CN111677549A - Mine drainage control method, device, equipment and storage medium - Google Patents
Mine drainage control method, device, equipment and storage medium Download PDFInfo
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F16/00—Drainage
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/02—Stopping, starting, unloading or idling control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D9/12—Level control, e.g. controlling quantity of material stored in vessel characterised by the use of electric means
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Abstract
The embodiment of the invention discloses a mine drainage control method, a mine drainage control device, mine drainage control equipment and a storage medium. The mine drainage control method comprises the following steps: determining the lower limit water level values of at least two horizontal water bins according to the change of sediment deposition of the mine; wherein, the water sump with the lower level drains water to the water sump with the upper level; determining the upper limit water level value of each water sump according to the change of the lower limit water level value; and determining the switching state of the water pump of each water sump in a drainage period according to the drainage capacity change of the water pump of each water sump, the water inflow amount of each water sump and the lower limit water level value and the upper limit water level value of each water sump. According to the embodiment of the invention, the water level value of each water sump reaches the lower limit water level value of each water sump at the end time of the drainage period through the on-off control of the water pump, the water level value is smaller than the upper limit water level value of each water sump in the drainage period, and the total power consumption of all the water pumps is minimum in one drainage period, so that the mine drainage efficiency is improved, and the production cost is saved.
Description
Technical Field
The embodiment of the invention relates to the technical field of internet, in particular to a mine drainage control method, a mine drainage control device, mine drainage control equipment and a storage medium.
Background
The underground water drainage system for the coal mine is one of four major parts in coal mine production, is responsible for discharging underground accumulated water, and is a guarantee for mine safety production. During underground coal mining, a great amount of water is collected underground due to the gushing of water in the stratum, the penetration of rainwater and water in rivers, water sand filling and underground water supply of a hydraulic coal mining well. If the accumulated water cannot be timely drained to the well, underground production can be hindered, underground safety cannot be guaranteed, serious people can cause well flooding accidents, and huge personal and property losses are brought. Therefore, the drainage equipment is indispensable in the mine operation process and plays a vital role in ensuring the normal production of the mine.
The existing drainage modes are mostly controlled manually, and workers on the drainage site roughly control the number of water pumps and the pump starting time according to the principle of drainage in the valley period according to the time of avoiding the peak time of electricity price and the change process of the water level of the mine sump. However, this approach is inefficient, presents a safety hazard, and does not guarantee that the surge of the sump is completely drained when the next peak arrives.
Disclosure of Invention
The embodiment of the invention provides a mine drainage control method, a mine drainage control device, mine drainage control equipment and a storage medium, and aims to improve the efficiency, accuracy and safety of mine drainage control through on-off state control of a water pump.
In a first aspect, an embodiment of the present invention provides a mine drainage control method, including:
determining the lower limit water level values of at least two horizontal water bins according to the change of sediment deposition of the mine; wherein, the water sump with the lower level drains water to the water sump with the upper level;
determining the upper limit water level value of each water sump according to the change of the lower limit water level value;
and determining the switching state of the water pump of each water sump in a drainage period according to the drainage capacity change of the water pump of each water sump, the water inflow amount of each water sump and the lower limit water level value and the upper limit water level value of each water sump.
In a second aspect, an embodiment of the present invention further provides a mine drainage control device, including:
the lower limit water level value determining module is used for determining the lower limit water level values of at least two horizontal water bins according to the change of sediment deposition amount of the mine; wherein, the water sump with the lower level drains water to the water sump with the upper level;
the upper limit water level value determining module is used for determining the upper limit water level value of each water sump according to the change of the lower limit water level value;
and the water pump state determining module is used for determining the switching state of the water pump of each water sump in one drainage period according to the drainage capacity change of the water pump of each water sump, the water inflow amount of each water sump and the lower limit water level value and the upper limit water level value of each water sump.
In a third aspect, an embodiment of the present invention further provides an apparatus, including:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement a mine drainage control method according to any embodiment of the invention.
In a fourth aspect, embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements a mine drainage control method according to any of the embodiments of the present invention.
According to the embodiment of the invention, the lower limit water level value of each water sump is adjusted based on the influence of sediment deposition in the mine on each water sump, the corresponding upper limit water level value is further determined according to the lower limit water level value, and the switching state of the water pump of each water sump in one drainage period is determined according to the drainage capacity change of the water pump of each water sump, the water inflow amount of each water sump and the lower limit water level value and the upper limit water level value of each water sump, so that the automatic control of mine drainage is realized. According to the embodiment of the invention, the water level value of each water sump reaches the lower limit water level value of each water sump at the end time of the drainage period through the on-off control of the water pump, the water level value is smaller than the upper limit water level value of each water sump in the drainage period, and the total power consumption of all the water pumps is minimum in one drainage period, so that the mine drainage efficiency is improved, and the production cost is saved.
Drawings
FIG. 1 is a flow chart of a mine drainage control method in accordance with a first embodiment of the present invention;
FIG. 2A is a flow chart of a mine drainage control method in a second embodiment of the present invention;
FIG. 2B is a graph showing the parallel connection characteristic of the drain lines according to the second embodiment of the present invention;
FIG. 3 is a schematic diagram of a bi-level drainage system according to a third embodiment of the present invention;
FIG. 4 is a schematic structural view of a mine drainage control device in a fourth embodiment of the invention;
fig. 5 is a schematic structural diagram of an apparatus in the fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a mine drainage control method according to a first embodiment of the present invention, which is applicable to a case where drainage of a mine sump is controlled by controlling a switch of a water pump. The method may be performed by a mine drainage control device, which may be implemented in software and/or hardware and may be configured in a device, for example, a device with communication and computing capabilities such as a background server. As shown in fig. 1, the method specifically includes:
The sediment deposition is brought because the mine gushes water, along with the continuous gushing water of mine, can constantly accumulate silt in each sump, brings certain influence for the water storage in the sump, and then can influence the determination of lower limit hydrology value in the sump. If the accumulation of sediment deposition is not considered, the actual water capacity in the water sump is not consistent with the lower limit water level value only according to the fixed lower limit water level value of the water sump, and the drainage of the water sump brings wrong information, thereby causing adverse effects.
