CN214532950U - Visual coal mining system in colliery - Google Patents
Visual coal mining system in colliery Download PDFInfo
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- CN214532950U CN214532950U CN202022895010.XU CN202022895010U CN214532950U CN 214532950 U CN214532950 U CN 214532950U CN 202022895010 U CN202022895010 U CN 202022895010U CN 214532950 U CN214532950 U CN 214532950U
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Abstract
The utility model discloses a colliery is visual coal mining system in pit, include: the method comprises the steps that a drilling device drills holes in a mine, an acquisition device is placed in the mine to acquire three-dimensional seismic survey drilling data, the working face area groove wave data are acquired through the working face area groove wave acquisition device, a high-precision three-dimensional model of a coal system stratum is built by utilizing the three-dimensional seismic survey drilling data and the working face area groove wave data, the coal mining machine double-source interference device senses a top and bottom plate coal rock interface when a coal mining machine cuts coal, real-time automatic adjustment and control are provided for the coal mining machine, and a visual coal mining system capable of providing an optimal mining scheme for the coal mining machine is finally built through real-time comparison and correction with the high-precision three-dimensional model of the coal system stratum. The utility model provides an among the current coal mining process can not be unmanned, can't adjust the problem of coal mining state according to actual conditions in real time.
Description
Technical Field
The utility model relates to a coal mining technology field, concretely relates to colliery is visual coal mining system in pit.
Background
Coal is one of the basic energy sources in China, and in the energy production and consumption structure in China, coal occupies over 70 percent of seats all the time. With the integration of informatization and industrialization, the unmanned working face mining technology is a great trend for development of the future coal industry. However, the distribution information, the geological structure, the small latent disaster source and the like of the coal measure strata in the area of the unexplored coal seam are not clear, and the artificial intelligence capable of replacing a driver of a coal mining machine is not available for accurately studying and judging the complex field operation environment under the coal mine, so that no reliable technology is available for thoroughly realizing underground unmanned coal mining.
In the prior art, a coal mining machine is guided to correct a coal cutting track by drilling two crossroads and a working face to determine a coal seam roof and introducing an absolute coordinate point of the roof into the working face, so that an unmanned coal mining technology is realized. The method has the disadvantages that geophysical prospecting, drilling and other data cannot be introduced into the system, a simple geological model is constructed only through the predetermined coal rock space coordinates, preset coal cutter navigation is carried out, real-time sensing, processing and control are not involved, and the method is very limited by geological conditions of coal measure strata. Therefore, when the coal mining machine is propelled for a certain distance, drilling construction needs to be carried out on two crossroads and a working surface which are not calibrated at the coal rock position, the workload is large, measurement errors easily exist, the navigation model is rough to establish, and navigation errors of the coal mining machine are caused.
SUMMERY OF THE UTILITY MODEL
Therefore, the utility model provides a visual coal mining system in pit in colliery to solve the problem that can not be unmanned, can't adjust the coal mining state in real time according to actual conditions among the current coal mining process.
In order to achieve the above object, the present invention provides the following technical solutions:
according to the utility model discloses an in the first aspect, a colliery visual coal mining system in pit is disclosed, the system includes: the device comprises drilling equipment, working face area slot wave acquisition equipment and a double-seismic-source interference device of a coal mining machine, wherein the drilling equipment drills holes in a mine, acquisition equipment is placed in the hole to acquire three-dimensional seismic survey drilling data, acquiring working face area channel wave data through working face area channel wave acquisition equipment, establishing a high-precision three-dimensional model of the coal measure stratum by using three-dimensional seismic survey drilling data and the working face area channel wave data, the double-seismic source interference device of the coal mining machine senses the coal rock interface of the top plate and the bottom plate when the coal mining machine cuts coal, automatically adjusts and controls the stoping path, the stoping speed, the postures of the rocker arm and the roller and the coal cutting form of the coal mining machine in real time, and finally constructing a visual coal mining system which can provide the optimal stoping path and the optimal stoping speed for the coal mining machine and timely and correctly adjust the postures of the rocker arm and the roller and the coal cutting form through real-time comparison and correction with the high-precision three-dimensional model of the coal measure stratum.
