CN116954139B - Automatic filling data prediction control system for mine - Google Patents
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- 238000005056 compaction Methods 0.000 claims abstract description 33
- 238000012545 processing Methods 0.000 claims abstract description 27
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 239000002689 soil Substances 0.000 claims abstract description 16
- 238000004458 analytical method Methods 0.000 claims abstract description 9
- 238000003825 pressing Methods 0.000 claims abstract description 7
- 239000000945 filler Substances 0.000 claims description 88
- 238000012856 packing Methods 0.000 claims description 62
- 238000010276 construction Methods 0.000 claims description 21
- 238000000034 method Methods 0.000 claims description 21
- 239000000463 material Substances 0.000 claims description 20
- 238000012544 monitoring process Methods 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 12
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 5
- 238000002360 preparation method Methods 0.000 claims description 4
- 238000012935 Averaging Methods 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 3
- 230000000717 retained effect Effects 0.000 claims description 3
- 238000009499 grossing Methods 0.000 claims description 2
- 238000010223 real-time analysis Methods 0.000 abstract description 8
- 230000009471 action Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 241000269793 Cryothenia peninsulae Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Abstract
The invention discloses an automatic filling data prediction control system for mines, which comprises a central processing module, a soil pressing machine set and a feeding machine set, and further comprises the following components: the invention relates to the technical field of mine backfill data predictive control, in particular to a filling working condition detection unit, a pit meteorological data real-time updating module, a data predictive analysis unit and an operation period predictive analysis unit. According to the automatic filling data prediction control system for the mine, the purposes of rapidly and efficiently carrying out pit filling operation can be well achieved by adopting real-time analysis on the filling height data and the compactness data of each filling point position and predicting the corresponding feeding amount and the compaction operation time of each filling point position paved next time before the last feeding paving is finished, time and labor are saved, and the accurate control of the feeding amount and the compaction time of each time can be ensured, so that the control of the pit filling operation by people is greatly facilitated.
Description
Technical Field
The invention relates to the technical field of mine backfill data predictive control, in particular to an automatic mine backfill data predictive control system.
Background
At present, when filling operation is carried out on a pit, in order to ensure the compactness and the flatness of filled materials, batch-to-batch repeated feeding, paving and compacting operation is generally needed, a plurality of filling point positions are arranged in the pit, and each time, the rotary platform of the feeding equipment is controlled to rotate to the corresponding filling point positions for feeding through the control system, and then the control system is used for controlling the compaction equipment to carry out bulldoze and compaction treatment, so that the filling operation on the pit can be completed.
The existing pit filling control system has the following defects:
because the filling area in the pit is larger, it is relatively difficult to ensure that the filling materials at each position in the whole pit are uniform and the compactness reaches the standard, the filling material height and compactness detection equipment is arranged at each filling material point to detect the condition of filling materials each time, but the detection result can be obtained after each time of feeding and compacting, the rotary platform of the feeding equipment is started again to be turned to the corresponding filling material point for filling materials after the analysis is finished, thus time and labor are wasted, the material quantity and compacting time of each feeding are controlled inaccurately, the filling materials can be finished only by a long period of time, the corresponding feeding quantity and compacting time of each filling material point can not be predicted by adopting real-time analysis of the filling material height data and the compactness data of each filling material point before the last feeding and paving are finished, the aim of carrying out the filling operation of the pit next time can not be achieved, and great inconvenience is brought to the control of the filling operation of the pit for people.
The existing pit filling construction period has large change, cannot be analyzed and predicted in real time according to the working condition and weather meteorological conditions, and cannot achieve the purpose that monitoring staff can acquire updated predicted construction period conditions in the first time, so that the material preparation and work arrangement for staff are quite unfavorable.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an automatic filling data prediction control system for mines, which solves the problems that the existing pit filling control system is imperfect, so that the filling work is time-consuming and labor-consuming, the material quantity and compaction time of each feeding are not accurately controlled, the corresponding feeding quantity and compaction time of each filling point can not be predicted by adopting real-time analysis on the filling height data and the compaction data of each filling point and before the last feeding and paving are finished, the purpose of fast and efficient pit filling operation can not be achieved, meanwhile, the existing pit filling period has larger change, the real-time analysis and prediction processing can not be carried out according to the working condition and weather condition in real time, and the purpose of enabling a monitoring person to acquire updated predicted period condition in the first time can not be achieved.