And determining the rule that the sediment deposition amount of the sediment in the water sump in the mine changes along with time, and further determining the lower limit water level value of each water sump according to the increase of the sediment deposition amount, namely the lower limit water level value is increased along with the increase of the sediment deposition amount.
For at least two horizontal water silos in a mine drainage system, drainage is performed from a low-level water silo to a higher-level water silo, for example, for a double-level drainage system, which comprises an upper-level water silo and a lower-level water silo, the lower-level water silo discharges water in the water silo to the upper level, and the upper-level water is discharged to the ground.
In this embodiment of the present invention, optionally, step 101 includes:
determining the sediment deposition amount of each water sump in unit time according to the sediment deposition amount of the mine in a preset time period; determining the lower limit water level value of each water sump along with the change of time according to the sediment deposition amount of each water sump in unit time; and after any water sump is subjected to water sump decontamination, the lower limit water level value of the water sump is cleared.
The preset time period is a preset time period and is used for determining the sediment deposition amount of each water sump in the time period, and further determining the rule that the sediment deposition amount increases along with the time. The preset time period can be adjusted according to actual conditions.
Illustratively, the lower water level value is a measurable variable that is a function of time, expressed as. The change of the lower limit water level value is related to the turbidity of gushing water under a mine and the sediment deposition rate, the sediment deposition amount of the sediment in the gushing water of the water sump is calculated every half year, the sediment deposition height in each day is determined according to the sediment deposition amount, the sediment deposition height is continuously accumulated along with the increase of days, the lower limit water level value of the water sump is reset in time after the water sump is cleaned, the accurate determination of the change of the lowest water level of the water sump is achieved, and a more accurate drainage control model is obtained.
And 102, determining the upper limit water level value of each water sump according to the change of the lower limit water level value.
For the same water sump, the change of the lower limit water level value affects the change of the upper limit water level value, for example, when the sediment deposition in the water sump is more, the lower limit water level value of the water sump is also increased, and if the upper limit water level value is not changed, the water storage amount in the water sump is reduced, and the drainage of a drainage system is affected.
Specifically, the upper limit water level value can be changed correspondingly according to the change of the lower limit water level value, but the upper limit water level value cannot exceed the height of the water sump. As a possible embodiment, the upper limit water level value of the water sump may be set to a value close to the height of the water sump.
And 103, determining the switching state of the water pump of each water sump in one drainage period according to the drainage capacity change of the water pump of each water sump, the water inflow amount of each water sump and the lower limit water level value and the upper limit water level value of each water sump.
The change of the water discharge capacity of the water pump refers to the change rule of the water discharge efficiency of the water pump along with the working time; the water inflow of each water bin refers to the inflow brought by the water bin due to the gushing of water contained in the stratum, the penetration of rainwater and water in rivers, water sand filling and the underground water supply of a hydraulic coal mining well under a mine. The drainage cycle refers to a preset time period for draining the water stored in each water bin, and for example, the drainage cycle may be one day. Namely, the water stored in each water bin needs to be drained at the last moment of water drainage. The length of the drainage period can be set according to the specific situation of the capacity of the water sump, and is not limited herein.
The drainage of the water sump needs to be completed by connecting at least one water pump, the working efficiency of the water pump can change along with the change of the working time of the water pump, for example, the longer the working time of a single water pump is, the higher the loss is, the drainage capacity can also be reduced, namely, the drainage quantity per unit time for which one water pump just starts to work is larger than that for which the water pump works for a longer time. For the existing underground drainage system, the working mode that the water pumps are abraded in turn by circulation is considered, so that the working efficiency and the working condition of each water pump are basically the same, and the service life of the water pump is prolonged. However, the gradual change process of the efficiency reduction of the water pump is not considered, or the accuracy of the detection calculation of the efficiency is difficult to guarantee, and the efficiency loss of the water pump is not considered, so that the energy consumption of the drainage system is increased.
In one drainage period, the drainage of the water sump is controlled by controlling the on-off of each water pump. For example, for a dual level drainage system, each level of sump has at least two water pumps, and the amount of water drained from the sump can be determined by switching the water pumps. In controlling the water pump switches, it is necessary to consider the change of the water discharge capacity of the water pumps of the water tanks, the water inflow amount of the water tanks, and the lower limit water level value and the upper limit water level value of the water tanks. For another example, the number of water pumps in the on state is determined according to the change of the water gushing amount in each water bin.
Illustratively, in a dual-level drainage system, a mathematical model for optimizing energy-saving control is determined through the drainage capacity change of a water pump of each water sump, the water inflow of each water sump and the lower limit water level value and the upper limit water level value of each water sump, and recursive operation is performed through a computer, so that an optimal control vector is obtained, and the running state of each water pump is controlled. The influence of sediment deposition amount on the water level of the water sump and the relation between the water discharging capacity of the water pump and time are considered for the first time by the mathematical model, so that the model is more in line with the actual situation of a mine water discharging system, and the reliability and the accuracy of optimization control are improved.
