CN112906182A - Simulation platform and method for large-scale simulation of coal mine stope system and realization of intelligent control of stope surrounding rock in laboratory - Google Patents
Simulation platform and method for large-scale simulation of coal mine stope system and realization of intelligent control of stope surrounding rock in laboratory Download PDFInfo
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Abstract
The invention discloses a laboratory large-scale simulation coal mine stope system and a platform and a method for realizing intelligent control of stope surrounding rocks. The platform comprises an exploitation scanning vehicle, a liftable base, an experiment table and a control table, wherein the exploitation scanning vehicle comprises a miniature three-dimensional laser scanning camera and an exploitation drill bit; the experiment table comprises a group hydraulic support connected with a hydraulic piston, and the hydraulic piston is controlled by an operation table; three attitude sensors and two pressure sensors are installed on each hydraulic support. The method for realizing the intelligent control of the surrounding rock comprises the following steps: acquiring the position information of the bracket, the coal wall and the top plate through a scanning system of the scanning vehicle and a sensor on the bracket; constructing a database by processing the acquired data; training and optimizing the processed data by machine learning, and seeking the optimal state of the surrounding rock and the optimal parameters of the elements; dividing the elements into controllable and uncontrollable types, and adjusting the controllable elements in the mining process; and continuously monitoring and evaluating the adjusted surrounding rock state to realize the dynamic stability of the surrounding rock.
Description
Technical Field
The invention relates to the field of intelligent surrounding rock control of underground coal mine working faces, in particular to a platform for simulating a large-scale intelligent stope system and a method for realizing intelligent surrounding rock control of a stope.
Background
The decline of the coal industry in the energy resources of China is a long-term trend, but coal is still the main energy resource of China, and the coal industry of China has huge market volume and is still the national pillar industry. On the other hand, China is in the primary stage of intelligent mining of coal mines at present, and intelligent, unmanned and safe mining is also the future development direction of the industry. One of the cores of intelligent mining is to construct an intelligent working face, and compared with the rapid development of the intelligentization degree of a working face equipment group, as the surrounding rock system of a stope contains more elements, the data acquired from the actual working face shows sparse density, low effective value and insufficient monitoring force, mainly because the field monitoring difficulty is higher and the data acquisition is complex; in addition, data shows that perception monitoring is inaccurate, the data structure is complex but the relevance is strong, and the data acquired from specific time on most of the existing mine intelligent working faces cannot meet the requirement of real-time dynamic of surrounding rock systems of the working faces, mainly because the underground data transmission and processing technology is immature; on the other hand, for some surrounding rock environments, such as a top floor, the coal wall and even far-field rock layers which play an important role on the working face are far from reaching the visualization degree. All of the above disclosures reveal that under the existing technical conditions, the realization of the intelligent control of the surrounding rock system on the actual coal mine intelligent working face needs to be explored.
The intelligent control of surrounding rocks of a working face is realized by comprehensively and effectively monitoring various elements in a stope, such as a top floor, a coal wall and a support, and acquiring a large amount of effective data information; taking the obtained monitoring data as a basis, processing state information reflected by different elements by using different computer algorithms as an engine, and more importantly, performing machine learning and training by using the data to construct a relation model between each element in the surrounding rock system and the overall stability of the system; and finally, based on the obtained optimized model, inverting the optimal parameters of the controllable elements of the system, and performing self-control and self-adaptation on the corresponding system elements. And finally, the intelligent control on the stope surrounding rock can be realized.
On one hand, due to the restriction of the existing technical conditions, a complete set of technology for realizing the process cannot be achieved, and for example, an actual stope cannot easily acquire a large amount of monitoring data of elements influencing stope surrounding rocks, the data transmission processing is performed, and the model construction through an algorithm is national and complex; on the other hand, the existing working face is mined, intelligent surrounding rock control exploration is carried out on the working face, the period is slow, and a large amount of time cost needs to be wasted; meanwhile, the normal production of the working face is also influenced, and a large amount of money loss is caused.
Disclosure of Invention
In order to solve the technical problems, the invention provides a 'miniature' coal mine stope system constructed in a large scale in a laboratory, the complete process of 'realizing intelligent control of surrounding rocks of a working face' is carried out in the system, the stope system under the large scale of the laboratory has larger tolerance, so that the realization path for realizing intelligent control of the surrounding rocks of the stope can be searched more finely in shorter time and with lower cost, and relevant conclusions are applied to the actual coal mine working face site through a large amount of training and continuous perfection, thereby providing a practical and reliable operation experimental platform for the exploration of the intelligent control of the surrounding rocks of the working face of a coal mine.