In order to achieve the above purpose, the invention is realized by the following technical scheme: the utility model provides an automatic data predictive control system that fills for mine, includes central processing module, soil pressing machine group and feeding group, its characterized in that: further comprises:
the filling working condition detection unit is used for collecting and detecting the compactness of the filling after filling and compacting in the pit and the height of the filling after compacting relative to a pit mouth, and transmitting collected and detected filling compactness data to the central processing module in real time;
the working time acquisition module is used for acquiring the time of each filling and transmitting the acquired time data to the central processing module in real time;
the pit meteorological data real-time updating module is used for acquiring meteorological data of the position of the pit from the third party application platform in real time and sending the meteorological data to the central processing module in real time;
the data prediction analysis unit is used for analyzing and processing the packing compactness data acquired by the packing working condition detection unit through a packing working condition prediction control algorithm to predict the amount of materials to be supplied to each corresponding packing point position, so that the central processing module controls the feeding unit to automatically rotate to the packing point position to automatically supply corresponding packing;
the working period prediction analysis unit is used for predicting the whole pit filling period by using a working period prediction algorithm on each filling time data acquired by the working time acquisition module and the meteorological data of the pit position acquired by the pit meteorological data real-time updating module.
Preferably, the mine automation filling data prediction control system further comprises a wireless communication module and a remote monitoring terminal, and the central processing module is in wireless communication with the remote monitoring terminal through the wireless communication module.
Preferably, the packing condition detection unit is composed of n detection modules, and each detection module is installed and distributed in a corresponding packing point position of the pit and used for detecting the packing compactness of the packed and compacted packing in the packing point position and the height of the packed and compacted packing relative to the pit mouth.
Preferably, the control algorithm for predicting the filling working condition specifically includes the following steps:
s1, acquiring a set H of height values of the filler of each filling point position relative to a mine hole mouth and a set G of compaction values of the compacted filler, wherein the set H is acquired by a filler working condition detection unit in a one-time feeding process, and the method comprises the following specific steps of:
；
wherein,the n-th filling point is the height value of the filling relative to the mine hole after the filling is compacted,the packing compactness value after the packing is compacted is the nth packing point position;
s2, respectively carrying out averaging treatment on a height set H of the filler relative to a mine hole and a compactness value set G of the compacted filler during primary feeding obtained in the step S1, wherein the method comprises the following specific steps:
；
wherein,is the kth height value, which is collected in the height set H of the filler relative to the mine mouth during one feeding,/for the filler>For the kth height value collected in the compaction degree value set G of the compacted filler during one feeding, alpha is the filler position of each filler relative to the mine pithead during one feedingThe average height value of the height, beta is the average compactness value of the packing compactness of each packing point after packing compaction in secondary feeding;
s3, carrying out difference between the average height value alpha in the primary feeding obtained in the step S2 and the number value of the height set H of the filler relative to the mine pit mouth in the primary feeding in the step S1 to obtain a height difference value, then removing the height difference value with the difference value of zero and negative numbers, only keeping the height difference value with the difference value of positive numbers, and marking the filler points corresponding to the obtained positive number height difference values, namelyAnd->Height difference of the n-th filling point position relative to the average height value;
s4, substituting each positive number height difference value obtained in the step S3 into a corresponding filler point position filler volume calculation formula to obtain a predicted gain volumeWherein->For the filler area corresponding to the preset nth filler point, only +.>A volume of filler, wherein->A preset filler volume for one-time feeding;
s5, carrying out difference between the average compactness value beta in the primary feeding obtained in the step S2 and the number value of the compacted filler compactness value set G in the primary feeding in the step S1 to obtain a compactness difference value, then eliminating the compactness difference value with the difference value being zero and a negative number, only reserving the compactness difference value with the difference value being a positive number, marking filler points corresponding to the obtained positive number compactness difference values,i.e.And->A difference in degree of compaction for the n-th filler point location retained relative to the average degree of compaction value;
s6, substituting each positive number height difference value obtained in the step S3 into a corresponding filler point position filler time calculation formula to obtain a predicted gain timeWherein->Is a preset standard packing compactness value, < + >>For the preset standard packing time corresponding to the standard packing compactness value, only the n-th packing point is compacted when the next feeding is performed>The time length is enough.