In this embodiment of the present invention, optionally, step 103 includes: determining the relation between the water level value of each water sump and the switching state of each water sump water pump according to the drainage capacity change of the water pump of each water sump and the water inflow amount of each water sump; and determining the switching state of the water pump of each water sump in a drainage period according to the relationship between the water level value of each water sump and the switching state of the water pump of each water sump and the lower limit water level value and the upper limit water level value of each water sump.
The water level value of each water sump refers to the real-time water level value in the water sump, which is influenced by the water discharge and water inflow of the water sump, the water discharge quantity is related to the water discharge capacity change of the water pump, so according to the water discharge capacity change of the water pump of each water bin and the water inflow quantity of each water bin, the rule that the water level value in the water sump changes along with the change of the switch state of each water pump can be determined, further establishing a mathematical model of drainage control according to the relation between the water level value of each water sump and the switching state of each water sump water pump and the lower limit water level value and the upper limit water level value of each water sump, obtaining the optimal control vector of the water pump switch state through model recursion operation, so that the water level value of each water sump reaches the lower limit water level value of each water sump at the end time of the drainage period, and in the drainage period, the water level is less than the upper limit water level value of each water bin, and the total power consumption of all the water pumps in one drainage period is minimum.
According to the embodiment of the invention, the lower limit water level value of each water sump is adjusted based on the influence of sediment deposition in the mine on each water sump, the corresponding upper limit water level value is further determined according to the lower limit water level value, and the switching state of the water pump of each water sump in one drainage period is determined according to the drainage capacity change of the water pump of each water sump, the water inflow amount of each water sump and the lower limit water level value and the upper limit water level value of each water sump, so that the automatic control of mine drainage is realized. According to the embodiment of the invention, the water level value of each water sump reaches the lower limit water level value of each water sump at the end time of the drainage period through the on-off control of the water pump, the water level value is smaller than the upper limit water level value of each water sump in the drainage period, and the total power consumption of all the water pumps is minimum in one drainage period, so that the mine drainage efficiency is improved, and the production cost is saved.
Example two
Fig. 2A is a flowchart of a mine drainage control method in the second embodiment of the present invention, and the second embodiment is further optimized based on the first embodiment. As shown in fig. 2A, the method includes:
And step 202, determining the upper limit water level value of each water sump according to the change of the lower limit water level value.
The water discharge cycle is further subdivided and divided into at least two water discharge time periods, and the on-off state of each water pump is determined by taking the water discharge time periods as units, so that the on-off of the water pumps is more accurately controlled. For example, the division of the drainage time period may be divided equally according to the length of the drainage cycle; or dividing the drainage period according to the distribution of the electricity price. The underground drainage system in the coal mine avoids peak time period, and drains water in valley time period, so that the drainage cost can be effectively reduced. For example, the time periods of the peak time period and the valley time period of the electricity rate are distinguished, and the peak time period and the valley time period of the electricity rate can be further subdivided, and the specific division rule of the drainage time period is not limited.
And 204, determining the relation between the total power consumption and the on-off state of each water sump water pump according to the electricity price in each drainage time period.
And determining the influence of different switching conditions of each water pump in each drainage time period on the total power consumption of the whole drainage system according to the electricity price in each drainage time period, and further determining the relationship between the total power consumption and the switching state of each water pump.
And step 205, determining the on-off state of each water sump pump according to the relation between the total power consumption and the on-off state of each water sump pump, the change of the water discharging capacity of each water sump pump, the water inflow amount of each water sump, and the lower limit water level value and the upper limit water level value of each water sump.
When the switch state of each water sump water pump is determined according to the drainage capacity change of the water pump of each water sump, the water inflow amount of each water sump and the lower limit water level value and the upper limit water level value of each water sump, the relation between the total power consumption and the switch state of each water sump water pump is also considered, so that the time control of water pump starting is carried out in one drainage period according to the principle of avoiding peaks and filling valleys of electricity prices, and the power consumption of a final drainage system is minimum while the drainage requirement is met.
In this embodiment of the present invention, optionally, the method further includes: and in the operation process of a single water pump, determining parallel pipelines for draining according to the drainage pipelines connected with the water pumps.
After the water pump unit is installed in a model selection mode, basic parameters are determined. The operation condition adjustment of the water pump can only be realized by adjusting the opening of the valve. When water flows in the pipeline, the resistance of the pipeline is overcome. The pipeline characteristic equation is as follows: hW＝R·Q2Wherein R is the coefficient of resistance of the pipeline, and the resistance H is the same as RWProportional to the square of the flow Q. Flow regulation also has a significant effect on resistance. The loss of the pipeline consists of two parts, and the R value should be reduced to improve the operation efficiency due to local resistance loss and on-way resistance loss.
From the pipeline characteristic equation, the head loss of the pipeline is proportional to the square of the flow. Therefore, when the mine drainage is increased, the loss energy is also increased, so that the working pipeline and the standby pipeline can be operated in parallel by throwing the standby pipeline, the diameter of the pipeline is increased, and the resistance of the pipeline is reduced. As shown in fig. 2B, which is a parallel characteristic curve diagram of the water discharge pipeline, 1, 2, and 3 in fig. 2B are performance curves of the water discharge pipeline, the rest is a lift curve of the water pump, the abscissa of the characteristic curve 1 of one path of water discharge pipeline is added with the abscissa of the characteristic curve 2 of the other path of water discharge pipeline to obtain a characteristic curve 3 after the pipelines are connected in parallel, the working point of the water pump is changed from M or M 'to M ", the flow rate of the water pump is increased from Q or Q' to Q", and the pipeline efficiency is increased under the condition that the actual lift H of the water pump is not changed, so that the useless energy consumption for overcoming the pipeline resistance is reduced. Therefore, when the single pump operates, the drainage pipeline is reasonably selected to be connected in parallel for drainage, so that the pipeline resistance can be effectively reduced, and the drainage efficiency is improved.
