WO2023185735A1 - 全时空采掘过程的矿山应力场孪生建模同化系统及方法 - Google Patents

全时空采掘过程的矿山应力场孪生建模同化系统及方法 Download PDF

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WO2023185735A1
WO2023185735A1 PCT/CN2023/084076 CN2023084076W WO2023185735A1 WO 2023185735 A1 WO2023185735 A1 WO 2023185735A1 CN 2023084076 W CN2023084076 W CN 2023084076W WO 2023185735 A1 WO2023185735 A1 WO 2023185735A1
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model
mine
mining
data
stress
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杨威
魏则宁
冯英特
张文晓
王文元
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中国矿业大学
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    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/05—Geographic models
    • G—PHYSICS
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    • G06F—ELECTRIC DIGITAL DATA PROCESSING
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    • G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
    • G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces

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  • the invention relates to a mine stress field twin modeling assimilation system and method for a full time and space mining process, and belongs to the technical field of digital twin and assimilation inversion.
  • in-situ stress is one of the most important factors causing dynamic disasters
  • traditional in-situ stress testing methods such as stress recovery method, drill core stress relief method, hydraulic fracturing method, etc.
  • the test accuracy is low. Therefore, for a long time, in-situ stress has not become an effective parameter for early warning and prevention of outburst accidents under mining disturbance.
  • the current development of computer simulation technology and big data processing technology provides new ideas and methods for highlighting the prevention and control of mine dynamic disasters: on the one hand, through comprehensive research and comprehensive analysis of relevant historical data such as exploration, construction, mining, and maintenance of mining areas, and combined with
  • the ultra-high simulation computing power of the computer establishes a large-scale full-time and space-time numerical model of the mining area, inverts the mining work in the mining area, realizes large-scale numerical simulation of the entire mining cycle of the mine, and analyzes the distribution and evolution rules of the mining stress field; at the same time, it combines the dynamic disasters of the mining area Historical data and actual measured data of the current working face are compared with the model calculation results to improve the accuracy and credibility of the numerical calculation of the assimilation analysis and provide technical support for the evolution analysis of the mining stress field; on the other hand, the advanced digital twin technology is combined with contemporary The combination of coal mining and the promotion of extensive intelligent analysis and simulation control optimization of coal mines have become a research hotspot.
  • a mine stress field twin modeling assimilation system and method for the full time and space mining process is provided.
  • the best assimilation inversion technology with the advanced concepts of digital twin technology, it can establish a model that is more consistent with reality.
  • a three-dimensional full-mine stratigraphic model is developed, and the value of historical measured data is fully exploited through assimilation technology to further optimize the model calculation results, thereby improving the accuracy and precision of stress inversion.
  • the purpose of conducting simulated pre-mining is to grasp the spatio-temporal evolution rules of the stress field during the entire life cycle of mine mining, and to provide guidance for safe production in mines.
  • the present invention provides a mine stress field twin modeling and assimilation system for the full time and space mining process, including a digital model unit, a physical model unit and a human-computer interaction unit.
  • the human-computer interaction unit realizes the digital model unit and the physical model. Data interaction and sharing between units builds a two-way information flow channel to ensure the consistency of the physical entity and virtual model of the twin system, and provides virtual and real synchronization and feedback monitoring functions;
  • Digital model unit First, software modeling technology is used to build a three-dimensional geological model of equal scale based on the well construction data of mining companies. Then, assimilation and inversion technology is used to train the geological model based on historical data to obtain a mine historical assimilation model. Finally, digital twin technology is used to pass the actual measured mine The physical entity state parameters are mapped to the historical assimilation model to obtain a credible digital twin model;
  • Physical model unit used to record the stratigraphy of the mine area and the data of the tunnel system of each mining face of the mine;
  • Human-computer interaction unit includes information database, command flow editor, and simulation monitoring interface; inputs mining company well construction data, historical monitoring data, and twin data, including physical entity attribute values, field measured values, and sensor data into the information database. Then, the data is processed and updated by writing a command flow, and finally fed back to the simulation monitoring interface for query and control.
  • a twin modeling and assimilation method for mine stress fields oriented to the full-time and space-time mining process The steps are as follows:
  • Step 1 Establish an initial isometric three-dimensional geological model:
  • FLAC3D software or 3DEC software is used to create complex terrain conditions Create an isometric three-dimensional geological numerical calculation model of the mine for all mining sections and key tunnels; assign values to different coal seam and rock layer parameters of the model according to conventional methods, and impose constraint boundaries on the model; apply vertical stress according to the self-weight of the model, and apply lateral stress according to the model's own weight.
