CN117056748A - Optimization method for mining TBM tunneling process parameters - Google Patents
Optimization method for mining TBM tunneling process parameters Download PDFInfo
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Abstract
The application relates to the field of tunneling, and discloses a method for optimizing parameters in a mining TBM tunneling process, which comprises the following steps: carrying out coal rock identification on slag images on a conveyor belt, acquiring coal rock distribution on a corresponding working surface partition, acquiring front geographic features of a construction section according to sensors arranged on a cutter head as input of a construction section identification network, determining consistency of the coal rock distribution and the front geographic features, generating operation parameters by using a trained model when the interface consistency is in a threshold value interval based on the coal rock distribution and the front geographic features, executing the operation parameters, switching to manual operation when the interface consistency is out of the threshold value interval, and recording the parameters of the manual operation. According to the application, the tunneling process of the complex coal mine roadway can be classified and distinguished according to the geological features, and when the geographical features are consistent and the model consistent with the geological features is available, the corresponding model is used for generating the operation parameters.
Description
Technical Field
The application relates to the field of tunneling, in particular to a method for optimizing parameters in a mining TBM tunneling process.
Background
At present, the coal mine tunnel tunneling mode mainly comprises a comprehensive tunneling method, a drilling and blasting method and a continuous miner method. The tunneling methods are easy to solve the problems of unbalanced tunneling, anchoring and transportation in actual construction.
Aiming at the situation, some coal mines adopt shield tunneling systems, so that the tunneling efficiency of the coal mine rock roadway is greatly improved. The equipment mainly used in the shield tunneling system is a shield machine and is mainly used for tunneling tunnels. Modern shield constructs the machine technological content ratio higher, has integrated multiple technologies such as light, machine, electricity, liquid and sensor, can realize functions such as cutting, the transportation of ground body and the support of shaping tunnel, can be according to the different "body cutting" manufacturing of tunnelling geological conditions, and overall reliability and security are very high.
However, the shield machine needs professional personnel to control, the shield machine of the coal mine also needs personnel to have quite professional knowledge, the workload of the personnel can be effectively reduced through intelligent assistance, but because the tunnel formation of the coal mine is inconsistent with the common shield process, a special solution is needed to be provided. Coal mine roadway formation is primarily related to geological environments, but operational optimization through coal rock distribution and front geographic features is rarely reported.
Disclosure of Invention
The application aims to overcome one or more of the prior technical problems and provides an optimization method for parameters of a mining TBM tunneling process.
In order to achieve the above purpose, the application provides an optimization method for parameters of a mining TBM tunneling process, which comprises the following steps:
carrying out coal and rock identification on slag images on the conveyor belt to obtain coal and rock distribution on the corresponding working face partition;
acquiring the front geographic characteristics of a construction section according to the input of a sensor arranged on a cutter head as a construction section identification network;
determining consistency of coal rock distribution and front geographic features;
when the interface consistency is in a threshold value interval, generating operation parameters by using a trained model based on coal-rock distribution and front geographic features, and executing the operation parameters;
when the interface consistency is outside the threshold value interval, switching to manual operation, and recording parameters of the manual operation.
According to one aspect of the application, when switching to manual operation, auxiliary parameter optimization is disabled, parameters of manual operation and rock images are recorded, and the rock images comprise images on a conveyor belt and image of a ledge;
and when the tunneling travel is finished, the acquired data are sent to a server to perform incremental training of the model, and when the incremental training is finished, auxiliary parameter optimization is activated.
According to one aspect of the application, coal rock identification uses multispectral identification, including 1400nm, 1900nm, 2210nm, 2350nm and 3800-5000nm and visible light spectra.
According to one aspect of the application, the sensor on the cutterhead includes an electromagnetic wave transmitter and an electromagnetic wave receiver.
According to one aspect of the application, the electromagnetic wave emitter is a transient electromagnetic emitting unit and the electromagnetic wave emitter is a direct current unit.