Further, the coal mining machine double-seismic source interference device comprises: the system comprises a collection host and a collection station, wherein the collection host is connected with the collection station in an optical fiber or CAN communication mode embedded in a power cable of the coal mining machine.
Furthermore, the acquisition host is arranged in the centralized control console, receives the information of the left rocker arm, the right rocker arm, the left roller and the right roller of the coal mining machine, cutting current and traction circuit, which are acquired by the acquisition station, through the acquisition host, and can send control information to the acquisition station.
Furthermore, the collection station is installed inside a machine body of the coal mining machine, the collection station is connected with two paths of intrinsic safety power modules inside the coal mining machine through power lines, an intrinsic safety battery pack, a 128G flash memory and a precise clock are arranged in the collection station, and the collection station is connected with a CAN (controller area network) of a PLC (programmable logic controller) of the coal mining machine.
Furthermore, the acquisition station is modified into four three-component velocity type geophones and four three-component micro-electro-mechanical-system (MEMS) type acceleration detectors on the basis of the mining intrinsically safe type channel wave seismometer acquisition station, the four three-component velocity type geophones and the four three-component MEMS type acceleration detectors are respectively installed on rollers on two sides and sliding shoes on two sides of a coal mining machine, and a main control module in the acquisition station adopts a Field Programmable Gate Array (FPGA) chip.
Furthermore, the acquisition station receives information such as the inclination angles of the left rocker arm and the right rocker arm of the coal mining machine, the heights of the left roller and the right roller, cutting current, a traction circuit and the like in real time, and can send out an instruction for controlling the coal mining machine in real time.
The utility model has the advantages of as follows:
the utility model discloses a colliery is visual coal mining system in pit draws the navigation map of intelligent exploitation according to the distribution of coal seam and top bottom plate stratum in underground space. And establishing a three-dimensional geological model of a mining area range, realizing a ground texture measurement information refined model such as stratum information, coal bed information, structural information and the like, integrating related data, realizing data integration and facilitating comprehensive analysis of geological information.
And then, by the technical means of real-time detection, real-time processing and real-time analysis, the top and bottom plate coal-rock interface of the coal mining machine during coal cutting is accurately sensed, and the coal mining path, the mining speed, the postures of the rocker arm and the roller and the coal cutting form of the coal mining machine are automatically adjusted and controlled in real time. Accurately predicting faults, the structure and lithology of a coal seam top and bottom plate, a collapse column, a broken zone, the thickness of a coal seam and the thickness of gangue sandwiched in the coal seam; while continuously and dynamically detecting geologic bodies such as possible faults, water-rich layers and the like in a coal seam and a top floor and disaster source conditions, adjusting the posture and the extraction speed of a coal cutter in real time, deploying an optimal extraction scheme, and adjusting the lifting and downward detection of a roller of the coal cutter in real time; different geological structures of the stope face are accurately analyzed, the coal mining machine is controlled to do reasonable actions, and avoidance or load increase and decrease are carried out on the special structures, so that safe production under the conditions of controllable geology and unmanned working face is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structure, ratio, size and the like shown in the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by people familiar with the technology, and are not used for limiting the limit conditions which can be implemented by the present invention, so that the present invention has no technical essential significance, and any structure modification, ratio relationship change or size adjustment should still fall within the scope which can be covered by the technical content disclosed by the present invention without affecting the efficacy and the achievable purpose of the present invention.
Fig. 1 is a flow chart of a coal mine underground visual coal mining system provided by an embodiment of the utility model;
fig. 2 is a three-dimensional earthquake single-shot recording diagram of a coal mine underground visual coal mining system provided by the embodiment of the utility model;
FIG. 3 is a three-dimensional seismic denoised geological image of a coal mine underground visual coal mining system provided by the embodiment of the utility model;
fig. 4 is a flow chart for building a coal measure stratum high-precision three-dimensional model of a coal mine underground visual coal mining system provided by the embodiment of the utility model.