  • the coefficient applies horizontal stress to the geological model to deform the geological model; continue to use FLAC3D software or 3DEC software to calculate the geological model to complete the deformation until the initial stress equilibrium state;
  • Step 2 Establish a historical proportional three-dimensional geological model
  • the construction succession sequence of the completed mining sections and key tunnels of the entire mine is clarified, and FLAC3D software or 3DEC software is used to simulate and execute all mining sections and key tunnels of the entire mine in sequence on the equal-scale three-dimensional geological model established in step 1.
  • the mining succession sequence in the numerical simulation is the same as the historical real sequence, and the evolution of ground stress over time during the entire mine mining process is calculated, and the stress at all key locations in the model is continuously recorded during the entire geological model calculation process.
  • displacement data, the simulated excavation process continues to the current state of the actual mine mining construction, and the final calculation results include the mine's historical stress evolution data and the mine's current stress distribution data;
  • the final mine in-situ stress field inversion calculation results are obtained; the assignment parameters in the assigned geological model are adjusted through the calculation results, and the calculation is re- The assigned geological model makes its calculation results consistent with the historical data of key locations in the mine.
  • the equal-scale three-dimensional geological model in step 1 is improved into a mine history assimilation model that can reflect the natural laws and empirical knowledge of the mine's operation history;
  • Step 3 Establish a credible digital twin model that highly realistically simulates the changes in coal and rock mass around the tunnel under actual mining conditions:
  • step 2 Based on the mine history assimilation model established in step 2, digitally describe the actual in-situ stress environment state of the physical entity, create a credible digital twin model that faithfully maps to the physical entity, and can continue to use it through the human-computer interaction interface. Track the real-time data of the input physical entities, especially the changing state values of in-situ stress and rock surface displacement, and then highly realistically reflect the in-situ stress magnitude, in-situ stress distribution, and rock surface displacement change characteristics of the coal and rock mass around the tunnel under actual mining conditions;
  • the casing core stress relief method and the drill cuttings amount method were used to conduct on-site in-situ stress measurement.
  • the measurement points were selected as areas where no mining activities were carried out, and the observation station monitored the rock surface displacement in real time; the measured data were combined with the credible digital twin model. Compare the data at the corresponding location, modify the parameters of the trusted digital twin model and rerun it, so that the results calculated by the trusted digital twin model are consistent with the geostress and displacement data of a series of measured locations, then it can be considered that this time can be
  • the calculation results of Xin's digital twin model are relatively accurate mine in-situ stress field inversion results.
  • the mine environment, tunnel excavation status information, and underground sensor data are collected and digitally processed and uploaded to the human-computer interaction interface, and mapped in the digital model in real time. , and finally transform the mine history assimilation model into a truly credible digital twin model.
  • the entire mine refers to a complete area composed of multiple mining sections that interact with each other during the mining process.
  • the number of sections is greater than 10, and the minimum horizontal distance between adjacent mining sections is less than 200m.
  • Characteristic rock formations refer to rock formations that play a key role in roof movement and stress evolution during the mining process. This rock formation generally has greater strength or Larger thickness
  • key tunnels generally refer to section return tunnels, section transport tunnels and cut-out tunnels located within the coal seam
  • all completed mining sections and key tunnels refer to all mine production from the beginning to the present Mining sections and key tunnels
  • the conventional method that can be used for model setting is to complete the modeling process through built-in commands and writing command flows.
  • the assigned parameters mainly include bulk modulus, shear modulus, density, tensile strength, and internal friction angle. , elastic modulus, Poisson's ratio.
  • the key locations mentioned in step 2 refer to geostress testing locations, historical protruding locations where dynamic disasters have occurred, coal and rock formation movement observation locations, etc.
  • the relevant data mainly comes from the geological historical data of the mining area compiled by the geological exploration department of the mining enterprise. archives, as well as mine salient cards compiled by the Ventilation Department.
  • a series of actual measurement locations refer to unmined system tunnels, floor gas drainage tunnels, coal tunnel excavation heads, mining face cutting points, and working surfaces corresponding to surface rock formations; specifically, the stress relief method is used to measure the ground stress. , using the drill cuttings method to measure the geostress field distribution, and the observation station to monitor surface rock movement.
  • the continuous revision mainly includes two processes: the first process is to establish a small simplified numerical model of the equal-scale three-dimensional geological model, and conduct simulated excavation of the small simplified numerical model, using the same numerical calculation parameters as the equal-scale three-dimensional geological model.
  • a small simplified numerical model simulates the stress distribution law and surrounding rock deformation law during the excavation process.
