery, for limited time, resource, manpower constraints, and
Situation constantly changes, and Emergency decision person relies on experience, with reference to optimal path is evacuated in real time, aids in emergency evacuation decision-making, group
It is woven with sequence and withdraws danger zone；
Under VR simulated environment, mining area personnel build individual behavior by the possible prominent flooding disaster of virtual emulation, and simulation is escaped
It is raw；Meanwhile, group behavior is built, simulation is cooperated withdraws, and completes to evacuate rehearsal, instead of traditional safety training；
Drilled for emergency evacuation decision-making and evacuation, evaluated and early warning, including best-effort path reliability, best-effort path are current
Efficiency and prediction, the reliability assessment of safety evacuation action time.
2. the prominent flooding disaster emergency evacuation analogy method in colliery according to claim 1, it is characterised in that the step A
In：
The basic environment that the modeling basic data is used for needed for building emergency evacuation simulation, including drilling, geological structure, 3D ground
Shake section, remote sensing image, point cloud, traverse point, tunnel line, chamber, well, barrier and demographic data, by denoising, identification and not
Deterministic parsing, the data from multi-source, heterogeneous system are realized it is integrated, for 3D model constructions provide basic data；
The dynamic monitoring data is prominent when including that the prominent flooding disaster of water level, water flow velocity and the flow of Real-time Collection and colliery occurs
Permeable point, prominent permeable amount, permeable type of dashing forward, and Tracking Recognition down-hole personnel position and state, keep unimpeded, these data that communicate
Emergency evacuation simulation precision can be effectively improved, for the prominent flooding disaster emergency management and rescue in colliery provide scientific basis.
3. the prominent flooding disaster emergency evacuation analogy method in colliery according to claim 1, it is characterised in that the step B
Including：
The method of the 3D model constructions is as follows：
According to mine geology condition and prominent flooding disaster emergency evacuation simulation demand, generalization layering is carried out to stratum, and will bore
Hole data is extracted according to layering, based on geological structure, 3D seismic profile data, deduces and depict the sky of tomography and fold
Between be distributed, with reference to borehole data, build the grid model on each stratum, using remote sensing image earth's surface become more meticulous modeling and
Render, obtain reliable 3D model of geological structure body；
The underground network model construction has 2 kinds of methods：
Using a cloud, by denoising, 3D underground network models are directly produced, then can obtain true to nature by Rendering
Tunnel scene；
Or, based on tunnel line number evidence, with traverse point as sample, interpolation obtains 3D tunnels line；And as center line, with reference to tunnel
Cross sectional shape, build tunnel grid model；Again by Boolean calculation, 3D underground network models are produced, by the intersection in tunnel
Place is generalized as node, and tunnel is generalized as line segment, and the topological structure in tunnel is converted into automatically；
Personnel's model from 3DMAX includes：By building section, after extrusion stretching, Mesh Smoothing, boolean operation,
Structure personnel and device model, including the chamber including track, ribbon conveyer, air door and air crossing, well and barrier.
4. the prominent flooding disaster emergency evacuation analogy method in colliery according to claim 1, it is characterised in that the step C
Including：
Prominent permeable point and its relevant information are obtained：
Dash forward permeable point and its prominent permeable amount, permeable type of relevant information of dashing forward are obtained by following method：
By Internet of Things Real-time Monitoring Data, once prominent flooding disaster occurs, and it is rapid to obtain really dash forward permeable point and its correlation
Information, is applied to emergency evacuation aid decision；
By mine groundwater numerical simulation, possible dash forward permeable point and its prominent permeable amount, permeable type phase of dashing forward are recognized and obtained
Pass information, is applied to the safety training rehearsal of emergency evacuation aid decision or personnel in the pit；
The interactive tools provided by system, set prominent permeable point and its relevant information, are mainly used in the peace of personnel in the pit
Staff training is drilled；
Tunnel water flow simulation：
With acquired prominent permeable point and its relevant information as |input paramete, with reference to underground network model, tunnel topological structure, lead to
Cross and prominent permeable spread circuit generating algorithm, it is considered to the drainability of goaf type and digging area drainage system, with Δ t as time
Step-length, is divided into t time period, then can calculate the water in water level, flow velocity and the 3D tunnels of each node of any time
Flow path；
The permeable circuit generating algorithm that spreads of dashing forward mainly considers the Action of Gravity Field for being controlled to prominent permeable current substantially that current spread, water
Stream spread be divided into it is lower to cross flow model and on to cross flow model, dash forward the permeable process path for spreading be considered as to tunnel topology tie
The traversal of structure, to determine the tunnel that is submerged, dash forward it is permeable after, if dashing forward permeable point in gallery and there are multiple tunnels, current
Can then be spread in multiple tunnels of same level, should until there is elevation to be less than in the network node in multiple tunnels that current spread