In order to achieve the purpose, the invention provides the following scheme:
1. the invention provides an experiment platform capable of simulating an underground coal mine stope system in a laboratory in a large scale, which is characterized by comprising an experiment table, a left telescopic base, a right fixed base, an exploitation scanning vehicle, a remote control, a control console, an analysis table (computer) and the like. The experimental table comprises a bottom plate consisting of detachable plates, a pushing hydraulic cylinder, a group hydraulic support and a hydraulic support monitoring assembly from bottom to top, wherein a plurality of simulation layers are sequentially laid in the experimental table from bottom to top, the simulation layer at the lowest end is a coal bed, the pushing hydraulic cylinder is fixed on the left side of the experimental table, the pushing hydraulic cylinder is connected with the group hydraulic support, and the hydraulic support monitoring assembly is arranged on each support in the group hydraulic support; the mining scanning vehicle comprises a liftable laser scanning device and a mining device, the mining scanning vehicle is controlled and navigated by the remote control, and the laser scanning device is connected with the analysis table (computer); the control console comprises an opening button, a closing button, a support posture adjusting button and a hydraulic cylinder pushing button, and the control console is connected with the pushing hydraulic cylinder.
Preferably, laboratory bench box upper end opening includes the bottom plate, all around, controls the curb plate, the bottom plate includes a plurality of strip laths that a plurality of from left to right set gradually, strip blend stop both ends are respectively through the bolt fastening in two on the curb plate of front and back.
Preferably, the left end of the experiment table base can be lifted under the control of the control console, and the right end of the experiment table base is fixed.
Preferably, the hydraulic support monitoring assembly comprises 3 position sensors and 2 pressure sensors, the sensors being respectively located on each support of the group of hydraulic supports.
Preferably, the 3 position sensors are respectively top beam position sensors, are arranged at the lower end of a top beam of the hydraulic support, are bottom beam position sensors, are arranged at the upper end of a base of the hydraulic support, and are arranged on the inner side of a connecting rod of the hydraulic support; the 2 pressure sensors are respectively top beam and upright column pressure sensors, are arranged on the two upright columns, and are arranged on the shield beam hydraulic cylinder pressure sensor.
Preferably, the mining scanning car contains the mining device with laser scanning device, the mining device mainly includes the mining drill bit of liftable, laser scanning device mainly includes liftable laser scanning camera, laser scanning camera includes two cameras, can scan the state of monitoring coal wall and roof simultaneously, laser scanning device with the computer is connected, will scan image data transmission extremely on the computer.
Preferably, the present invention obtains a large amount of data related to the supports, the coal walls and the roof by establishing the positions of the elements of the stope system under the unified coordinate, the unified coordinate system takes one vertex of the experiment table as the origin of coordinates, and the directions of length, width and height are X, Y, Z axes respectively, and a mathematical coordinate system including the relative positions of the simulation layer, the group hydraulic supports, the mining scanning vehicle and the like can be described in a unified manner.
2. The invention provides a method for realizing intelligent control of stope surrounding rock by using the stope system experiment platform, which comprises the following steps:
s1, acquiring support resistance data, support posture data and support spatial position data by unifying support relative positions under a coordinate system through the hydraulic support sensing device; acquiring mining data through the setting of relevant parameters of a mining drill bit of the mining scanning vehicle and relevant physical and mathematical parameters of the mining vehicle running under a unified coordinate system under remote control; the scanning device of the mining scanning vehicle is connected with the computer to obtain the scanning images of the coal wall and the roof;
s2, respectively establishing a large support database comprising a support resistance database, a support posture database and a support position database by processing and analyzing the support resistance data, the support posture data and the support spatial position data in the step S1; building a dynamic image database of the coal wall and the top plate by splicing and processing the scanned images of the coal wall and the top plate in the step S1 through an image processor;
and S3, analyzing the stope element databases respectively established after processing, and respectively performing the following steps on the database of each stope element by using relevant steps of machine learning: 1) data preprocessing, 2) selection of a machine learning algorithm model, 3) training and testing, and 4) a model optimization process, wherein the optimal state of the stope surrounding rock and the optimal parameters of each element are searched under the coupling condition of each element model;
s4, the stope elements are respectively controllable and uncontrollable, and the stope elements specifically comprise controllable elements (support supporting force, working face length, coal cutting height, support pose, initial supporting force, propelling speed and the like), uncontrollable elements (roof pressure, coal wall caving, support rigidity, support unbalance loading and the like); based on the optimized model obtained in the S3 process, the optimal parameters of the controllable elements of the system are inverted, and the controllable elements of the stope system are controlled and adjusted, so that the self-control and self-adaptation of the system are realized;
and S5, dynamically analyzing and evaluating the adjusted surrounding rock state, namely repeating the processes of S3 and S4, so that the mining field surrounding rock is relatively stable under dynamic and uninterrupted conditions, and finally intelligent control over the mining field surrounding rock can be realized.