As another optional embodiment, optionally, the method further comprises: the water level of the water sump and the water level of a mine roadway are monitored in real time, so that the water inrush condition of a mine is automatically monitored; and if the condition of water inrush is monitored, controlling the water pumps of all the water bins to be in an open state.
The water inrush condition refers to a phenomenon that a large amount of underground water suddenly and intensively gushes into a roadway, and if the water inrush condition occurs, the water inrush condition affects mine drainage. Therefore, strict judgment on the water inrush situation is required.
The judgment conditions of the mine water inrush situation on the basis of energy-saving optimized drainage are as follows:
firstly, the water level can not be controlled below the upper limit water level value of the water bin in the drainage period, and the water level rises to the over-limit water level, so that the limit switch of the water level gauge is actuated, and an over-limit alarm is given out. Second, the water burst rate of the mine shaft continuously maintains or exceeds the predicted maximum water burst rate. The calculation of the water inrush rate needs to consider whether water pump drainage is calculated respectively under two conditions: the first condition is that the water level in a certain period of time is measured under the condition that no water pump drains water, then the change of the water inflow amount corresponding to the water level difference in the period of time is solved, and then the water inflow speed is obtained; the second case is that the water pump discharges water, and the water pump discharges water in unit time to be used as the real water inrush rate. Thirdly, the water penetration accident is predicted by the precursor condition before water penetration, for example, installing a corresponding sensor in a roadway. And fourthly, transmitting the signal to a centralized control cabinet of the pump room for analog quantity acquisition, and transmitting the signal to an upper computer as information for judging the water inrush accident.
In the embodiment of the invention, a 'four-automatic' water permeability emergency control mode is adopted, namely: automatically predicting the horizontal water permeability according to conditions such as sudden change of water inflow and the like; automatically detecting the roadway water level under the condition of mine water permeability; the automatic closing water-proof gate and all the water pumps automatically and jointly operate.
The implementation of the 'four-automatic' water-permeable emergency control mode is specifically as follows:
firstly, automatic detection and early warning of water permeability conditions: and judging the conditions according to the judging conditions of the water inrush condition of the mine, and if one of the conditions meets the requirement of the water inrush condition, generating an alarm signal to perform early warning. Secondly, automatically detecting the roadway water level: when the mine emergence gushes water accident, the water level in tunnel constantly increases, if can not in time detect the tunnel water level condition, probably can make tunnel rivers flow into the drainage pump house, causes the accident of flooding pump and motor for drainage system loses the drainage ability. The visible roadway water level may be a necessary condition for closing the watertight door. In addition, when the detection of the roadway water level can be used as an important indication in the development process of the water inrush accident of the mine, the specific situation of the water inrush in the mine can be known in time by the dispatching room through the detection of the roadway water level. The detection of tunnel water level also uses ultrasonic wave level gauge to detect, and the distribution of level gauge can be placed in the tunnel near drain pump room, near the pit shaft, has had tunnel etc. department such as water inrush possibility. Wherein the liquid level signal is directly sent to the centralized control cabinet. Thirdly, automatically closing the waterproof gate: when a water inrush accident occurs in a mine, the underground drainage equipment can not be influenced by water burst and continuously works, the water-proof gate needs to be closed, so that the pump room is isolated from the roadway to prevent water in the roadway from rushing into the pump room and the substation. The waterproof door is controlled by a hydraulic push rod, and certain pressure can be applied to the waterproof door after the waterproof door is closed, so that the tightness is ensured. Fourthly, all water pumps automatically and jointly operate: when a water-permeable accident occurs in a mine, the drainage system automatically jumps from the energy-saving optimized control mode to the mine water-permeable emergency control mode, at the moment, the centralized control cabinet sends a command to each local control cabinet to control all the water pumps to be completely started for drainage, and the centralized control cabinet is restored to the energy-saving optimized control mode after the water level is reduced to a normal level.
According to the embodiment of the invention, the water permeability catastrophe of the mine is automatically pre-warned according to the change trend of the water inflow of the mine; after the mine is permeable, automatically detecting the water levels of the roadway and the drainage pump room; automatically closing the water-proof gate after the water level exceeds a specified water level; and when the mine is subjected to water penetration catastrophe, all the water pumps are automatically controlled to run together. The emergency treatment capability of the mine water-permeable accident is improved, the occurrence of the mine flood is limited to the maximum extent, and the accident is prevented from being serious.
According to the embodiment of the invention, the lower limit water level value of each water sump is adjusted based on the influence of sediment deposition amount in the mine on each water sump, the corresponding upper limit water level value is further determined according to the lower limit water level value, and the switching state of the water pump of each water sump in one drainage period is determined according to the relation between the total power consumption and the switching state of the water pump of each water sump, the drainage capacity change of the water pump of each water sump, the water inflow amount of each water sump and the lower limit water level value and the upper limit water level value of each water sump, so that the automatic control of mine drainage is realized. According to the embodiment of the invention, the water level value of each water sump reaches the lower limit water level value of each water sump at the end time of the drainage period through the on-off control of the water pump, the water level value is smaller than the upper limit water level value of each water sump in the drainage period, and the total power consumption of all the water pumps is minimum in one drainage period, so that the mine drainage efficiency is improved, and the production cost is saved.