According to one aspect of the application, obtaining a coal rock distribution on a corresponding working face partition includes:
and carrying out coal-rock identification on slag images on the conveyor belt to obtain the image proportion of the coal-rock distribution of the current interface, and obtaining the coal-rock distribution of the propulsion interface according to the working parameters of the TBM.
According to one aspect of the application, determining consistency of the coal rock distribution and the forward geographic features includes:
obtaining front geographic features according to sensors on the cutterhead, further obtaining inversion coal-rock distribution proportion of the propelling working face, comparing the inversion coal-rock distribution proportion with a result obtained by presumption of an image sensor according to a plane of the shield, obtaining a deviation value, calculating mean square error of the deviation value in a partitioning mode, and determining consistency of coal-rock distribution and the front geographic features.
Based on the above, the application has the beneficial effects that: the tunneling process of the complex coal mine roadway can be classified and distinguished according to the geological features, and when the geographical features are consistent and the models consistent with the geological features exist, the corresponding models are used for generating the operation parameters;
the method can realize timely switching to the manual driving model when the geological environment in actual contact changes and the shield cannot be carried out by using the auxiliary driving tool, and avoid overlarge parameter deviation actual demand value of the shield when the auxiliary driving model trained according to the identification network and the existing geological environment fails.
Drawings
FIG. 1 is a flow chart of a method for optimizing parameters of a mining TBM tunneling process according to the present application.
Detailed Description
The present disclosure will now be discussed with reference to exemplary embodiments, it being understood that the embodiments discussed are merely for the purpose of enabling those of ordinary skill in the art to better understand and thus practice the present disclosure and do not imply any limitation to the scope of the present disclosure.
As used herein, the term "comprising" and variants thereof are to be interpreted as meaning "including but not limited to" open-ended terms. The terms "based on" and "based at least in part on" are to be construed as "at least one embodiment.
Fig. 1 is a flowchart of a method for optimizing a mining TBM tunneling process parameter according to an embodiment of the present application, and as shown in fig. 1, the method for optimizing a mining TBM tunneling process parameter includes:
in order to achieve the above purpose, the application provides an optimization method for parameters of a mining TBM tunneling process, which comprises the following steps:
carrying out coal and rock identification on slag images on the conveyor belt to obtain coal and rock distribution on the corresponding working face partition;
acquiring the front geographic characteristics of a construction section according to the input of a sensor arranged on a cutter head as a construction section identification network;
determining consistency of coal rock distribution and front geographic features;
when the interface consistency is in a threshold value interval, generating operation parameters by using a trained model based on coal-rock distribution and front geographic features, and executing the operation parameters;
when the interface consistency is outside the threshold value interval, switching to manual operation, and recording parameters of the manual operation.
According to one embodiment of the application, when switching to manual operation, auxiliary parameter optimization is disabled, parameters of manual operation and rock images are recorded, and the rock images comprise images on a conveyor belt and image of a ledge;
and when the tunneling travel is finished, the acquired data are sent to a server to perform incremental training of the model, and when the incremental training is finished, auxiliary parameter optimization is activated.
According to one embodiment of the application, coal rock identification uses multispectral identification, including 1400nm, 1900nm, 2210nm, 2350nm and 3800-5000nm and visible light spectra.
According to one embodiment of the application, the sensor on the cutterhead comprises an electromagnetic wave transmitter and an electromagnetic wave receiver.
According to one embodiment of the application, the electromagnetic wave emitter is a transient electromagnetic emitting unit and the electromagnetic wave emitter is a direct current unit.
According to one embodiment of the application, obtaining a coal rock distribution on a corresponding working face partition comprises:
and carrying out coal-rock identification on slag images on the conveyor belt to obtain the image proportion of the coal-rock distribution of the current interface, and obtaining the coal-rock distribution of the propulsion interface according to the working parameters of the TBM.