Compared with the prior art, the invention has the following technical effects:
the invention provides an experimental platform for simulating an underground coal mine stope system in a large scale in a laboratory, which comprises an experimental table, a left telescopic base, a right fixed base, an exploitation scanning vehicle, a remote control, a console, an analysis table (computer), a bracket monitoring sensing assembly, a laser scanning device and an exploitation drill bit, and aims at the problem that the traditional coal mine realizes that the control of surrounding rocks on a working face is mainly realized by corresponding operation through manual judgment or the control of the surrounding rocks by using a single means, the experimental platform and the provided intelligent surrounding rock control method of the stope can judge the state of the stope surrounding rocks through multi-source element information of a bracket, a coal wall and a top plate and optimize the modeling between the state of the surrounding rocks and sub-elements, intelligently adjusting the 'controllable elements' of the system to realize the dynamic intelligent control of the surrounding rock state of the stope; in addition, most of the existing methods related to coal mine realization of intelligent working face rock stratum control are concentrated on theoretical and assumed layers, and a 'path' for realizing intelligent rock stratum control is provided, but the 'path' is not implemented on an actual working face or a simulation platform. Therefore, the method can simulate a coal mine stope system and realize intelligent control of stope surrounding rocks, and data and experience obtained after a large number of experiments can provide theory and experience for the surrounding rock control of an actual intelligent working face.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic perspective view of a large-scale stope system platform for a simulation laboratory according to the present invention;
FIG. 2 is a schematic view of the pushing cylinder and the hydraulic support of the group of the present invention;
FIG. 3 is a schematic view of the hydraulic mount and mount sensing assembly of the present invention;
FIG. 4 is a schematic perspective view of a mining scanning vehicle according to the present invention;
FIG. 5 is a schematic view of a mining scanning remote control unit of the present invention;
fig. 6 is a flow chart for realizing intelligent surrounding rock control of a stope provided by the invention.
Description of reference numerals: 1. a left liftable base; 2. a right fixed base; 3. a strip-shaped bottom plate; 301. a first plate block on the mining side of the bottom plate; 302. a second plate on the mining side of the bottom plate; 303. a third plate on the mining side of the bottom plate; 4. unifying a coordinate system; 5. a pushing hydraulic cylinder; 6. a group hydraulic support; 61. the support can extend and retract the bottom plate; 62. a top beam pose sensor; 63. a base pose sensor; 64. a connecting rod pose sensor; 65. a shield beam hydraulic cylinder pressure sensor; 66. a strut pressure sensor; 7. mining the scanning vehicle; 71. mining a drill bit; 72. a three-dimensional laser scanning camera; 73. a mining scanning vehicle remote control device; 74. a start button; 75. a direction button; 8. an analysis desk computer; 9. a console; 10. the bottom end of the left (right) side can be disassembled; 11. simulating a coal seam; 12. simulating a direct roof rock stratum; 13. simulating a base roof rock formation; 14. simulating the rest overburden; 15. a strain gauge.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a method capable of simulating a coal mine stope system on a large scale and realizing intelligent control of stope surrounding rocks, so as to solve the existing problems, and overcome the defects that a coal mine traditionally depends on a manual or single means for controlling the stope surrounding rocks and only supposedly performs intelligent surrounding rock control on a top layer. A large-scale real simulation stope working system is designed, and intelligent surrounding rock control is finally realized through the attempt of various technical means on the large scale, so that the exploration is carried out for the intelligent surrounding rock control on the intelligent working face site. The method is beneficial to the construction of the intelligent working face of the coal mine in China and accelerates the intelligent process of coal mining.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, the present embodiment provides a platform of a laboratory large-scale simulation stope system, which includes a left liftable base 1, a right fixed base 2, a strip-shaped base block 3, a unified coordinate system 4, a pushing hydraulic cylinder 5, a group hydraulic support 6, a mining scanning vehicle 7, an analysis table computer 8, a console 9, wherein the left liftable base 1 can be lifted by loosening a bolt on a side surface and operating a lifting button on the console 9 to reach a target height and then fixing the bolt. The stope system simulating different inclination conditions is realized by matching the left lifting base 1 and the right fixing base 2.