EXAMPLE III
The embodiment of the invention is taken as a preferred embodiment of the invention, the transmission device of the drainage pump under the mine is in a direct connection mode, namely the water pump is directly connected with the motor through a pin shaft joint, and the system efficiency is η - ηd·ηg·ηsWhere η is the system efficiency, ηdFor motor efficiency, ηgFor pipeline efficiency, ηsThe efficiency of the water pump. Since the motor efficiency is determined by the performance of the motor itself and fixed with the determination of the motor model, the pipe efficiency and the water pump efficiency need to be considered in order to increase the overall efficiency of the drainage system. For theThe increase in the efficiency of the pipeline is not described in detail in the second embodiment. For water pump efficiency, the peak-to-valley division of industrial power needs to be considered. The following is a detailed description of how to increase the efficiency of the water pump.
In the embodiment of the present invention, a bi-level drainage system is adopted, and as shown in fig. 3, a model structure diagram of the bi-level drainage system is shown, where c (k) is an electricity price of each drainage time period, k represents different drainage time periods, and u (k) is an on-off state of each water pump in each drainage time period under the constraint of each condition. q. q.s1(k) And q is2(k) The water inflow amount of the upper horizontal water bin and the lower horizontal water bin in each drainage time period is respectively determined; l1And l2The lower limit water level values of the upper horizontal water bin and the lower horizontal water bin are respectively set; h is1And h2The upper limit water level values of the upper horizontal water bin and the lower horizontal water bin are respectively set; n is1And n2The number of the water pumps of the upper horizontal water bin and the lower horizontal water bin is respectively.
The underground drainage system is assumed to be a double-horizontal drainage system, and the volume of the upper horizontal water bin is V1(t) in m3The volume of the lower horizontal water sump is V2(t) of (d). The heights of the upper water sump and the lower water sump are respectively H1 and H2, which are constant values. And a lower limit water level and an upper limit water level are respectively arranged for controlling the water level of the water sump in the water drainage process.
Wherein the lower water level is a measurable variable which is a function of time T (days). Its change is related to the turbidity and deposition rate of water gushing from underground well, and the deposition speed of dirt in water gushing from water sump is counted to about 1m every half year, so that the deposition height of dirt in water sump can be calculated, and can be continuously accumulated along with the increase of days, and after the water sump is cleaned, the dirt in water sump can be timely cleaned1And zero clearing is carried out, so that the change of the lowest water level of the water sump can be accurately known, and a more accurate model is obtained. The amount of the upper limit water level can be changed correspondingly according to the change of the lower limit water level, but the amount of the upper limit water level should not exceed the height H of the water sump. It is generally located at a position close to the height of the sump, so it is fixed to a constant value, i.e. assuming h1And h2Is a time independent constant. Setting the drainage period as one day and the initial time as the previous periodThe time when the trough section ends (in this embodiment, it is defined as 8 am), at which time the sump level drains to the lowest level, and is the time when the peak section of the cycle begins. The end of the cycle is the end of the trough of the cycle, and the water level is also at its lowest (specifically 8 am the next day). One period is divided into N segments from 1 to N, for N +1 time points, and k is 1 to N + 1. And each period of time is fixed to be L-24/N, and the pump opening state of each level in each period is unchanged.
And setting the water level of the upper horizontal water sump at the kth moment as follows: x1(k)，X1(1)＝X1(N+1)＝l1，l1≤X2(k)≤h1(ii) a The water level of the corresponding horizontal water sump is as follows: x2(k)，X2(1)＝X2(N+1)＝l2，l2≤X2(k)≤h2。
The water storage capacity of the two horizontal water bins at the moment k has a direct relation with the water level of the water bins, and is represented as follows: vi(k)＝f(Xi(k) Wherein i ═ 1, at the upper level; i is 2, lower level.
The relationship for a vertical sump can be expressed as a linear relationship: vi(k)＝Si(T)·Xi(k) And satisfy Vi(1)＝Vi(N+1)＝Si·li＝VliAnd has a value of Vli≤Vi(k)≤Vhi＝Si(T)·hi. Wherein Si(T) the unit is square meter, which can be called the bottom area of the water sump. And is an increasing quantity with the extension of the roadway, related to time T. Is a quantity that can be calculated by measurement and is a fixed value within one drainage period T.
The upper horizontal water pump room is provided with n1The platform water pumps work in parallel, and the lower horizontal pump has n2The water pumps work in parallel, and the working state of the ith upper horizontal water pump in the kth period is U1i(k) (lower level is denoted as U2j(k))， U1i(k) When the water pump is off, U is 01i(k) 1 indicates that the water pump is running.
The control decision vector of the whole drainage system at the moment k is described as:
U(k)＝[U1(k) U2(k)]
＝[U11(k) U12(k) Λ U1n1(k) U21(k) U22(k) Λ U2n2(k)]
the drainage capacity vectors at the upper and lower levels are represented by D (T) ═ d1d2Λ dn1]And e (t) ═ e1e2Λen2]Is expressed in (unit of m)3/h)。
D (T) and E (T) show that the water discharge capacity of the water pump is a function related to time, the efficiency of the water pump is gradually reduced and the water discharge capacity is gradually reduced along with the increase of the service time of the water pump, the reduction value of the average unit time can be obtained according to the reduction of the efficiency of the water pump in a period of time, and the value is continuously changed along with the increase of days, so that the gradual change process of the efficiency of the water pump can be recorded in a model for water discharge optimization control.
The power consumption of each horizontal water pump per unit time is as follows: theta ═ theta [ theta ]1θ2Λ θn1]，
(in kW). The electricity price is c (k) (unit is element/degree), the electricity price is different according to the peak-valley level section of k sections of time, and the periodic function of k satisfies the following conditions: c (k) ═ c (k + N).
Setting the total electric charge of the drainage station in the horizontal period as J1Lower level is J2Total electric charge J ═ J1+J2The unit is element. The following equation holds:
the same principle is that:
total electricity price:
where L is the time interval per segment, L ═ 24/N (in units of h).