According to one embodiment of the application, determining consistency of the coal rock distribution and the forward geographic features includes:
obtaining front geographic features according to sensors on the cutterhead, further obtaining inversion coal-rock distribution proportion of the propelling working face, comparing the inversion coal-rock distribution proportion with a result obtained by presumption of an image sensor according to a plane of the shield, obtaining a deviation value, calculating mean square error of the deviation value in a partitioning mode, and determining consistency of coal-rock distribution and the front geographic features.
According to the embodiment of the application, the tunneling process of the complex coal mine roadway can be classified and distinguished according to the geological features, and when the geographical features are consistent and the models consistent with the geological features exist, the corresponding models are used for generating the operation parameters; when the address parameters are greatly changed and the parameters generated by the model cannot be used for operation, manual operation is used, and then the manual operation and the corresponding geological conditions are recorded, so that the labor cost for driving the shield tunneling machine is reduced to the greatest extent.
According to the embodiment of the application, when the geological environment in actual contact changes and the shield cannot be carried out by using the auxiliary driving tool, the method can be switched to the manual driving model in time, and the condition that the parameter of the shield deviates from the actual demand value by too much when the auxiliary driving model trained on the existing geological environment fails according to the identification network is avoided. In addition, due to the fact that the underground condition of the shield machine is complex, when the mine pressure, the altitude and the geological type change cannot be achieved by depending on the simplified model, parameters of the shield machine are accurately determined, therefore reasonable parameters should be selected, and the geological type is distinguished through data which can be accurately measured based on model parameters related to geology.
According to one embodiment of the application 1400nm, 1900nm, 2210nm, 2350nm and 3800-5000nm are used to obtain the characteristics of coal, rock and earth, respectively, which are obtained based on downhole coal rock testing. When the model is built, and when the test is carried out, underground coal and rock are taken for respectively testing, and the absorption characteristics of different coal qualities are determined based on the underground coal and rock. At mine changes, changes may occur due to changes in the main rock composition, where a wavelength reselection of the spectrum is required. Other coal rock identification methods also include vibration, radioactive elements, voiceprints, image identification and other techniques, and corresponding coal rock identification methods can be applied to the application when the method can be matched with the shield process of the roadway. However, some methods described above often need to provide a certain equipment space, but the available space of the cutterhead of the shield machine is limited, and the existing technology cannot be used for identifying coal and rock and distinguishing the properties of the coal and rock, so that the method disclosed by the application uses a mode based on image and electric combination.
According to one embodiment of the application, the sensor of the cutterhead comprises an electromagnetic wave transmitter and an electromagnetic wave receiver,
the seismic wave signals are used for acquiring geological features, and the step of acquiring the geological features comprises the following steps: a transmitting end is arranged on the cutterhead and used for transmitting a direct current detection signal in contact with the propelled working surface; the cutter head is also provided with a receiving coil which is used for being contacted with the propelled working surface to receive the change of the direct current detection signal; inversion can be performed based on the change of the direct current detection signal to obtain information of the high-resistance layer in the tunneling process, and inversion is performed to obtain information of an interface. The basic principle of the direct current method is that by introducing current into surrounding rock of a face to be detected, the integrity and the water content of a rock mass in front of the face are forecasted by measuring the resistivity in the rock mass or the change of a parameter PEE (Percentane frequency effect) related to the electric energy storage capacity, a curve or a resistivity curve of PFE in front of the face is obtained by processing, and the characteristics and the water content of the rock mass in front of the face are forecasted from the curve.
Furthermore, the electromagnetic signal for transient electromagnetic detection can be emitted by arranging the emitting end on the cutter head. Specifically, the response process of the field is measured by introducing an excited electromagnetic signal. And the voltage value obtained by the resistance tomography can reflect the response results of different mediums in the measuring area, and finally the medium composition in the measuring area is analyzed and restored through a corresponding algorithm.
According to an embodiment of the present application, the transient electromagnetic method is a method for determining the resistivity of soil by a secondary induced vortex field generated by the transmission and reception of a pulsed magnetic field, through which water content information of soil can be obtained.