Preferably, the construction period prediction algorithm specifically includes the following steps:
e1, acquiring a time set for n times of soil compaction acquired by the working time acquisition module before predictionWherein->For the nth time of soil compaction, simultaneously acquiring a height value +.>；
E2, acquiring predicted bad weather duration in weather data updated in real time by the pit weather data real-time updating module；
E3, calculating the predicted construction period duration by combining the time values obtained in the steps E1 and E2The method is characterized by comprising the following steps:
；
wherein,the total time taken for filling before this prediction is cut off,/->For the time of the kth soil compacting, < >>A total height value for the pit to be filled;
e4, calculating the predicted construction period duration in the step E3The wireless communication module is used for wirelessly transmitting the predicted construction period to a remote monitoring terminal, so that monitoring personnel can acquire the predicted construction period in real time.
Preferably, the soil pressing machine set is used for discharging the filler on the filler point to push and smooth and compact the filler.
Preferably, the feeding machine set is used for conveying the filler to be filled from the storage bin to a filler point position of the pit, and the built-in rotary platform can carry out rotary blanking according to the position of the filler point position.
Preferably, the central processing module is used for carrying out instruction control and response of feedback control instructions on the automatic filling data prediction control system for the whole mine.
The invention provides an automatic filling data prediction control system for mines. Compared with the prior art, the method has the following beneficial effects:
(1) According to the automatic filling data prediction control system for the mine, the purposes of rapidly and efficiently carrying out pit filling operation can be well achieved by adopting real-time analysis on the filling height data and the compactness data of each filling point position and predicting the corresponding feeding amount and the compaction operation time of each filling point position paved next time before the last feeding paving is finished, even if the filling of the pit with larger inner filling area can be guaranteed to be uniform and the compactness of each position in the whole pit reaches the standard, time and labor are saved, the accurate control of the feeding amount and the compaction time each time can be guaranteed, and therefore the pit filling operation control of people is greatly facilitated.
(2) The automatic filling data prediction control system for the mine can conduct real-time analysis and prediction processing according to the working conditions and weather meteorological conditions, the purpose that monitoring staff can acquire updated predicted construction period conditions in the first time is well achieved, more accurate prediction of construction period is achieved by taking time and weather factors of pit filling operation into consideration, and therefore material preparation and work arrangement of staff are very beneficial.
Drawings
FIG. 1 is a schematic block diagram of a system of the present invention;
FIG. 2 is a logic schematic diagram of a packing condition prediction control algorithm of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-2, the embodiment of the invention provides a technical scheme: an automatic filling data prediction control system for mines specifically comprises the following embodiments:
the automatic filling data prediction control system for the mine comprises a central processing module, a soil pressing machine set and a feeding machine set, and further comprises:
the filling working condition detection unit is used for collecting and detecting the compactness of the filling after filling and compacting in the pit and the height of the filling after compacting relative to a pit mouth, and transmitting collected and detected filling compactness data to the central processing module in real time;
the working time acquisition module is used for acquiring the time of each filling and transmitting the acquired time data to the central processing module in real time;
the pit meteorological data real-time updating module is used for acquiring meteorological data of the position of the pit from the third party application platform in real time and sending the meteorological data to the central processing module in real time;
the data prediction analysis unit is used for analyzing and processing the packing compactness data acquired by the packing working condition detection unit through a packing working condition prediction control algorithm to predict the amount of materials to be supplied to each corresponding packing point position, so that the central processing module controls the feeding unit to automatically rotate to the packing point position to automatically supply corresponding packing;
the working period prediction analysis unit is used for predicting the whole pit filling period by using a working period prediction algorithm on each filling time data acquired by the working time acquisition module and the meteorological data of the pit position acquired by the pit meteorological data real-time updating module.
