CN115574774A - Unmanned ship-based amphibious integrated rock movement observation method - Google Patents

Abstract

Aiming at the problem that the deformation monitoring of the mining subsidence area containing the water body is difficult to carry out, the invention designs an amphibious integrated rock movement observation method based on an unmanned ship, and carries out rock movement observation on the mining subsidence area containing the water body; the three-dimensional laser scanning technology, the GNSS technology, the inertial navigation technology, the depth finder and other technologies are used for carrying out water and land integrated measurement through the unmanned ship, and the accuracy of an overlapped area is checked between an integrated measurement result and traditional measurement data, so that the accuracy of the integrated measurement is ensured; the invention not only can effectively monitor the mining subsidence ponding area, but also can be combined with the onshore monitoring result, thereby ensuring the integrity of the rock migration observation line and providing powerful technical support for the subsequent mining and settlement monitoring work of the mining area.

Description

Unmanned ship-based amphibious integrated rock movement observation method

Technical Field

The invention relates to the field of multi-source measurement data fusion and rock movement observation, in particular to an unmanned ship-based water and land integrated rock movement observation method.

Background

Coal is the conventional energy with the largest reserves and the widest distribution in the world and is also an important strategic resource. However, disasters such as ground subsidence, road cracks, mountain collapse and the like sometimes occur along with excessive mining in a mining area. Therefore, timely deformation monitoring of the mining area is an important project. Particularly, in mining areas with high diving positions, underground water seepage, cultivated land destruction and house rupture are often caused, huge economic loss is brought to coal cities, negative effects are brought to local ecological environments, and the safety of lives and property of people can be threatened in serious cases. In mining subsidence areas containing water bodies, due to the fact that a large amount of water is contained, the traditional method for establishing a surface observation station cannot be carried out, and personnel and property safety in mining areas face great threats all the time.

At present, a traditional rock migration observation method is adopted under the condition that a mining subsidence area containing a water body is large, the traditional method cannot observe across the water body, and the settlement in the water body range is usually selected to give up observation, so that rock migration observation data are lost. When a mining subsidence area contains a large area of water, the water is usually monitored by remote sensing images, so that the subsidence deformation is monitored, but the method cannot be used for researching the subsidence change of the underwater terrain through the water, the method cannot be fused with the monitoring data on the land, and the accuracy of the data is difficult to guarantee.

Disclosure of Invention

Aiming at the defects of the prior art, the invention designs an unmanned ship-based amphibious integrated rock movement observation method.

An amphibious integrated rock movement observation method based on an unmanned ship comprises the following steps:

step 1: according to the rock movement parameters of the mined coal face or the rock movement parameters of the face with similar mining data, the surface movement observation design of the survey area is carried out by combining the mining data of the face, a trend observation line and a trend observation line are determined, and the observation lines are ensured to be on a main rock movement section; drawing an observation line section diagram according to the trend observation line and the tendency observation line; the mining data comprise mining depth, strike length, inclined length, loose layer thickness and geological structure;

the trend observation line is located in the main section of the rock movement, wherein the distance D1 from the trend observation line SN to the open-hole cutting of the working face is as follows:

D ₁ ≥(H ₀ -h)cot(δ-Δδ)+hcotφ

in the formula, delta is a moving angle of the trend; delta is a strike travel angle correction value; h is the thickness of the loose layer; h ₀ Average mining depth; phi is the moving angle of the loose layer;

wherein, the length of the trend observation line SN is calculated according to the following formula:

SN＝2hcotφ+2(H ₀ -h)×cot(δ-Δδ)+l

in the formula, h is the thickness of a loose layer; h ₀ Average mining depth; l is the working face strike length, and delta is the strike moving angle; delta is a strike travel angle correction value; phi is the moving angle of the loose layer;

the length of the inclination observation line is determined on the main section of the inclination of the mobile basin; the goaf center is deviated to the downward direction by a distance d, namely:

d＝H ₀ cotθ

in the formula, H ₀ Average mining depth; theta is the maximum sinking angle;

thus, the trend observation line EW length is:

EW＝2hcotφ+(H ₁ -h)cot(β-Δβ)+(H ₂ -h)cot(γ-Δγ)+L ₁ cosα

in the formula, L ₁ The length of the working face; h is the thickness of the loose layer; beta and delta beta are the downhill moving angle and the corrected value thereof; gamma, delta gamma is the moving angle of the ascending mountain and the corrected value thereof; alpha is the coal bed inclination angle; phi is the moving angle of the loose layer; h ₁ ，H ₂ The mining depths of the lower boundary and the upper boundary of the mining area are set;

and 2, step: determining a subsidence influence range according to the trend and the inclination observation length calculated in the step 1, establishing a measurement control network outside the mining subsidence range, determining the coordinate and the elevation of a control point, and completing static measurement and level continuous measurement; setting out a pattern by adopting a GNSS receiver, and laying designed observation lines to finish the stone burying work of daily observation working points on the observation lines, wherein the working points are only laid to a water body;

and 3, step 3: after the working point on the observation line is stable, the RTK is not continuously sunk, and the RTK is dynamically measured for the first time; meanwhile, an unmanned ship is adopted to measure land and underwater topography around the water body; the unmanned ship carries a plurality of high-precision sensors such as a GNSS (global navigation satellite system), a multi-beam bathymeter, a three-dimensional laser scanner and high-precision inertial navigation, and acquires the land and underwater monitoring data around the water body;

and 4, step 4: carrying out interpolation fitting on underwater data acquired by the unmanned ship to generate an underwater DEM model; carrying out interpolation processing on three-dimensional laser scanning data obtained by a three-dimensional laser scanner to generate a land DEM model; splicing the land and underwater DEM models to generate a complete land and water surface DEM model, and performing precision verification on the land and water surface DEM model by using the data measured by the RTK in the step 3; if the precision meets the engineering requirements, complete one-time rock movement observation and measurement is completed;

and 5: processing the observed numerical value to obtain a subsidence numerical value and analyzing; the subsidence value consists of two parts, namely an RTK subsidence value and an underwater land DEM subsidence value; acquiring subsidence values for multiple times to obtain final detection area subsidence monitoring data; the observation values are data of the land and water surface DEM model and RTK measurement;

and (3) analyzing and calculating RTK subsidence data:

importing RTK (real time kinematic) subsidence data into an Excel table, supposing that n-phase data are measured, and subtracting the data close to 2 phases to obtain a subsidence value in a period; the data of the 1 st stage and the data of the last 1 st stage are subjected to difference calculation to obtain an accumulated subsidence value;

and (3) analyzing and calculating DEM settlement values:

the DEM subsidence value is a multi-stage digital elevation model made of three-dimensional laser scanning data and underwater depth sounder data, grid superposition processing is carried out, and grid data operation is carried out by utilizing ArcGIS to obtain a subsidence value of a mountain top or other DEM extraction areas; in grid superposition, each grid of each layer has a pixel value, and the grids with set widths are subtracted to obtain the change of each grid unit in a specific time;

performing multi-period observation according to the mining progress of a working face, and performing calculation analysis on the obtained multi-period data, wherein the processing mode of the working point data on an observation line is the same as that of the traditional rock movement observation data; and performing superposition analysis on the land and water DEM acquired in multiple periods, comparing and analyzing the settlement value with that of the land RTK measuring area, and if the precision is met, acquiring settlement monitoring data of the measuring area, so that powerful technical support can be provided for subsequent mining and settlement monitoring work of the mining area.

The invention has the beneficial technical effects that:

the traditional monitoring method (such as a level gauge and a GPS) cannot measure water bodies, and technologies such as airborne LiDAR and InSAR cannot acquire underwater data. An individual underwater depth finder cannot combine underwater data with land data, and accuracy is difficult to ensure without data overlapping. The invention combines the underwater data with the land data, completes the land and water integrated monitoring and solves the deformation monitoring problem of the mining subsidence area of the mining area including the water body.

Drawings

FIG. 1 is a flow chart of an unmanned ship-based amphibious integrated rock movement observation method;

FIG. 2 is a schematic diagram of a theoretical observation line design according to the present invention;

FIG. 3 is a sectional view of a strike sight line of the present invention;

FIG. 4 is a cross-sectional view of a slanted viewing line of the present invention;

FIG. 5 is a plot of the line of sight layout of the downhole map of the present invention;

FIG. 6 is underwater data acquired by the depth finder of the present invention;

FIG. 7 is land data acquired by a three-dimensional laser scanner according to the present invention;

FIG. 8 is an underwater DEM model of the present invention;

FIG. 9 is a land DEM model of the present invention;

FIG. 10 is a theoretical diagram of an overlay analysis according to the present invention;

FIG. 11 is a comparison graph of the sinking values of the strike overlapping points according to the present invention;

FIG. 12 is a graph comparing the values of the dip of the inclined overlapped points according to the present invention.