As shown in fig. 1 and 2, the pushing hydraulic cylinder 5 is fixed on one side of the experiment table and connected to the group hydraulic supports 6, a retractable floor 61 is connected between each hydraulic cylinder and the hydraulic support, the pushing hydraulic cylinder 5 is connected to the console 9, and pushing of each hydraulic support and the group hydraulic supports can be realized by operating a pushing button on the console 9.
As shown in fig. 1 and 3, each of the hydraulic supports 6 in the group includes 3 position posture monitoring sensors, specifically, a top beam posture sensor 62 installed below the top beam of the support for sensing and monitoring the posture of the top beam, a base posture sensor 63 installed on the base of the support for sensing and monitoring the posture of the base, a connecting rod posture sensor 64 installed in the connecting rod between the shield beam and the base for monitoring and sensing the posture of the connecting rod; the hydraulic shield beam hydraulic shield system comprises 2 pressure sensors, specifically, a pressure sensor 65 arranged on a hydraulic cylinder of a shield beam and used for monitoring and sensing the pressure of the hydraulic cylinder of the shield beam, and a pressure sensor arranged on a hydraulic strut and used for monitoring and sensing the pressure of the hydraulic strut. Acquiring a large amount of real-time support pressure and posture data through the hydraulic support monitoring and sensing device; position data of the support is obtained by the relative position change of the support under the unified coordinate system 4.
Specifically, the experimental platform box body is of an upper end opening structure, a plurality of simulation layers are respectively paved from the bottom to the top, the simulation layer at the lowest end is a coal seam 11, the pushing hydraulic cylinder 5 and the group hydraulic support 6 support the coal seam and a top plate along with coal seam mining, the simulation layer at the top is a simulation direct roof 12, a simulation basic roof 13 and other simulation layers 14, specifically, the simulated coal seam 11 is made of sand, lime, gypsum, black ink and water with different proportions according to the conditions of the on-site coal seam, respectively manufacturing a simulation direct roof 12, a simulation basic roof 13 and an overlying other rock stratum 14 by using sand, lime, gypsum and water with different proportions, then sequentially laying, laying strain gauges 15 between layers, the thickness and the strength of the top plate layer can be set according to the field condition by laying, and the strain gauge 15 can obtain the caving step and the position information of the top plate along with the reaction of the top plate fracture.
As shown in fig. 4 and 5, the mining scanning vehicle 7 includes a mining drill bit 71 and a laser scanning camera 72, the mining drill bit 71 is lifted, the mining drill bit 71 is started when the coal seam mining needs to be simulated, the mining drill bit is lifted to start mining the simulated coal seam, the laser scanning camera 72 starts to lift and scan the coal wall and roof in the mining process, the mining scanning vehicle is controlled and navigated by a scanning vehicle remote control device 73, and the remote control device 73 includes a start button and a direction button and respectively controls the start of the mining drill bit 71 and the scanning camera 72 and the running of the mining scanning vehicle 7.