According to one embodiment of the application, a DC method is used to measure the electrical differences of rock ore for detection, such as geologic formations including fractured zones of water, subsidence structures, etc. In the application, the method is used for acquiring the conductive characteristic of the part at the cutter head so as to acquire the information related to the resistance.
According to one embodiment of the application, the embodiment can realize more accurate coal rock proportion distinguishing. Because the propelling power of the shield machine is different, the distribution of coal and rock cut by the shield machine is possibly inconsistent, so that the situation that the image is restored to the components to reflect the real interface more accurately is considered.
According to one embodiment of the application, if the seismic waves are passed through the propulsion process, the problems of correction and sensor installation may exist, and the electromagnetic method is directly used to obtain interface conductive information, so that the complexity of the system is reduced.
Furthermore, to achieve the above object, the present application also provides an optimization system for parameters of a mining TBM tunneling process, including:
the coal rock distribution acquisition module: carrying out coal and rock identification on slag images on the conveyor belt to obtain coal and rock distribution on the corresponding working face partition;
front geographic feature acquisition module: acquiring the front geographic characteristics of a construction section according to the input of a sensor arranged on a cutter head as a construction section identification network;
and the consistency judging module is used for: determining consistency of coal rock distribution and front geographic features;
when the interface consistency is in a threshold value interval, generating operation parameters by using a trained model based on coal-rock distribution and front geographic features, and executing the operation parameters;
when the interface consistency is outside the threshold value interval, switching to manual operation, and recording parameters of the manual operation.
According to one embodiment of the application, when switching to manual operation, auxiliary parameter optimization is disabled, parameters of manual operation and rock images are recorded, and the rock images comprise images on a conveyor belt and image of a ledge;
and when the tunneling travel is finished, the acquired data are sent to a server to perform incremental training of the model, and when the incremental training is finished, auxiliary parameter optimization is activated.
According to one embodiment of the application, coal rock identification uses multispectral identification, including 1400nm, 1900nm, 2210nm, 2350nm and 3800-5000nm and visible light spectra.
According to one embodiment of the application, the sensor on the cutterhead comprises an electromagnetic wave transmitter and an electromagnetic wave receiver.
According to one embodiment of the application, the electromagnetic wave emitter is a transient electromagnetic emitting unit and the electromagnetic wave emitter is a direct current unit.
According to one embodiment of the application, obtaining a coal rock distribution on a corresponding working face partition comprises:
and carrying out coal-rock identification on slag images on the conveyor belt to obtain the image proportion of the coal-rock distribution of the current interface, and obtaining the coal-rock distribution of the propulsion interface according to the working parameters of the TBM.
According to one embodiment of the application, determining consistency of the coal rock distribution and the forward geographic features includes:
obtaining front geographic features according to sensors on the cutterhead, further obtaining inversion coal-rock distribution proportion of the propelling working face, comparing the inversion coal-rock distribution proportion with a result obtained by presumption of an image sensor according to a plane of the shield, obtaining a deviation value, calculating mean square error of the deviation value in a partitioning mode, and determining consistency of coal-rock distribution and the front geographic features.
According to the embodiment of the application, the tunneling process of the complex coal mine roadway can be classified and distinguished according to the geological features, and when the geographical features are consistent and the models consistent with the geological features exist, the corresponding models are used for generating the operation parameters; when the address parameters are greatly changed and the parameters generated by the model cannot be used for operation, manual operation is used, and then the manual operation and the corresponding geological conditions are recorded, so that the labor cost for driving the shield tunneling machine is reduced to the greatest extent.
According to the embodiment of the application, when the geological environment in actual contact changes and the shield cannot be carried out by using the auxiliary driving tool, the method can be switched to the manual driving model in time, and the condition that the parameter of the shield deviates from the actual demand value by too much when the auxiliary driving model trained on the existing geological environment fails according to the identification network is avoided. In addition, because the shield tunneling machine is complex under the underground condition, the parameters of the shield can not be accurately determined when the mine pressure, the altitude and the geological type change depending on the simplified model, so that reasonable parameters are selected, and the geological type is distinguished through the data which can be accurately measured based on the model parameters related to the geology.