In the embodiment of the invention, the mine automatic filling data prediction control system also comprises a wireless communication module and a remote monitoring terminal, wherein the central processing module is in wireless communication with the remote monitoring terminal through the wireless communication module.
In the embodiment of the invention, the packing working condition detection unit consists of n detection modules, and each detection module is arranged and distributed in a corresponding packing point position of the pit and is used for detecting the compactness of the packed and compacted packing in the packing point position and the height of the packed and compacted packing relative to the pit mouth.
In the embodiment of the invention, the soil pressing machine is used for discharging the filler on the filler point to carry out pushing, smoothing and compacting treatment.
In the embodiment of the invention, the feeding machine set is used for conveying the filler to be filled from the storage bin to the filler point position of the pit, and the built-in rotary platform can carry out rotary blanking according to the position of the filler point.
In the embodiment of the invention, the central processing module is used for carrying out instruction control and response of feedback control instructions on the automatic filling data prediction control system for the whole mine.
In the embodiment of the invention, the packing working condition prediction control algorithm specifically comprises the following steps:
s1, acquiring a set H of height values of the filler of each filling point position relative to a mine hole mouth and a set G of compaction values of the compacted filler, wherein the set H is acquired by a filler working condition detection unit in a one-time feeding process, and the method comprises the following specific steps of:
；
wherein,the n-th filling point is the height value of the filling relative to the mine hole after the filling is compacted,the packing compactness value after the packing is compacted is the nth packing point position;
s2, respectively carrying out averaging treatment on a height set H of the filler relative to a mine hole and a compactness value set G of the compacted filler during primary feeding obtained in the step S1, wherein the method comprises the following specific steps:
；
wherein,the kth height value collected in the height set H of the filler relative to the mine mouth during one feeding，/>The method comprises the steps that the method is that a kth height value acquired in a compaction degree value set G of the compacted filler in one feeding is adopted, alpha is an average height value of each filler point position filler relative to the height of a mine pit mouth in one feeding, and beta is an average compaction degree value of the compacted filler in each filler point position filler in one feeding;
s3, carrying out difference between the average height value alpha in the primary feeding obtained in the step S2 and the number value of the height set H of the filler relative to the mine pit mouth in the primary feeding in the step S1 to obtain a height difference value, then removing the height difference value with the difference value of zero and negative numbers, only keeping the height difference value with the difference value of positive numbers, and marking the filler points corresponding to the obtained positive number height difference values, namelyAnd->Height difference of the n-th filling point position relative to the average height value;
s4, substituting each positive number height difference value obtained in the step S3 into a corresponding filler point position filler volume calculation formula to obtain a predicted gain volumeWherein->For the filler area corresponding to the preset nth filler point, only +.>A volume of filler, wherein->A preset filler volume for one-time feeding;
s5, the average compactness value beta in the primary feed obtained in the step S2 and one of the step S1The values of the compacted packing density value set G are subjected to difference to obtain a density difference value during secondary feeding, then the density difference value with the difference value of zero and negative numbers is removed, only the density difference value with the difference value of positive numbers is reserved, and the packing points corresponding to the obtained positive density difference values are marked, namelyAnd->A difference in degree of compaction for the n-th filler point location retained relative to the average degree of compaction value;
s6, substituting each positive number height difference value obtained in the step S3 into a corresponding filler point position filler time calculation formula to obtain a predicted gain timeWherein->Is a preset standard packing compactness value, < + >>For the preset standard packing time corresponding to the standard packing compactness value, only the n-th packing point is compacted when the next feeding is performed>The time length is enough.