  • the mechanical parameters of the small simplified numerical model are modified, including cohesion, internal friction angle, elastic modulus and Poisson's ratio, in order to ensure that the numerical simulation results are consistent with on-site measurements.
  • the rules are basically the same; the second process is to use the mechanical parameters determined in the first process and bring them into the equal-scale three-dimensional geological model for calculation.
  • This invention establishes an equal-scale three-dimensional geological model through preliminary comprehensive investigation and comprehensive analysis of relevant historical data such as exploration, construction, mining, and maintenance of the mining area, and uses assimilation analysis technology to continuously approach the model operating values and actual data, and continuously improves it.
  • the parameters of the calculation model are set so that the model results basically match the historical data and current measured data.
  • This invention focuses on the stress response and the occurrence mechanism of outburst dynamic disasters during the coal mining replacement construction process.
  • a proportional three-dimensional geological model is combined with historical data to enable the model to evolve synchronously with the physical entity in historical time and space.
  • the mine history assimilation model can be used to describe the historical process of the real physical domain entity from the beginning to the present.
  • the mine history assimilation model is transformed into a truly credible digital twin model, which deeply explores the value of historical information resources and builds a numerical model of the mining stress field of the entire mine in all time and space, providing data support for the prevention and control of outstanding dynamic disasters and helping to achieve Safe and efficient mining in mines.
  • Figure 1 is a schematic diagram of the mine stress field twin modeling and assimilation system for the full time and space mining process of the present invention
  • Figure 2 is a schematic block diagram of the digital modeling assimilation twin process in the embodiment of the mine stress field twin modeling assimilation method for the full-time and space mining process of the present invention
  • Figure 3 is a schematic diagram of the three-dimensional stratigraphic model of the entire mine in the embodiment of the present invention.
  • Figure 4 is a layout diagram of key locations in the embodiment of the present invention.
  • Figure 5 is a layout diagram of the actual measurement location in the embodiment of the present invention.
  • a mine stress field twin modeling and assimilation system for the full-time and space mining process includes a digital model unit, a physical model unit and a human-computer interaction unit.
  • the human-computer interaction unit realizes the integration between the digital model unit and the physical model unit.
  • Data interaction and sharing between the twin systems builds a two-way information flow channel to ensure the consistency of the physical entity and virtual model of the twin system, and provides virtual and real synchronization and feedback monitoring functions;
  • Digital model unit First, software modeling technology is used to build a three-dimensional geological model of equal scale based on the well construction data of mining companies. Then, assimilation and inversion technology is used to train the geological model based on historical data to obtain a mine historical assimilation model. Finally, digital twin technology is used to pass the actual measured mine The physical entity state parameters are mapped to the historical assimilation model to obtain a credible digital twin model;
  • Physical model unit used to record the stratigraphy of the mine area and the data of the tunnel system of each mining face of the mine;
  • Human-computer interaction unit includes information database, command flow editor, and simulation monitoring interface; inputs mining company well construction data, historical monitoring data, and twin data, including physical entity attribute values, field measured values, and sensor data into the information database. Then the data is processed and updated by writing a command flow, and finally fed back to the simulation monitoring interface for query Control.
  • Step 1 Establish an initial isometric three-dimensional geological model:
  • FLAC3D software or 3DEC software is used to create complex terrain conditions Create an isometric three-dimensional geological numerical calculation model of the mine for all mining sections and key tunnels; assign values to different coal seam and rock layer parameters of the model according to conventional methods, and impose constraint boundaries on the model; apply vertical stress according to the self-weight of the model, and apply lateral stress according to the model's own weight.
  • the coefficient applies horizontal stress to the geological model to deform the geological model; continue to use FLAC3D software or 3DEC software to calculate the geological model to complete the deformation until the initial stress equilibrium state;
  • Step 2 Establish a historical proportional three-dimensional geological model
  • the construction succession sequence of the completed mining sections and key tunnels of the entire mine is clarified, and FLAC3D software or 3DEC software is used to simulate and execute all mining sections and key tunnels of the entire mine in sequence on the equal-scale three-dimensional geological model established in step 1.
  • the mining succession sequence in the numerical simulation is the same as the historical real sequence, and the evolution of ground stress over time during the entire mine mining process is calculated, and the stress at all key locations in the model is continuously recorded during the entire geological model calculation process.