According to one embodiment of the application 1400nm, 1900nm, 2210nm, 2350nm and 3800-5000nm are used to obtain the characteristics of coal, rock and earth, respectively, which are obtained based on downhole coal rock testing. When the model is built, and when the test is carried out, underground coal and rock are taken for respectively testing, and the absorption characteristics of different coal qualities are determined based on the underground coal and rock. At mine changes, changes may occur due to changes in the main rock composition, where a wavelength reselection of the spectrum is required. Other coal rock identification methods also include vibration, radioactive elements, voiceprints, image identification and other techniques, and corresponding coal rock identification methods can be applied to the application when the method can be matched with the shield process of the roadway. However, some methods described above often need to provide a certain equipment space, but the available space of the cutterhead of the shield machine is limited, and the existing technology cannot be used for identifying coal and rock and distinguishing the properties of the coal and rock, so that the method disclosed by the application uses a mode based on image and electric combination.
According to one embodiment of the application, the sensor of the cutterhead comprises an electromagnetic wave transmitter and an electromagnetic wave receiver,
the seismic wave signals are used for acquiring geological features, and the step of acquiring the geological features comprises the following steps: a transmitting end is arranged on the cutterhead and used for transmitting a direct current detection signal in contact with the propelled working surface; the cutter head is also provided with a receiving coil which is used for being contacted with the propelled working surface to receive the change of the direct current detection signal; inversion can be performed based on the change of the direct current detection signal to obtain information of the high-resistance layer in the tunneling process, and inversion is performed to obtain information of an interface. The basic principle of the direct current method is that by introducing current into surrounding rock of a face to be detected, the integrity and the water content of a rock mass in front of the face are forecasted by measuring the resistivity in the rock mass or the change of a parameter PEE (Percentane frequency effect) related to the electric energy storage capacity, a curve or a resistivity curve of PFE in front of the face is obtained by processing, and the characteristics and the water content of the rock mass in front of the face are forecasted from the curve.
Furthermore, the electromagnetic signal for transient electromagnetic detection can be emitted by arranging the emitting end on the cutter head. Specifically, the response process of the field is measured by introducing an excited electromagnetic signal. And the voltage value obtained by the resistance tomography can reflect the response results of different mediums in the measuring area, and finally the medium composition in the measuring area is analyzed and restored through a corresponding algorithm.
According to an embodiment of the present application, the transient electromagnetic method is a method for determining the resistivity of soil by a secondary induced vortex field generated by the transmission and reception of a pulsed magnetic field, through which water content information of soil can be obtained.
According to one embodiment of the application, a DC method is used to measure the electrical differences of rock ore for detection, such as geologic formations including fractured zones of water, subsidence structures, etc. In the application, the method is used for acquiring the conductive characteristic of the part at the cutter head so as to acquire the information related to the resistance.
According to one embodiment of the application, the embodiment can realize more accurate coal rock proportion distinguishing. Because the propelling power of the shield machine is different, the distribution of coal and rock cut by the shield machine is possibly inconsistent, so that the situation that the image is restored to the components to reflect the real interface more accurately is considered.
According to one embodiment of the application, if the seismic waves are passed through the propulsion process, the problems of correction and sensor installation may exist, and the electromagnetic method is directly used to obtain interface conductive information, so that the complexity of the system is reduced.
In order to achieve the above object, the present application also provides an electronic device including: the method comprises the steps of a processor, a memory and a computer program which is stored in the memory and can run on the processor, wherein the computer program realizes the optimization method of the mining TBM tunneling process parameters when being executed by the processor.
In order to achieve the above object, the present application further provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor implements the above-mentioned method for optimizing parameters of a mining TBM tunneling process.