The embodiment of the invention is different from the embodiment 1 in the technical scheme that: the construction period prediction algorithm specifically comprises the following steps:
e1, acquiring a time set for n times of soil compaction acquired by the working time acquisition module before predictionWherein->For the time of the nth soil compacting, and simultaneously obtain the pit before the predictionHeight value of filling complete->；
E2, acquiring predicted bad weather duration in weather data updated in real time by the pit weather data real-time updating module；
E3, calculating the predicted construction period duration by combining the time values obtained in the steps E1 and E2The method is characterized by comprising the following steps:
；
wherein,the total time taken for filling before this prediction is cut off,/->For the time of the kth soil compacting, < >>A total height value for the pit to be filled;
e4, calculating the predicted construction period duration in the step E3The wireless communication module is used for wirelessly transmitting the predicted construction period to a remote monitoring terminal, so that monitoring personnel can acquire the predicted construction period in real time.
In summary, the invention can realize that the corresponding feeding amount and compaction time of each filling point position paved next time can be predicted by adopting real-time analysis on the filling height data and the compaction data of each filling point position before the last feeding and paving are finished, the purpose of rapidly and efficiently carrying out pit filling operation is well achieved, even if the filling area of the pit with larger inner filling area is ensured to reach the standard, the time and the labor are saved, the precise control on the feeding amount and the compaction time of each feeding time can be ensured, thereby greatly facilitating the control of the pit filling operation by people, and simultaneously, the invention can carry out real-time analysis and prediction treatment according to the operation working condition and weather condition in real time, well achieve the purpose of enabling a monitor to acquire updated predicted construction period condition at first time, and complete more accurate prediction on construction period by taking the time and weather factor of the pit filling operation into consideration, thereby being very beneficial to the material preparation and working arrangement of working personnel.
And all that is not described in detail in this specification is well known to those skilled in the art.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The utility model provides an automatic data predictive control system that fills for mine, includes central processing module, soil pressing machine group and feeding group, its characterized in that: further comprises:
the filling working condition detection unit is used for collecting and detecting the compactness of the filling after filling and compacting in the pit and the height of the filling after compacting relative to a pit mouth, and transmitting collected and detected filling compactness data to the central processing module in real time;
the working time acquisition module is used for acquiring the time of each filling and transmitting the acquired time data to the central processing module in real time;
the pit meteorological data real-time updating module is used for acquiring meteorological data of the position of the pit from the third party application platform in real time and sending the meteorological data to the central processing module in real time;
the data prediction analysis unit is used for analyzing and processing the packing compactness data acquired by the packing working condition detection unit through a packing working condition prediction control algorithm to predict the amount of materials to be supplied to each corresponding packing point position, so that the central processing module controls the feeding unit to automatically rotate to the packing point position to automatically supply corresponding packing;
the working period prediction analysis unit is used for predicting the whole pit filling period by using a working period prediction algorithm on each filling time data acquired by the working time acquisition module and the meteorological data of the pit position acquired by the pit meteorological data real-time updating module;
the filler working condition prediction control algorithm specifically comprises the following steps:
s1, acquiring a set H of height values of the filler of each filling point position relative to a mine hole mouth and a set G of compaction values of the compacted filler, wherein the set H is acquired by a filler working condition detection unit in a one-time feeding process, and the method comprises the following specific steps of:
；
wherein,for the n-th filling point, the height value of the filling relative to the mine mouth after the filling is compacted is +.>For the nth fillerThe material point is positioned at the value of the packing compactness after packing compaction at this time;
s2, respectively carrying out averaging treatment on a height set H of the filler relative to a mine hole and a compactness value set G of the compacted filler during primary feeding obtained in the step S1, wherein the method comprises the following specific steps:
；