The water level (water storage capacity) of the water sump at a certain moment is related to the water level (water storage capacity) of the water sump at the previous moment, the water inflow rate and the water drainage rate:
for the lower horizontal sump there are:
wherein X2(N+1)＝X2(1)＝l2And l2≤X2(k)≤h2。
If written as the relationship for the water content of the sump, the following equation is used:
wherein V2(N+1)＝V2(1)＝Vl2And has Vl2≤V2(k)≤Vh2。
For the upper level water sump, besides the water inflow of the upper level water sump, the drainage of the lower level water sump is also considered, and the expressions of the water sump water level and the water sump water storage amount are as follows:
wherein X1(N+1)＝X1(1)＝l1And l1≤X1(k)≤h1。
If written as the relationship for the water content of the sump, the following equation is used:
wherein V1(N+1)＝V1(1)＝Vl1And has Vl1≤V1(k)≤Vh1。
For multi-level drainage of mineThe energy-saving optimization control method can be described as follows: considering many factors such as the gradual change process of the target water level of sump and upper limit water level, the volume of gushing water in sump, the drainage ability of water pump, the height of electrovalence and sump volume and water pump drainage ability, through the pump-on state of the water pump in every time quantum of reasonable selection each level, guarantee can be with under the whole circumstances of discharging of the water of gushing of each level in a cycle for total electrovalence:
reaching the lowest.
In a period of the multi-level drainage system, the following equilibrium equation is established: total water inflow at lower level (Q) total water discharge of lower sump2＝P2) (ii) a The total water inflow of two levels is equal to the total water discharge of the upper level (Q is equal to P)1) (ii) a The total water inflow of the upper level is as follows:
the lower level total water inflow is:
total water inflow
Total displacement of upper level:
and the total displacement at the lower level is:
and under the constraint of the balance equations, solving by adopting a dynamic programming method. The drainage system needs to adopt a dynamic programming method to solve due to the difference of water level, water inflow and electricity price in each drainage time period. A system is divided into a plurality of different stages according to a certain mode, the stages not only have sequential transitivity, but also have dependence and influence on each other, and the system capable of being divided into the stage transitivity is called dynamic tradition. Dynamic programming is a mathematical approach to solve the multi-stage decision process optimization. A significant feature of dynamic planning is that it is clearly staged, and the whole system can be divided into several different stages in some way, and each stage can be selected by several different schemes. Thus, in the multi-stage decision process, the decision of each stage is selected not only by considering the effect of a certain stage according to the sequence, but also by considering the influence of the decision on the decisions of the stages in the future. The system optimal decision problem requires that a suitable decision is selected from a plurality of available schemes (decisions) at each stage of the system, so that the whole system achieves the optimal effect. The whole process is divided into a multi-stage decision process. The decisions made at each stage form a series of decisions that define the overall system, and such a series of decisions is referred to as a policy for the system. And (4) according to a certain strategy, the whole system measures the decision of the quality according to a certain quantity index. The multi-stage decision process is among all allowed policy sets. And determining an optimal strategy for achieving the optimal index. The index of the measuring system generally takes the maximum or minimum value strategy. Thus, the multi-stage decision process is also an optimization problem that can constitute multiple variables. A system can be divided into a multi-stage decision process, sometimes requiring mathematical skill and art to divide, and dynamic programming is an optimization method for solving such a multi-stage decision process.
The multi-stage decision process is a method of multi-dimensional optimization problem. The dynamic programming is based on the optimality principle, and decomposes a complex multivariate problem into a plurality of interdependencies. The interconnected few-stage low-dimensional problem easy to solve and optimize.
The model of the mine multi-level drainage system can be solved by using an optimality principle, wherein the optimality principle is a recursive calculation method, and an optimal strategy of a multi-stage decision process has the following properties: regardless of the initial state and initial decision, when any one of the stages and states is considered as the initial stage and initial state again, the remaining decisions must be the most aggressive for this purpose.
Specifically, if there is an N-level decision process with an initial state of x (0), and the optimal policy is { u (0) u (1) Λ u (N-1) }, then the decision set { u (1) u (2) Λ u (N-1) } must be the optimal policy for the N-1 level decision process with x (1) as the initial state.
The optimality principle provides a simple and effective method for solving the optimization problem in the multi-stage decision process, can process one multi-stage optimal decision problem into a plurality of single-stage decision problems, and provides a theoretical basis for deriving a recursion equation.
And solving the optimal control problem of the discrete system when both the control variable and the state variable are constrained by adopting a discrete dynamic programming method. The following is the solution process for solving the optimization problem with the discrete dynamic programming method.
Let the state difference equation x (k +1) of the nonlinear discrete system be f [ x (k), u (k), k]，x(0)＝x0Wherein the content of the first and second substances,
k is 0,1, Λ, N-1. cost function JN[x(0)]＝∑L[x(k)u(k),k]. Suppose that: f (-) and L (-) are continuous, L (-) is bounded. Finding the optimal control sequence u*(k) According to the basic recursion equation of dynamic programming, the following steps can be taken:
solving the Nth-level optimal control u*(N-1)：
s.t.x(N)＝f[x(N-1),u(N-1),N-1]
Find u*[x(N-1)]，
Solving the N-1 st level optimal control u*(N-2)：
s.t.x(N-1)＝f[x(N-2),u(N-2),N-2]
Find u*[x(N-2)]，
Solving the k +1 th level optimal control u*(k)：
s.t.x(k+1)＝f[x(k),u(k),k]
Find u*[x(k)]，
Recursion process until the 2 nd optimal control u is obtained*(1)：
s.t.x(2)＝f[x(1),u(1),1]
Find u*[x(1)]，
Solving a level 1 optimal control u*(0)：
s.t.x(1)＝f[x(0),u(0),0]
Find u*[x(0)]，
Finally, from the known values of x (0) ═ x0And sequentially solving: u. of*(0),x*(1),u*(1),x*(2),u*(2),Λ,x*(N-1),u*(N-1)。
Because the dimension of the state variable and the control quantity of the multi-horizontal drainage system is large, the operation rate of a general controller is difficult to realize, a computer is used for optimization operation, a specific algorithm can convert the mathematical model of the multi-horizontal drainage system into a discrete dynamic programming problem form, and the control decision vector of the system is solved by adopting the above solving steps.