The specific working process is as follows: (1) fixing the experiment table bases 1 and 2 and the experiment table (at the moment, a strip-shaped bottom plate 3 at the bottom of the experiment table and a detachable plate 10 at the left (right) end are both installed), and lifting the left end base 1 to a proper position according to requirements;
(2) paving simulation materials (the lowest end is a coal bed 10, an immediate roof 11, a basic roof 12 and an overlying rest rock stratum 13 are simulated in sequence) in a laboratory bench according to mine conditions and similar ratios, and manually manufacturing a small number of cracks in the coal rock stratum randomly during paving the materials for monitoring and scanning in the experiments to be described later;
(3) placing the mining scanning vehicle 7 at the bottom of the experiment table;
(4) and simulating the coal seam mining process. The specific operation is as follows: the first block 301 on the bottom mining side is picked off, the mining scanning vehicle 7 is operated by the scanning vehicle remote control device 73, the mining drill bit 71 is lifted, the coal cutting process is started, and the laser scanning device 72 of the scanning vehicle is operated to lift to start scanning the conditions of the coal wall and the top plate along with the progress of the mining process; at the moment, the plate 10 at the lower part of the left (right) end of the experiment table is taken down, and the hydraulic supports 6 which can be operated to move are sequentially installed along with the advancing of mining until the coal bed in the range of the first plate at the bottom is mined (all the hydraulic supports are also installed at the moment);
(5) the second block 302 at the bottom is picked off, the mining scanning vehicle 7 is operated to turn around, the coal of the second block part is cut from the negative direction of the y axis under the unified coordinate system 4 to the positive direction, and meanwhile, the scanning device 72 is operated to continuously monitor the conditions of the coal wall and the top plate; with the development of the mining, the hydraulic supports 6 are sequentially moved on the operation console 9, and the analysis desk computer 8 continuously receives the spatial positions of the hydraulic supports under the unified coordinate system 4, the sensing data of the sensing devices 62-65 on the hydraulic supports and the coal wall and roof images continuously scanned by the laser scanning device 72;
(6) continuously processing and analyzing (machine learning and training) by a computer of an exploitation analysis table of the coal seam according to various received data, constructing a stope surrounding rock stability relation model, inverting the optimal parameters of the controllable elements of the system based on the obtained optimal model, and correspondingly adjusting the controllable elements through a console; continuously monitoring the states of the adjusted coal wall and the adjusted top plate; the process of realizing the cycle of 'scanning monitoring-model construction-optimization model-adjustment-scanning monitoring' is carried out continuously, and the process of realizing the intelligent surrounding rock control of a stope is shown in figure 6;
(7) after the third plate 303, repeating the processes (5 and 6) in sequence until the coal seam is mined;
(8) the evaluation analysis of the whole mining process is carried out according to the big data obtained by the analysis desk computer 8, the experience is summarized, and reference is provided for the intelligent surrounding rock control of the working face of the actual stope;
(9) if the mining behavior of the inclined coal seam is to be simulated, the mining behavior can be realized by adjusting the lifting position of the left end base 1 and repeating the process.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (9)
1. The utility model provides an experiment platform that can be in big-scale simulation underground coal mine stope system in laboratory which characterized in that includes parts such as laboratory bench, left scalable base, right unable adjustment base, exploitation scanning truck, remote control, operation panel, analysis bench (computer). The experimental table comprises a bottom plate consisting of detachable plates, a pushing hydraulic cylinder, a group hydraulic support and a hydraulic support monitoring assembly from bottom to top, wherein a plurality of simulation layers are sequentially laid in the experimental table from bottom to top, the simulation layer at the lowest end is a coal bed, the pushing hydraulic cylinder is fixed on the left side of the experimental table, the pushing hydraulic cylinder is connected with the group hydraulic support, and the hydraulic support monitoring assembly is arranged on each support in the group hydraulic support; the mining scanning vehicle comprises a liftable laser scanning device and a mining device, the mining scanning vehicle is controlled and navigated by the remote control, and the laser scanning device is connected with the analysis table (computer); the control console comprises an opening button, a closing button, a support posture adjusting button and a hydraulic cylinder pushing button, and the control console is connected with the pushing hydraulic cylinder.
2. The experimental platform capable of simulating the underground coal mine stope system in the laboratory in a large scale according to claim 1, wherein the upper end of the experimental platform box body is open and comprises a bottom plate, a front side plate, a rear side plate, a left side plate and a right side plate, the bottom plate comprises a plurality of strip-shaped battens which are sequentially arranged from left to right, and two ends of each strip-shaped barrier are respectively fixed on the front side plate and the rear side plate through bolts.
3. The experimental platform capable of large-scale simulation of an underground coal mine stope system in a laboratory according to claim 1, wherein the left end of the experimental platform base can be lifted under the control of the control console, and the right end of the experimental platform base is fixed.