Detailed Description

The invention is further explained below with reference to the figures and examples;

taking a certain mining face 1106 as an example, because the mining face is provided with the measurement control network, the mining face 1106 is not required to be re-arranged, and the rock movement observation design of the mining face 1106 is carried out according to the rock movement parameters of the mining face 1101 which is close to the mining face, and the technical scheme is shown in fig. 1.

The observation lines designed by the ground rock movement observation station are divided into a trend observation line (SN line) and an inclined observation line (EW line), and the observation lines are designed as a schematic diagram in figure 2. The direction observation line is along the mining width direction of the working face, the direction is the positive east-west direction, and the direction of the direction observation line is the positive north-south direction. As shown in fig. 1, the observation station according to the migration parameters to be adopted is designed as follows:

step 1: according to the rock movement parameters of the mined coal face or the rock movement parameters of the face with similar mining data, the surface movement observation design of the survey area is carried out by combining the mining data of the face, the trend observation line and the inclination observation line are determined, and the observation line is ensured to be on the main rock movement section; drawing an observation line section diagram according to the trend observation line and the tendency observation line; the mining data comprise mining depth, strike length, inclined length, loose layer thickness and geological structure;

the direction observation line is positioned in the direction main section, and the angle sum of (delta-delta) for the eye is automatically cut on the direction main section diagram

The line is drawn to the surface at the point O along the advancing direction of the working face, and the trend line must exceed the position of the point E in the advancing direction of the working face. 1 trend observation line is arranged in the observation station, wherein the observation line SN reaches the incision distance D ₁ The method comprises the following steps:

in the formula, the delta-trend moves the angle; a delta-strike travel angle correction value; h-the thickness of the loose layer; h ₀ -depth of cut;

loose layer movement angle.

Therefore, the distance of the inclined observation line position from the stope line should be greater than 398m.

The specific method for setting the trend observation line comprises the following steps: advancing from the cutting hole to the working face, drawing a line with an angle value (delta-delta) to intersect with the intersection surface of the bedrock and the unconsolidated formation at a point, and drawing the line with the intersection point to form a working face

The angle marking line intersects with the earth surface at a point D; the point D is a point not affected by the neighboring mining. At the stopping line of the working face, the line drawn to the outside of the working face by an angle (delta-delta) is intersected with the interface of the bedrock and the unconsolidated formation at a point, and then the line is used from the intersection

The angle marking line intersects the earth surface at a point F; as shown in fig. 3, the length of the trend observation line SN is calculated as follows:

in the formula, h is the thickness of a loose layer; h ₀ Average mining depth; l is the working face strike length, and delta is the strike movement angle; delta is a trend movement angle correction value; phi is the moving angle of the loose layer;

design of an inclined observation line (EW line);

and determining the maximum subsidence point of the earth surface on the main section of the trend according to the maximum subsidence value, making section lines along the trend of the ore body through the maximum subsidence point, obtaining the plane position of the inclined observation line, and determining the boundary point of the mining influence range according to the movement angle value. And the surface rock movement observation station of the working surface is provided with a trend observation line EW along the inclination.

The length of the dip observation is determined on the dip main section of the mobile basin. The method comprises the following specific steps: the upper and lower boundaries of the self-mining area are respectively crossed with bedrock and unconsolidated formation by (gamma-delta gamma) and (beta-delta beta) lineation lines, and then crossed with the bedrock and unconsolidated formation by the crossing point

The angle line intersects the earth surface at points A and B, and AB is the working length of the inclined observation line, as shown in FIG. 4.

The observation line EW position is calculated as:

the goaf center is deviated to the downward direction by a distance d, namely:

d＝H ₀ cotθ＝38.5m

the trend observation line is arranged at the position which is deviated by 38.5m downwards from the center of the working surface.

The length of the trend observation line EW is calculated as follows:

in the formula, L ₁ The length of the working face; h is the thickness of the loose layer; beta and delta beta are the downhill moving angle and the corrected value thereof; gamma, delta gamma is the moving angle of the ascending mountain and the corrected value thereof; alpha is the coal bed inclination angle; phi is the moving angle of the loose layer; h ₁ ，H ₂ For exploiting lower and upper boundaries of a panelCollecting depth;

step 2: determining a subsidence influence range according to the trend and the inclination observation length calculated in the step 1, establishing a measurement control network outside the mining subsidence range, determining the coordinate and the elevation of a control point, and completing static measurement and level continuous measurement; adopting a GNSS receiver to perform lofting, and laying the designed observation line to complete stone burying work of daily observation working points on the observation line, wherein the working points are only laid to a water body; as shown in fig. 5.