Based on the method, the device and the system for classifying and distinguishing the tunneling process of the complex coal mine roadway according to the geological features can be realized, when the geological features are consistent and the models consistent with the geological features are available, the corresponding models are used for generating the operation parameters, and when the geological environment in actual contact changes and the shield cannot be carried out by using an auxiliary driving tool, the device and the system can be timely switched to the manual driving model, so that the condition that the actual demand value of the parameter deviation of the shield is overlarge when the auxiliary driving model trained according to the identification network and aiming at the existing geological environment fails is avoided.
Those of ordinary skill in the art will appreciate that the modules and algorithm steps described in connection with the embodiments disclosed herein can be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working procedures of the apparatus and device described above may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, and for example, the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or modules, which may be in electrical, mechanical, or other forms.
The modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the embodiment of the application.
In addition, each functional module in the embodiment of the present application may be integrated in one processing module, or each module may exist alone physically, or two or more modules may be integrated in one module.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method for energy saving signal transmission/reception of the various embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk, etc.
The above description is only illustrative of the preferred embodiments of the present application and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the application referred to in the present application is not limited to the specific combinations of the technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the inventive concept. Such as the above-mentioned features and the technical features disclosed in the present application (but not limited to) having similar functions are replaced with each other.
It should be understood that, the sequence numbers of the steps in the summary and the embodiments of the present application do not necessarily mean the order of execution, and the execution order of the processes should be determined by the functions and the internal logic, and should not be construed as limiting the implementation process of the embodiments of the present application.
Claims (7)
1. The optimization method of the mining TBM tunneling process parameters is characterized by comprising the following steps of:
carrying out coal and rock identification on slag images on the conveyor belt to obtain coal and rock distribution on the corresponding working face partition;
acquiring the front geographic characteristics of a construction section according to the input of a sensor arranged on a cutter head as a construction section identification network;
determining consistency of coal rock distribution and front geographic features;
when the interface consistency is in a threshold value interval, generating operation parameters by using a trained model based on coal-rock distribution and front geographic features, and executing the operation parameters;
when the interface consistency is outside the threshold value interval, switching to manual operation, and recording parameters of the manual operation.
2. The method for optimizing parameters of a mining TBM tunneling process according to claim 1, wherein when switching to manual operation, auxiliary parameter optimization is disabled, parameters of manual operation and mine rock images are recorded, and the mine rock images comprise images on a conveyor belt and images of a ledge;
and when the tunneling travel is finished, the acquired data are sent to a server to perform incremental training of the model, and when the incremental training is finished, auxiliary parameter optimization is activated.
3. A method of optimizing mining TBM tunneling process parameters according to claim 2 wherein coal and rock identification uses multispectral identification including 1400nm, 1900nm, 2210nm, 2350nm and 3800-5000nm and visible light spectra.
4. A method of optimizing mining TBM tunneling process parameters according to claim 3, wherein the sensors on the cutterhead include electromagnetic wave transmitters and electromagnetic wave receivers.
5. The method for optimizing parameters of a mining TBM tunneling process according to claim 4, wherein the electromagnetic wave emitter is a transient electromagnetic emitting unit and the electromagnetic wave emitter is a direct current unit.
6. The method of optimizing mining TBM tunneling process parameters of claim 5, wherein obtaining the coal-rock distribution on the corresponding face partition comprises:
and carrying out coal-rock identification on slag images on the conveyor belt to obtain the image proportion of the coal-rock distribution of the current interface, and obtaining the coal-rock distribution of the propulsion interface according to the working parameters of the TBM.
7. A method of optimizing mining TBM tunneling process parameters according to claim 6, wherein determining consistency of coal rock distribution and front geographic features comprises:
obtaining front geographic features according to sensors on the cutterhead, further obtaining inversion coal-rock distribution proportion of the propelling working face, comparing the inversion coal-rock distribution proportion with a result obtained by presumption of an image sensor according to a plane of the shield, obtaining a deviation value, calculating mean square error of the deviation value in a partitioning mode, and determining consistency of coal-rock distribution and the front geographic features.
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