Detailed Description
The present invention is described in terms of specific embodiments, and other advantages and benefits of the present invention will become apparent to those skilled in the art from the following disclosure. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Example 1
The utility model discloses a colliery is visual coal mining system in pit, including two stages: the first stage is to establish a high-precision three-dimensional model of a coal measure stratum, and the second stage is to accurately sense a top and bottom plate coal rock interface when the coal mining machine cuts coal through the technical means of real-time detection, real-time processing and real-time analysis, and automatically adjust and control the coal mining path, the mining speed, the postures of a rocker arm and a roller and the coal cutting form in real time.
The system comprises: the device comprises drilling equipment, working face area slot wave acquisition equipment and a double-seismic-source interference device of a coal mining machine, wherein the drilling equipment drills holes in a mine, acquisition equipment is placed in the hole to acquire three-dimensional seismic survey drilling data, acquiring working face area channel wave data through working face area channel wave acquisition equipment, establishing a high-precision three-dimensional model of the coal measure stratum by using three-dimensional seismic survey drilling data and the working face area channel wave data, the double-seismic source interference device of the coal mining machine senses the coal rock interface of the top plate and the bottom plate when the coal mining machine cuts coal, automatically adjusts and controls the stoping path, the stoping speed, the postures of the rocker arm and the roller and the coal cutting form of the coal mining machine in real time, and finally constructing a visual coal mining system which can provide the optimal stoping path and the optimal stoping speed for the coal mining machine and timely and correctly adjust the postures of the rocker arm and the roller and the coal cutting form through real-time comparison and correction with the high-precision three-dimensional model of the coal measure stratum.
The method comprises the steps of carrying out geostatistical inversion analysis based on an MCMC principle (Markov Chain Monte Carlo method Markov Chain Monte Carlo, MCMC for short) by utilizing three-dimensional seismic exploration drilling data and working face area channel wave data acquired by mine exploration, achieving high-resolution lithological inversion identification standards in accordance with a well field or mining area range of mine coal mining navigation by utilizing Bayesian discrimination, Markov Chain sampling, Monte Carlo simulation and other theories on the basis of comprehensive geological, logging, seismic and other data, constructing a three-dimensional data body model of a mining area corresponding to a fully mechanized mining working face, and planning a mining trajectory navigation map of a downhole coal mining machine.
The interference device with double seismic sources of the coal mining machine comprises: the system comprises a collection host and a collection station, wherein the collection host is connected with the collection station in an optical fiber or CAN communication mode embedded in a power cable of the coal mining machine; the acquisition host is arranged in the centralized control console, receives the information of the left rocker arm, the right rocker arm, the left roller and the right roller, the cutting current and the traction circuit of the coal mining machine acquired by the acquisition station through the acquisition host, and can send control information to the acquisition station. The collection station is installed inside the body of the coal mining machine so as to facilitate the protection of the collection station. The interior of the acquisition station is connected with two paths of intrinsic safety power modules in the coal mining machine through power lines to supply power to the acquisition station. And the collection station is internally provided with an intrinsic safety battery pack, a 128G flash memory and a precise clock, and is connected with a CAN network of a Programmable Logic Controller (PLC) of the coal mining machine.
The acquisition station is modified into four three-component velocity type geophones and four three-component micro-electro-mechanical-system (MEMS) type acceleration detectors on the basis of the acquisition station of the mining intrinsically safe type channel wave seismometer, and the four three-component velocity type geophones and the four three-component MEMS type acceleration detectors are respectively arranged on rollers on two sides and sliding shoes on two sides of a coal mining machine and are used for receiving seismic waves and dynamic waves of different frequency bands to form a 24-channel parallel seismic wave field acquisition system. The main control module in the acquisition station adopts a Field Programmable Gate Array (FPGA) chip, the FPGA integrates the dual functions of high-speed acquisition and Digital Signal Processor (DSP), and the acquisition, processing and control are concurrent. The acquisition station receives information such as the inclination angles of the left rocker arm and the right rocker arm of the coal mining machine, the heights of the left roller and the right roller, cutting current, a traction circuit and the like in real time, and can send an instruction for controlling the coal mining machine in real time.