And 3, step 3: after the working point on the observation line is stable, the working point does not sink continuously (generally, the working point is stable after 15 days), and RTK is dynamically measured for the first time; meanwhile, an unmanned ship is adopted to measure land and underwater topography around the water body; the unmanned ship carries a plurality of high-precision sensors integrating GNSS, a multi-beam depth finder, a three-dimensional laser scanner and high-precision inertial navigation to complete acquisition of land and underwater monitoring data around a water body; the acquired underwater data is shown in fig. 6, and the acquired land data is shown in fig. 7.

And 4, step 4: performing interpolation fitting on underwater data acquired by the unmanned ship to generate an underwater DEM model, as shown in FIG. 8; interpolating three-dimensional laser scanning data obtained by the three-dimensional laser scanner to generate a land DEM model, as shown in FIG. 9; splicing the land DEM model and the underwater DEM model to generate a complete land and water surface DEM model, and performing precision verification on the land and water surface DEM model by using the data measured by the RTK in the step 3; if the precision meets the engineering requirements, completing complete one-time rock movement observation measurement;

and 5: processing the observed numerical value to obtain a subsidence numerical value and analyzing; the subsidence value consists of two parts, namely an RTK subsidence value and an underwater land DEM subsidence value; acquiring a subsidence value for multiple times to obtain final detection area subsidence monitoring data; the observation values are data of an amphibious earth surface DEM model and RTK measurement;

and (3) analyzing and calculating RTK subsidence data:

importing RTK (real time kinematic) subsidence data into an Excel table, supposing that n-phase data are measured, and solving the difference of the data close to 2 phases to obtain a cycle subsidence value; the data of the 1 st stage and the data of the last 1 st stage are subjected to difference calculation to obtain an accumulated subsidence value;

and (3) analyzing and calculating DEM (digital elevation model) settlement values:

the DEM subsidence value is a multi-stage digital elevation model made of three-dimensional laser scanning data and underwater depth sounder data, grid superposition processing is carried out, and grid data operation is carried out by utilizing ArcGIS to obtain a subsidence value of a mountain top or other DEM extraction areas; in the grid superposition, each grid of each layer has a pixel value, and the grids with set widths are subtracted to obtain the change of each grid unit in a specific time; the principle is shown in fig. 10.

Performing multi-stage observation according to the mining progress of the working face, and performing calculation analysis on the obtained multi-stage data, wherein the processing mode of the working point data on the observation line is the same as that of the traditional rock movement observation data; and performing superposition analysis on the land and water DEM acquired in multiple periods, comparing and analyzing the settlement value with that of the land RTK measuring area, and if the precision is met, acquiring settlement monitoring data of the measuring area, so that powerful technical support can be provided for subsequent mining and settlement monitoring work of the mining area.

Because the land data range obtained by the three-dimensional laser scanning system carried by the unmanned ship is limited, the traditional RTK working point monitoring is still carried out on land, the two data have partial overlapping areas and can be used for carrying out precision verification, and the subsidence value of the working point is compared with the subsidence value extracted by the DEM. This time, there were 47 overlapping points with 31 strike, strike sinkage comparisons as shown in fig. 11, 16 dip, and strike sinkage comparisons as shown in fig. 12. The error value is less than 38 points in total of 15cm, and general engineering requirements are met.

Claims (3)

1. An amphibious integrated rock-moving observation method based on an unmanned ship is characterized by comprising the following steps:

step 1: according to the rock movement parameters of the mined coal face or the rock movement parameters of the face with similar mining data, the surface movement observation design of the survey area is carried out by combining the mining data of the face, a trend observation line and a trend observation line are determined, and the observation lines are ensured to be on a main rock movement section; drawing an observation line section diagram according to the trend observation line and the tendency observation line; the mining data comprise mining depth, strike length, inclined length, loose layer thickness and geological structure;

step 2: determining a subsidence influence range according to the trend and the inclination observation length calculated in the step 1, establishing a measurement control network outside the mining subsidence range, determining the coordinate and the elevation of a control point, and completing static measurement and level continuous measurement; setting out a pattern by adopting a GNSS receiver, and laying designed observation lines to finish the stone burying work of daily observation working points on the observation lines, wherein the working points are only laid to a water body;