The node of level, current then into lower to mode is spread, if current are in oblique line or vertical shaft, then current automatically into
Under spread state.By calculate it is prominent it is permeable spread circuit, disclose floods the condition of a disaster development law, provide science to formulate emergency escape
Foundation；
Personnel escape's Behavior modeling：
Water level, the flow velocity dynamic factor of each node at each moment after being occurred based on the prominent flooding disaster in colliery, with reference to prominent permeable type,
Personnel in the pit's feature, by using disaster diffusion method, obtains personnel escape's speed；
Personnel in the pit's feature includes human behavior and personnel and subsurface environment relation.Human behavior, including with same alike result
Group behavior and including psychology, physical efficiency, the individual behavior of IQ information, cognition degree of the personnel with subsurface environment relation and adaptation
Degree；
Intelligent Dynamic route searching：
Intelligent Dynamic route searching needs to consider solving the shortest path and balance optimizing factor, result is met actual need
Ask, with feasibility, application convenient to carry out；
Personnel positions are obtained by personnel location system or interactive tools, emergency evacuation outlet mainly includes auxiliary shaft, ventilating shaft, master
Well, hedging cavern, mobile lifesaving booth, its priority and its weights can determine according to practical situations, and each moment respectively exports
Assignable escape number should keep in balance；
As search graph, personnel positions are search starting point to topological structure with tunnel, and emergency evacuation outlet is terminal, is tied for topology
The node of any connection in structure, the major influence factors of its weights are：
Lane space is distributed, including euclidean distance between node pair, the gradient, drift section and tunnel type, congestion level；
Current factor, including water level, flow velocity, flow path；
Personnel escape's behavior, including personnel escape's speed, the dynamic distance of personnel's walking；
Barrier, ventilating system are passed through degree-of-difficulty factor；
Depending on each factor can be according to mining area practical application to the influence degree evacuated, it is assumed that environment can be monitored or can be predicted, most
In short path search procedure, water level, flow velocity, the current at weights correspondence moment can be obtained according to by way of node and its evaluation time
Path, personnel escape's behavior, tunnel congestion level information, so as to dynamic adjustment weights, it is to avoid recall, when search from own
When starting point reaches certain terminal, you can obtain and evacuate optimal path；
According to optimal path and its corresponding time is evacuated, by network transmission system, base is carried out to each escape personnel respectively
Guided in the evacuation of current real time information, notify that personnel withdraw successively, to avoid getting congestion, it is ensured that crew smoothly withdraws；
If mining area can in real time obtain dynamic monitoring data, according to data cases, to tunnel water flow simulation, personnel escape's row
For simulation carries out real-time dynamic corrections, to ensure evacuation action efficiently.
5. the prominent flooding disaster emergency evacuation analogy method in colliery according to claim 1, it is characterised in that the step D
Including：
VR simulated environment includes the static object of geologic body, tunnel and equipment component, meanwhile, to portray evacuating personnel, dash forward saturating
Water disaster, the dynamic phenomenon of ground subsidence, using viewpoint tracking, realize the evacuation emulation with personnel as the first visual angle, with
Just the disaster environment around observation, implements correct escape scheme；
With the personnel escape's speed for being obtained, with human motion skeleton as action modes, by Fast Collision Detection, personnel are realized
Evacuation emulation, the human body action skeleton is including walking, running, creeping, 4 kinds of patterns of swimming, and position is tracked by viewpoint
Judgement personnel's local environment, so that the action model of controllers；
Prominent flooding disaster emulation is related to current in tunnel, the visualization in goaf, on the basis of the water flow simulation of tunnel, using particle
System imitates the technical method of current flowing, smoothed particle method and texture ripple, according to water level, flow velocity and 3D
Flow path in tunnel, is shown by the form of figure or image on screen, realizes the prominent flooding disaster dynamic of mine
Emulation.
6. the prominent flooding disaster emergency evacuation analogy method in colliery according to claim 1, it is characterised in that the step E
Including：
In the prominent flooding disaster emergency evacuation decision process in colliery, for limited time, resource, manpower constraints, and
Situation constantly changes, and Emergency decision person relies on experience, with reference to optimal path is evacuated in real time, aids in emergency evacuation decision-making, group
It is woven with sequence and withdraws danger zone；
Under VR simulated environment, mining area personnel build individual behavior by the possible prominent flooding disaster of virtual emulation, and simulation is escaped
It is raw；Meanwhile, group behavior can be also built, simulation is cooperated withdraws, and completes to evacuate rehearsal, instead of traditional safety training；
Drilled for emergency evacuation decision-making and evacuation, evaluated and early warning, including best-effort path reliability, best-effort path are current
Efficiency and prediction, the reliability assessment of safety evacuation action time.
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Application publication date: 20170630 |