According to the visual coal mining system for the underground coal mine, the navigation map for intelligent mining is drawn according to the distribution condition of the coal bed and the top and bottom plate rock stratums of the coal bed in the underground space. And then, by the technical means of real-time detection, real-time processing and real-time analysis, the top and bottom plate coal-rock interface of the coal mining machine during coal cutting is accurately sensed, and the coal mining path, the mining speed, the postures of the rocker arm and the roller and the coal cutting form of the coal mining machine are automatically adjusted and controlled in real time. The method has the advantages that the potential geological body and disaster source conditions such as faults, water-rich layers and the like in the coal seam and the top and bottom plates are continuously and dynamically detected, meanwhile, the posture and the mining speed of the coal mining machine are adjusted in real time, the optimal mining scheme is deployed, and the avoidance or load increase and decrease of a special structure are carried out, so that the safe coal mining under the conditions of controllable geology and unmanned working face is realized.
Example 2
The embodiment discloses a coal mine underground visual coal mining method, which comprises the following steps:
establishing a high-precision three-dimensional model of a coal measure stratum by using three-dimensional seismic survey drilling data and working face area trough wave data, and planning a recovery trajectory navigation chart of an underground coal mining machine;
the top and bottom plate coal rock interface of the coal cutter during coal cutting is accurately sensed through the double-seismic source interference device of the coal cutter, and the coal rock interface is automatically adjusted and controlled in real time for the stoping path, the stoping speed, the postures of the rocker arm and the roller and the coal cutting form of the coal cutter;
the high-precision three-dimensional model of the coal system stratum and the top and bottom plate coal-rock interface obtained by the double-seismic source interference device of the coal mining machine during coal cutting is compared and corrected in real time, and finally the visual coal mining method which can provide the optimal stoping path and stoping speed for the coal mining machine and can timely and correctly adjust the postures of the rocker arm and the roller and the coal cutting forms is constructed.
The method for constructing the high-precision three-dimensional model of the coal measure stratum comprises the following steps: the method comprises the steps of utilizing logging, well drilling data and geological rules as constraints to conduct inversion processing, applying a STRATA seismic inversion system to obtain a wave impedance inversion data body, controlling the area to be 12 square kilometers, after existing data are analyzed, matching seismic channels through reflection coefficients and wavelets obtained through drilling logging data and artificial synthesis records, conducting model-based inversion to obtain a wave impedance data body, loading the wave impedance data body into an interpretation system, inputting top and bottom layer position data corresponding to a coal seam, enabling the top and bottom layer position data to be gridded, obtaining a calibration coefficient through comparing a gridded layer position difference value with a coal thickness of a point corresponding to a whole-area drilling hole, multiplying the calibration coefficient which is gridded to the whole area with the top and bottom layer position difference value of the coal seam corresponding to the point to obtain the thickness of the corresponding coal seam, and accordingly building a high-precision three-dimensional model of each coal seam in a mining area.
The performance characteristics of a three-component velocity type geophone and a three-component MEMS type acceleration detector in an acquisition station of the double-seismic-source interference device of the coal mining machine are compared, the detectors are confirmed through simulation and field test, and the installation research of the protective device of the detectors, the cutting part and the walking part of the coal mining machine is carried out. A main control module in the acquisition station adopts a field programmable gate array FPGA chip, adopts a Verilog HDL hardware programming language to carry out real-time dynamic acquisition and processing, calculates a power spectrum and a frequency spectrum when a double source interferes in real time, defines a correction coefficient of a double source interference wave phase and a coal rock interface distance on site, carries out coal rock identification modeling, and can finely and real-time judge a coal rock interface after self-learning.
And comparing and correcting the high-precision three-dimensional model of the coal measure stratum and the top and bottom plate coal rock interface obtained by the double-seismic source interference device of the coal mining machine during coal cutting in real time, verifying whether the coal measure stratum and the top and bottom plate coal rock interface are consistent with each other, and determining the existing errors. And finally constructing a visual coal mining method which can provide the optimal stoping path and the optimal stoping speed for the coal mining machine and timely and correctly adjust the postures of the rocker arm and the roller and the coal cutting form according to the actually acquired coal-rock interface information of the top plate and the bottom plate. The visualization of the coal mining process is realized, and no person is in the coal mining field in the true sense.