  • displacement data, the simulated excavation process continues to the current state of the actual mine mining construction, and the final calculation results include the mine's historical stress evolution data and the mine's current stress distribution data;
  • the final mine in-situ stress field inversion calculation results are obtained; the assignment parameters in the assigned geological model are adjusted through the calculation results, and the calculation is re-
  • the assigned geological model makes its calculation results consistent with the historical data of key locations in the mine, and finally the same-scale three-dimensional geological model in step 1 is
  • the qualitative model is improved into a mine history assimilation model that can reflect the natural laws and empirical knowledge of mine operation history;
  • Step 3 Establish a credible digital twin model that highly realistically simulates the changes in coal and rock mass around the tunnel under actual mining conditions:
  • step 2 Based on the mine history assimilation model established in step 2, digitally describe the actual in-situ stress environment state of the physical entity, create a credible digital twin model that faithfully maps to the physical entity, and can continue to use it through the human-computer interaction interface. Track the real-time data of the input physical entities, especially the changing state values of in-situ stress and rock surface displacement, and then highly realistically reflect the in-situ stress magnitude, in-situ stress distribution, and rock surface displacement change characteristics of the coal and rock mass around the tunnel under actual mining conditions;
  • the casing core stress relief method and the drill cuttings amount method were used to conduct on-site in-situ stress measurement.
  • the measurement points were selected as areas where no mining activities were carried out, and the observation station monitored the rock surface displacement in real time; the measured data were combined with the credible digital twin model. Compare the data at the corresponding location, modify the parameters of the trusted digital twin model and rerun it, so that the results calculated by the trusted digital twin model are consistent with the geostress and displacement data of a series of measured locations, then it can be considered that this time can be
  • the calculation results of Xin's digital twin model are relatively accurate mine in-situ stress field inversion results.
  • the mine environment, tunnel excavation status information, and underground sensor data are collected and digitally processed and uploaded to the human-computer interaction interface, and mapped in the digital model in real time. , and finally transform the mine history assimilation model into a truly credible digital twin model.
  • the present invention conducts experimental research on a certain mining area in Shaanxi province.
  • This mining area is a typical mining area with strong outburst risk in my country.
  • the A coal mine affiliated to this mining area is a typical in-situ stress-dominated outburst mine. The following is combined with the stress field shown in the drawing. An inversion is used as an example to illustrate this embodiment, so that the functions and features of the present invention can be better understood.
  • each mining area can be simplified as no response to each other. Therefore, according to the mine mining According to the area layout, the mine model is divided into three modules; according to the divided areas, FLAC3D software is used to establish a proportional three-dimensional numerical calculation model of the mine including all mining sections and key tunnels; the model grid is divided into gradient grids, in order to ensure that the calculation Reduce computational pressure as much as possible while maintaining accuracy.
  • step S12 According to the Mohr-Coulomb criterion, assign values to different rock layers of the model based on the parameters collected in step S12, apply vertical stress according to the self-weight of the model, and initially determine the direction of the maximum principal stress based on the outburst history, and initially apply it in the form of lateral pressure coefficient Horizontal stress; add constraint boundaries to the model and then operate the model to the initial stress equilibrium state for trial calculations.
  • S31 retrieve the mine outburst card information, and based on the on-site conditions recorded in the card, initially determine the stress direction at the time of the outburst, compare and analyze it with the stress changes at the monitoring point during model calculation, and determine whether the stress direction that caused the outburst matches. , if it matches, it means that the direction of the ground stress is correct. If it does not match, it means that the direction of the ground stress in the model deviates from the actual one.
  • the transformation of the stress direction is achieved by modifying the lateral pressure coefficient and the shear stress value. Analyze the displacement and relationship between the coal tunnel displacement and the actual during the historical excavation process.
  • Stress monitoring data (4312 working face), analyze its changing trend, and compare and analyze the evolution of stress values at corresponding points in the model. If the two match (error ⁇ 10%), the stress assignment is considered correct. If they do not match, (error >10%), then modify the stress magnitude and rock mechanics parameters while ensuring that the stress directions match, until they match the stress evolution history during the historical excavation process.
  • the casing core stress relief method is used to conduct on-site ground stress measurement.
  • the measurement points are selected as system tunnels that are not undergoing mining activities (240 auxiliary transportation tunnel in the North No. 2 mining area), floor gas drainage tunnels (185 bottom drainage tunnel in the South, North No. 1 4322 Yunshun floor tunnel); conduct drill cuttings volume tests on the 3319 working face of the current mining face and the coal tunnel heading head of the first mining face; use a total station, theodolite, etc.