wherein,is the kth height value acquired in the height collection H of the filler relative to the mine hole when one feeding is performed,the method comprises the steps that the method is that a kth height value acquired in a compaction degree value set G of the compacted filler in one feeding is adopted, alpha is an average height value of each filler point position filler relative to the height of a mine pit mouth in one feeding, and beta is an average compaction degree value of the compacted filler in each filler point position filler in one feeding;
s3, carrying out difference between the average height value alpha in the primary feeding obtained in the step S2 and the number value of the height set H of the filler relative to the mine pit mouth in the primary feeding in the step S1 to obtain a height difference value, then removing the height difference value with the difference value of zero and negative numbers, only keeping the height difference value with the difference value of positive numbers, and marking the filler points corresponding to the obtained positive number height difference values, namelyAnd->Height difference of the n-th filling point position relative to the average height value;
s4, substituting each positive number height difference value obtained in the step S3 into a corresponding filler point position filler volume calculation formula to obtain a predicted gain volumeWherein->For the filler area corresponding to the preset nth filler point, only +.>A volume of filler, wherein->A preset filler volume for one-time feeding;
s5, carrying out difference between the average compactness value beta in the primary feeding obtained in the step S2 and the number value of the compacted filler compactness value set G in the primary feeding in the step S1 to obtain a compactness difference value, then removing the compactness difference value with zero difference value and negative number, only reserving the compactness difference value with positive number, and marking the filler points corresponding to the obtained positive number compactness difference values, namelyAnd->A difference in degree of compaction for the n-th filler point location retained relative to the average degree of compaction value;
s6, substituting each positive number height difference value obtained in the step S3 into a corresponding filler point position filler time calculation formula to obtain a predicted gain timeWherein->Is a preset standard packing compactness value, < + >>For the preset standard packing time corresponding to the standard packing compactness value, only the n-th packing point is compacted when the next feeding is performed>The time length is enough.
2. An automated filling data predictive control system for mines according to claim 1, wherein: the mine automation filling data prediction control system further comprises a wireless communication module and a remote monitoring terminal, and the central processing module is in wireless communication with the remote monitoring terminal through the wireless communication module.
3. An automated filling data predictive control system for mines according to claim 1, wherein: the packing working condition detection unit is composed of n detection modules, and each detection module is installed and distributed in a corresponding packing point position of the pit and used for detecting the packing compactness of the packed and compacted packing in the packing point position and the height of the packed packing relative to the pit mouth after compaction.
4. An automated filling data predictive control system for mines according to claim 2, wherein: the construction period prediction algorithm specifically comprises the following steps:
e1, acquiring a time set for n times of soil compaction acquired by the working time acquisition module before predictionWherein->For the time of the nth soil compacting, simultaneously obtaining the height value H of the completed filling of the pit before the prediction Time of day ；
E2, acquiring predicted severe weather duration T in weather data updated in real time by the pit weather data real-time updating module Variable ；
E3, calculating the predicted construction period duration T by combining the time values obtained in the steps E1 and E2 Pre-preparation The method is characterized by comprising the following steps:
；
wherein,the total time taken for filling before this prediction is cut off,/->For the time of the kth soil compacting, < >>A total height value for the pit to be filled;
e4, calculating the predicted construction period duration in the step E3The wireless communication module is used for wirelessly transmitting the predicted construction period to a remote monitoring terminal, so that monitoring personnel can acquire the predicted construction period in real time.
5. An automated filling data predictive control system for mines according to claim 1, wherein: the soil pressing machine set is used for pushing, smoothing and compacting the filler on the filler point positions.
6. An automated filling data predictive control system for mines according to claim 1, wherein: the feeding machine set is used for conveying the filler to be filled from the storage bin to the filler point position of the pit, and the built-in rotary platform can carry out rotary blanking according to the position of the filler point position.
7. An automated filling data predictive control system for mines according to claim 1, wherein: and the central processing module is used for carrying out instruction control and response of feedback control instructions on the automatic filling data prediction control system for the whole mine.
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