According to the visual coal mining method for the underground coal mine, a navigation map for intelligent mining is drawn according to the distribution condition of the coal bed and the top and bottom plate rock stratums of the coal bed in the underground space. And establishing a three-dimensional geological model of a mining area range, realizing a ground texture measurement information refined model such as stratum information, coal bed information, structural information and the like, integrating related data, realizing data integration and facilitating comprehensive analysis of geological information. And then, by the technical means of real-time detection, real-time processing and real-time analysis, the top and bottom plate coal-rock interface of the coal mining machine during coal cutting is accurately sensed, and the coal mining path, the mining speed, the postures of the rocker arm and the roller and the coal cutting form of the coal mining machine are automatically adjusted and controlled in real time. Accurately predicting faults, the structure and lithology of a coal seam top and bottom plate, a collapse column, a broken zone, the thickness of a coal seam and the thickness of gangue sandwiched in the coal seam; while continuously and dynamically detecting geologic bodies such as possible faults, water-rich layers and the like in a coal seam and a top floor and disaster source conditions, adjusting the posture and the extraction speed of a coal cutter in real time, deploying an optimal extraction scheme, and adjusting the lifting and downward detection of a roller of the coal cutter in real time; different geological structures of the stope face are accurately analyzed, the coal mining machine is controlled to do reasonable actions, and avoidance or load increase and decrease are carried out on the special structures, so that safe production under the conditions of controllable geology and unmanned working face is realized.
Although the invention has been described in detail with respect to the general description and the specific embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made based on the invention. Therefore, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (6)
1. The coal mine underground visual coal mining system is characterized by comprising: the device comprises drilling equipment, working face area slot wave acquisition equipment and a double-seismic-source interference device of a coal mining machine, wherein the drilling equipment drills holes in a mine, acquisition equipment is placed in the hole to acquire three-dimensional seismic survey drilling data, acquiring working face area channel wave data through working face area channel wave acquisition equipment, establishing a high-precision three-dimensional model of the coal measure stratum by using three-dimensional seismic survey drilling data and the working face area channel wave data, the double-seismic source interference device of the coal mining machine senses the coal rock interface of the top plate and the bottom plate when the coal mining machine cuts coal, automatically adjusts and controls the stoping path, the stoping speed, the postures of the rocker arm and the roller and the coal cutting form of the coal mining machine in real time, and finally constructing a visual coal mining system which can provide the optimal stoping path and the optimal stoping speed for the coal mining machine and timely and correctly adjust the postures of the rocker arm and the roller and the coal cutting form through real-time comparison and correction with the high-precision three-dimensional model of the coal measure stratum.
2. The coal mine underground visualization mining system of claim 1, wherein the shearer dual-source interference device comprises: the system comprises a collection host and a collection station, wherein the collection host is connected with the collection station in an optical fiber or CAN communication mode embedded in a power cable of the coal mining machine.
3. The coal mining visual system under the coal mine well according to claim 2, wherein the collection host is arranged in the centralized control console, receives the information of the left and right rocker arm inclination angles, the left and right roller heights, the cutting current and the traction circuit of the coal mining machine acquired by the collection station through the collection host, and can send control information to the collection station.
4. The coal mining visual system under the coal mine well according to claim 2, characterized in that the collection station is installed inside a coal mining machine body, the inside of the collection station is connected with two paths of intrinsic safety power modules inside the coal mining machine through power lines, an intrinsic safety battery pack, a 128G flash memory and a precision clock are arranged in the collection station, and the collection station is connected with a CAN network of a Programmable Logic Controller (PLC) of the coal mining machine.
5. The visual coal mining system in the underground coal mine according to claim 4, wherein the acquisition station is modified into four three-component velocity geophones and four three-component micro-electro-mechanical-system (MEMS) acceleration detectors on the basis of the mining intrinsically safe type trough-wave seismometer acquisition station, the four three-component velocity geophones and the four three-component MEMS acceleration detectors are respectively installed on rollers on two sides and sliding shoes on two sides of a coal mining machine, and a main control module in the acquisition station adopts a Field Programmable Gate Array (FPGA) chip.
6. The coal mining visual system in the underground of the coal mine according to claim 4, wherein the collecting station receives information of left and right rocker arm inclination angles, left and right roller heights, cutting current, a traction circuit and the like of the coal mining machine in real time and can send out an instruction for controlling the coal mining machine in real time.
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