and step 3: after the working point on the observation line is stable, the working point does not sink continuously, and RTK is dynamically measured for the first time; meanwhile, an unmanned ship is adopted to measure land and underwater topography around the water body; the unmanned ship carries a plurality of high-precision sensors such as a GNSS (global navigation satellite system), a multi-beam bathymeter, a three-dimensional laser scanner and high-precision inertial navigation, and acquires the land and underwater monitoring data around the water body;

and 4, step 4: carrying out interpolation fitting on underwater data acquired by the unmanned ship to generate an underwater DEM model; carrying out interpolation processing on three-dimensional laser scanning data obtained by a three-dimensional laser scanner to generate a land DEM model; splicing the land and underwater DEM models to generate a complete land and water surface DEM model, and performing precision verification on the land and water surface DEM model by using the data measured by the RTK in the step 3; if the precision meets the engineering requirements, completing complete one-time rock movement observation measurement;

and 5: processing the observed numerical value to obtain a subsidence numerical value and analyzing; the subsidence value consists of two parts, namely an RTK subsidence value and an underwater land DEM subsidence value; acquiring a subsidence value for multiple times to obtain final detection area subsidence monitoring data; the observation values are data of the land and water surface DEM model and RTK measurement.

2. The unmanned ship based amphibious integrated rock-motion observation method according to claim 1, wherein the step 1 specifically comprises:

the trend observation line is located in the main section of the rock movement, wherein the distance D1 from the trend observation line SN to the open-hole cutting of the working face is as follows:

D ₁ ≥(H ₀ -h)cot(δ-Δδ)+hcotφ

in the formula, delta is a moving angle of the trend; delta is a strike travel angle correction value; h is the thickness of the loose layer; h ₀ Average mining depth; phi is the moving angle of the loose layer;

wherein, the length of the trend observation line SN is calculated according to the following formula:

SN＝2hcotφ+2(H ₀ -h)×cot(δ-Δδ)+l

in the formula, h is the thickness of a loose layer; h ₀ Average mining depth; l is the working face strike length, and delta is the strike moving angle; delta is a strike travel angle correction value; phi is the moving angle of the loose layer;

the length of the inclination observation line is determined on the main section of the inclination of the mobile basin; the goaf center is deviated to the downward direction by a distance d, namely:

d＝H ₀ cotθ

in the formula, H ₀ Average mining depth; theta is the maximum sinking angle;

thus, the trend observation line EW length is:

EW＝2hcotφ+(H ₁ -h)cot(β-Δβ)+(H ₂ -h)cot(γ-Δγ)+L ₁ cosα

in the formula, L ₁ The length of the working face; h is the thickness of the loose layer; beta and delta beta are the downhill moving angle and the corrected value thereof; gamma, delta gamma is the upward mountain movement angle and the corrected value thereof; alpha is the coal bed inclination angle; phi is the moving angle of the loose layer; h ₁ ，H ₂ The mining depths of the lower boundary and the upper boundary of the mining area.

3. The unmanned ship based amphibious integrated rock-motion observation method according to claim 1, wherein the step 3 specifically comprises:

and (3) analyzing and calculating RTK subsidence data:

importing RTK (real time kinematic) subsidence data into an Excel table, supposing that n-phase data are measured, and solving the difference of the data close to 2 phases to obtain a cycle subsidence value; the data of the 1 st stage and the data of the last 1 st stage are subtracted to obtain an accumulated subsidence value;

and (3) analyzing and calculating DEM settlement values:

the DEM subsidence value is a multi-stage digital elevation model made of three-dimensional laser scanning data and underwater depth sounder data, grid superposition processing is carried out, and grid data operation is carried out by utilizing ArcGIS to obtain a subsidence value of a mountain top or other DEM extraction areas; in grid superposition, each grid of each layer has a pixel value, and the grids with set widths are subtracted to obtain the change of each grid unit in a specific time;

performing multi-period observation according to the mining progress of a working face, and performing calculation analysis on the obtained multi-period data, wherein the processing mode of the working point data on an observation line is the same as that of the traditional rock movement observation data; and performing superposition analysis on the land and water DEM acquired in multiple periods, comparing and analyzing the settlement value with that of the land RTK measuring area, and if the precision is met, acquiring settlement monitoring data of the measuring area, so that powerful technical support can be provided for subsequent mining and settlement monitoring work of the mining area.

Images