The model process of solving the optimized drainage system by applying the dynamic programming method is a recursion process. In an automatic drainage system, the solution may be performed by a conventional recursive algorithm.
According to the above formula, the recursion algorithm is implemented as follows:
step 1: k is N, J is 0, V1(N)＝Vl1，V2(N)＝Vl2GOT'O STEP2；
Step 2: k-1, execute 3;
and step 3:
V2(k+1)＝V2(k)+q2(k)·L-U2(k)·EΤ·L
V1(k+1)＝V1(k)+q1(k)·L+U2(k)·EΤ·L-U1(k)·DΤ·L
Vl2≤V2(k)≤Vh2
Vl1≤V1(k)≤Vh1
if k is 0, executing step 4, otherwise executing step 2;
and 4, step 4: j. the design is a square*＝J*(0)。
According to the embodiment of the invention, by establishing the multi-level optimized energy-saving mathematical model of the mine and adopting an advanced control strategy, the drainage system can achieve the aim of utilizing the electricity valley section for drainage to the maximum extent under the condition that the water inflow, the water sump capacity and the drainage efficiency of the water pump are gradually changed, so that a large amount of production cost is saved, and the overall operation efficiency of the system is improved.
Example four
Fig. 4 is a schematic structural diagram of a mine drainage control device in a fourth embodiment of the present invention, and this embodiment is applicable to a case where drainage of a mine sump is controlled by controlling a switch of a water pump. As shown in fig. 4, the apparatus includes:
the lower limit water level value determining module 410 is used for determining the lower limit water level values of at least two horizontal water bins according to the change of sediment deposition amount of the mine; wherein, the water sump with the lower level drains water to the water sump with the upper level;
an upper limit water level value determining module 420, configured to determine an upper limit water level value of each water sump according to a change in the lower limit water level value;
and the water pump state determining module 430 is configured to determine a switching state of the water pump of each water sump in a drainage period according to the drainage capacity change of the water pump of each water sump, the water inflow amount of each water sump, and the lower limit water level value and the upper limit water level value of each water sump.
According to the embodiment of the invention, the lower limit water level value of each water sump is adjusted based on the influence of sediment deposition in the mine on each water sump, the corresponding upper limit water level value is further determined according to the lower limit water level value, and the switching state of the water pump of each water sump in one drainage period is determined according to the drainage capacity change of the water pump of each water sump, the water inflow amount of each water sump and the lower limit water level value and the upper limit water level value of each water sump, so that the automatic control of mine drainage is realized. According to the embodiment of the invention, the water level value of each water sump reaches the lower limit water level value of each water sump at the end time of the drainage period through the on-off control of the water pump, the water level value is smaller than the upper limit water level value of each water sump in the drainage period, and the total power consumption of all the water pumps is minimum in one drainage period, so that the mine drainage efficiency is improved, and the production cost is saved.
Optionally, the water pump state determining module is specifically configured to: determining the relation between the water level value of each water sump and the switching state of each water sump water pump according to the drainage capacity change of the water pump of each water sump and the water inflow amount of each water sump;
and determining the switching state of the water pump of each water sump in a drainage period according to the relationship between the water level value of each water sump and the switching state of the water pump of each water sump and the lower limit water level value and the upper limit water level value of each water sump.
Optionally, the water pump state determining module is specifically configured to: dividing the drainage cycle into at least two drainage time periods; determining the relation between the total power consumption and the on-off state of each water sump water pump according to the electricity price in each drainage time period;
and determining the switching state of each water sump water pump according to the relation between the total power consumption and the switching state of each water sump water pump, the change of the water discharging capacity of each water sump water pump, the water inflow amount of each water sump and the lower limit water level value and the upper limit water level value of each water sump.
Optionally, the apparatus further comprises: and the drainage pipeline determining module is used for determining parallel pipelines for drainage according to the drainage pipelines connected with the water pumps in the operation process of a single water pump.
Optionally, the lower limit water level value determining module is specifically configured to: determining the sediment deposition amount of each water sump in unit time according to the sediment deposition amount of the mine in a preset time period;
determining the lower limit water level value of each water sump along with the change of time according to the sediment deposition amount of each water sump in unit time; and after any water sump is subjected to water sump decontamination, the lower limit water level value of the water sump is cleared.
Optionally, the apparatus further includes a water inrush detection module, specifically configured to: the water level of the water sump and the water level of a mine roadway are monitored in real time, so that the water inrush condition of a mine is automatically monitored;
and if the condition of water inrush is monitored, controlling the water pumps of all the water bins to be in an open state.
The mine drainage control device provided by the embodiment of the invention can execute the mine drainage control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the mine drainage control method.
EXAMPLE five
Fig. 5 is a schematic structural diagram of an apparatus according to a fifth embodiment of the present invention. Fig. 5 illustrates a block diagram of an exemplary device 12 suitable for use in implementing embodiments of the present invention. The device 12 shown in fig. 5 is only an example and should not bring any limitations to the functionality and scope of use of the embodiments of the present invention.