4. The laboratory platform capable of large scale laboratory simulation of an underground coal mine stope system according to claim 1, wherein the sensory monitoring data comprises: support data (1, pose data and pressure data obtained through a sensing device on the support, 2, support moving data obtained through derivation of the spatial position change of the support in a unified coordinate system); laser scanning images of the coal wall (the distribution of the fractures can be obtained by analyzing the processed images); the data for the top plate (1. the thickness and strength of the layers can be set by itself during laying; 2. the laser scanning image of the top plate; 3. the step of collapsing the top plate can be reflected by the strain gauge placed between the layers).
5. The laboratory platform of claim 1, wherein said hydraulic support monitoring assembly comprises 3 attitude sensors and 2 pressure sensors, one sensor being located on each support of said group of hydraulic supports.
6. The experimental platform capable of large-scale simulation of an underground coal mine stope system in a laboratory according to claim 4, wherein the 3 attitude sensors are respectively a top beam attitude sensor installed at the lower end of a top beam of the hydraulic support, a bottom beam attitude sensor installed at the upper end of a base of the hydraulic support, and a connecting rod attitude sensor installed at the inner side of a connecting rod of the hydraulic support; the 2 pressure sensors are respectively top beam and upright column pressure sensors, are arranged on the two upright columns, and are arranged on the shield beam hydraulic cylinder pressure sensor.
7. The experimental platform capable of simulating an underground coal mine stope system in a laboratory in a large scale according to claim 1, wherein the mining scanning vehicle comprises the mining device and the laser scanning device, the mining device mainly comprises a liftable mining drill bit, the laser scanning device mainly comprises a liftable laser scanning camera, the laser scanning camera comprises two cameras, the state of a coal wall and a roof can be scanned and monitored simultaneously, and the laser scanning device is connected with the computer and transmits scanning image data to the computer.
8. The experimental platform capable of simulating an underground coal mine stope system in a laboratory in a large scale according to claim 1, wherein a large amount of data related to supports, coal walls and roofs is obtained by establishing the positions of all elements of the stope system under the unified coordinate system, the unified coordinate system takes one vertex of the experimental platform as the coordinate origin, and the directions of length, width and height are X, Y, Z axes respectively, so that a mathematical coordinate system comprising the relative positions of the simulation layer, the group hydraulic supports, the mining scanning vehicle and the like can be described in a unified manner.
9. The experimental platform for simulating the underground coal mine stope system in a large scale in a laboratory according to claim 1, and the method for realizing intelligent control of stope surrounding rocks is characterized by comprising the following steps:
s1, acquiring support resistance data, support posture data and support spatial position data by unifying support relative positions under a coordinate system through the hydraulic support sensing device; acquiring mining data through the setting of relevant parameters of a mining drill bit of the mining scanning vehicle and relevant physical and mathematical parameters of the mining vehicle running under a unified coordinate system under remote control; the scanning device of the mining scanning vehicle is connected with the computer to obtain the scanning images of the coal wall and the roof;
s2, respectively establishing a large support database comprising a support resistance database, a support posture database and a support position database by processing and analyzing the support resistance data, the support posture data and the support spatial position data in the step S1; building a dynamic image database of the coal wall and the top plate by splicing and processing the scanned images of the coal wall and the top plate in the step S1 through an image processor;
and S3, analyzing the stope element databases respectively established after processing, and respectively performing the following steps on the database of each stope element by using relevant steps of machine learning: 1) data preprocessing, 2) selection of a machine learning algorithm model, 3) training and testing, and 4) a model optimization process, wherein the optimal state of the stope surrounding rock and the optimal parameters of each element are searched under the coupling condition of each element model;
s4, the stope elements are respectively controllable and uncontrollable, and the stope elements specifically comprise controllable elements (support supporting force, working face length, coal cutting height, support pose, initial supporting force, propelling speed and the like), uncontrollable elements (roof pressure, coal wall caving, support rigidity, support unbalance loading and the like); based on the optimized model obtained in the S3 process, the optimal parameters of the controllable elements of the system are inverted, and the controllable elements of the stope system are controlled and adjusted, so that the self-control and self-adaptation of the system are realized;
and S5, dynamically analyzing and evaluating the adjusted surrounding rock state, namely repeating the processes of S3 and S4, so that the mining field surrounding rock is relatively stable under dynamic and uninterrupted conditions, and finally intelligent control over the mining field surrounding rock can be realized.
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