As shown in FIG. 5, device 12 is in the form of a general purpose computing device. The components of device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory device 28, and a bus 18 that couples various system components including the system memory device 28 and the processing unit 16.
The system storage 28 may include computer system readable media in the form of volatile storage, such as Random Access Memory (RAM)30 and/or cache storage 32. Device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 5, and commonly referred to as a "hard drive"). Although not shown in FIG. 5, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Storage 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in storage 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processing unit 16 executes various functional applications and data processing by running programs stored in the system storage device 28, for example, to implement the mine drainage control method provided by the embodiment of the present invention, including:
determining the lower limit water level values of at least two horizontal water bins according to the change of sediment deposition of the mine; wherein, the water sump with the lower level drains water to the water sump with the upper level;
determining the upper limit water level value of each water sump according to the change of the lower limit water level value;
and determining the switching state of the water pump of each water sump in a drainage period according to the drainage capacity change of the water pump of each water sump, the water inflow amount of each water sump and the lower limit water level value and the upper limit water level value of each water sump.
EXAMPLE six
The sixth embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the mine drainage control method provided in the sixth embodiment of the present invention, and the computer program includes:
determining the lower limit water level values of at least two horizontal water bins according to the change of sediment deposition of the mine; wherein, the water sump with the lower level drains water to the water sump with the upper level;
determining the upper limit water level value of each water sump according to the change of the lower limit water level value;
and determining the switching state of the water pump of each water sump in a drainage period according to the drainage capacity change of the water pump of each water sump, the water inflow amount of each water sump and the lower limit water level value and the upper limit water level value of each water sump.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A method of mine drainage control, comprising:
determining the lower limit water level values of at least two horizontal water bins according to the change of sediment deposition of the mine; wherein, the water sump with the lower level drains water to the water sump with the upper level;
determining the upper limit water level value of each water sump according to the change of the lower limit water level value;
and determining the switching state of the water pump of each water sump in a drainage period according to the drainage capacity change of the water pump of each water sump, the water inflow amount of each water sump and the lower limit water level value and the upper limit water level value of each water sump.
2. The method of claim 1, wherein determining the on-off state of the water pump of each water sump in a drainage period according to the change of the drainage capacity of the water pump of each water sump, the water inflow of each water sump, and the lower limit water level value and the upper limit water level value of each water sump comprises:
determining the relation between the water level value of each water sump and the switching state of each water sump water pump according to the drainage capacity change of the water pump of each water sump and the water inflow amount of each water sump;
and determining the switching state of the water pump of each water sump in a drainage period according to the relationship between the water level value of each water sump and the switching state of the water pump of each water sump and the lower limit water level value and the upper limit water level value of each water sump.
3. The method of claim 1, wherein determining the on-off state of the water pump of each water sump in a drainage period according to the change of the drainage capacity of the water pump of each water sump, the water inflow of each water sump, and the lower limit water level value and the upper limit water level value of each water sump comprises:
dividing the drainage cycle into at least two drainage time periods;
determining the relation between the total power consumption and the on-off state of each water sump water pump according to the electricity price in each drainage time period;
and determining the switching state of each water sump water pump according to the relation between the total power consumption and the switching state of each water sump water pump, the change of the water discharging capacity of each water sump water pump, the water inflow amount of each water sump and the lower limit water level value and the upper limit water level value of each water sump.
4. The method of claim 1, further comprising:
and in the operation process of a single water pump, determining parallel pipelines for draining according to the drainage pipelines connected with the water pumps.
5. The method of claim 1, wherein determining the lower water level values of at least two horizontal water silos based on changes in sediment deposition in the mine comprises:
determining the sediment deposition amount of each water sump in unit time according to the sediment deposition amount of the mine in a preset time period;
determining the lower limit water level value of each water sump along with the change of time according to the sediment deposition amount of each water sump in unit time; and after any water sump is subjected to water sump decontamination, the lower limit water level value of the water sump is cleared.
6. The method of claim 1, further comprising:
the water level of the water sump and the water level of a mine roadway are monitored in real time, so that the water inrush condition of a mine is automatically monitored;
and if the condition of water inrush is monitored, controlling the water pumps of all the water bins to be in an open state.
7. A mine drainage control device, comprising:
the lower limit water level value determining module is used for determining the lower limit water level values of at least two horizontal water bins according to the change of sediment deposition amount of the mine; wherein, the water sump with the lower level drains water to the water sump with the upper level;
the upper limit water level value determining module is used for determining the upper limit water level value of each water sump according to the change of the lower limit water level value;
and the water pump state determining module is used for determining the switching state of the water pump of each water sump in one drainage period according to the drainage capacity change of the water pump of each water sump, the water inflow amount of each water sump and the lower limit water level value and the upper limit water level value of each water sump.
8. The device of claim 7, wherein the water pump status determination module is specifically configured to:
determining the relation between the water level value of each water sump and the switching state of each water sump water pump according to the drainage capacity change of the water pump of each water sump and the water inflow amount of each water sump;
and determining the switching state of the water pump of each water sump in a drainage period according to the relationship between the water level value of each water sump and the switching state of the water pump of each water sump and the lower limit water level value and the upper limit water level value of each water sump.
9. An apparatus, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the mine drainage control method of any of claims 1-6.
10. A computer-readable storage medium, having stored thereon a computer program, wherein the program, when executed by a processor, implements the mine drainage control method of any of claims 1-6.
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| CN117890462A (en) * | 2024-03-14 | 2024-04-16 | 陕西多奇电子科技有限公司 | Mining sump liquid mud double-position monitoring system and monitoring method |
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Application publication date: 20200918 |