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Abstract

本发明涉及一种全时空采掘过程的矿山应力场孪生建模同化系统及方法，属于数字孪生同化反演技术领域。包括数字模型单元、物理模型单元及人机交互单元。数字模型单元有等比例三维地质模型、矿山历史同化模型、可信数字孪生模型，物理模型单元涵盖地层、矿井各采面巷道系统，人机交互单元有信息数据库、软件模拟监控界面。本发明通过软件建立模型、同化技术优化模型运行、数字孪生技术互联物理实体与虚拟模型，能够建立与实际更贴合的面向全时空采掘过程的矿山地应力场孪生模型，同时根据真实物理场景监测数据，在虚拟空间模型中进行仿真预采，旨在掌握矿井采掘过程中应力场的时空演化规律，为矿井安全生产提供指导。

Description

全时空采掘过程的矿山应力场孪生建模同化系统及方法 技术领域
本发明涉及一种全时空采掘过程的矿山应力场孪生建模同化系统及方法，属于数字孪生与同化反演技术领域。
背景技术
随着矿井浅部煤炭资源的日渐枯竭，为保障能源供应，我国矿井开采深度持续增加，例如中东部区域以10～25m/a的速度向深部推进，深度达到800～1000m，并有多座千米深井。随着开采深度的增加，地应力也持续增加。研究表明地应力是煤矿开采等地下工程围岩变形与破坏的根本驱动力，是导致煤与瓦斯突出、冲击地压等灾害的最主要影响因素之一，地应力越高、变化越剧烈，突出危险性就越大。我国突出煤层中地应力主导型的突出事故日趋增多，不利于矿井安全高效生产建设。
煤炭资源开采过程中，不可避免地产生采动响应，而实际生产过程中矿井采掘接替顺序将导致初始地应力场发生改变，围岩中应力集中分布情况的变化，易诱发冲击地压、巷道围岩大变形等动力灾害事故。
虽然地应力是导致动力灾害的最主要因素之一，但是传统的地应力测试方法(如应力恢复法、钻孔套芯应力解除法、水压致裂法等)操作繁琐、技术难度较大、测试精度较低，因此，长期以来地应力未能成为开采扰动下突出事故预警与防治的有效参数。
当前计算机模拟技术与大数据处理技术的发展为突出矿井动力灾害防治提供了新思路与新方法：一方面，通过全面调研与综合分析矿区的勘探、建设、开采、维护等相关历史资料，并结合计算机的超高模拟运算能力建立大尺度全时空矿区数值模型，反演矿区的采掘工作，实现矿井全开采周期的大尺度数值仿真，分析采掘应力场的分布和演化规律；同时结合矿区的动力灾害历史资料及当前工作面的实测数据对比模型运算结果，提高同化分析数值计算的准确性与可信度，为采掘应力场的演变分析提供技术支持；另一方面，将先进的数字孪生技术与当代煤矿开采结合，推动煤矿的广泛智能分析与仿真控制优化成为研究热点，
发明内容
针对现有技术存在的问题，提供一种全时空采掘过程的矿山应力场孪生建模同化系统及方法，通过将同化反演技术优和数字孪生技术先进理念相结合，能够建立与实际更贴合的三维全矿井地层模型，并通过同化技术充分挖掘历史实测数据价值，进一步优化模型运算结果，进而提高应力反演的准确度、精细度，同时根据真实物理场景监测数据，在虚拟空间模型中 进行仿真预采，旨在掌握矿井采掘全生命周期中应力场的时空演化规律，为矿井安全生产提供指导。
为实现上述目的，本发明的一种面向全时空采掘过程的矿山应力场孪生建模同化系统，包括数字模型单元、物理模型单元及人机交互单元，人机交互单元实现数字模型单元与物理模型单元之间的数据交互共享，搭建起双向信息流动通道，保证孪生系统物理实体和虚拟模型的一致性，提供虚实同步、反馈监控的功能；
数字模型单元：首先运用软件建模技术根据矿企建井资料搭建等比例三维地质模型，然后运用同化反演技术根据历史数据训练地质模型得到矿山历史同化模型、最后运用数字孪生技术通过实测的矿山物理实体状态参数映射到历史同化模型中得到可信数字孪生模型；
物理模型单元：用以记载矿井区域的地层、矿井各采面巷道系统的数据；
人机交互单元：包括信息数据库、命令流编辑器、模拟监控界面；将矿企建井资料、历史监测数据以及孪生数据，包括物理实体属性值、现场实测值、传感器数据均输入至信息数据库，然后通过编写命令流实现对数据的加工处理更新，最终反馈到模拟监控界面以供查询管控。
一种面向全时空采掘过程的矿山应力场孪生建模同化方法，其步骤如下：
步骤1，建立初始的等比例三维地质模型：
根据全矿井地质勘探钻孔详细资料获取矿井的全地质信息，包括钻孔位置处煤层和特征岩层顶、底部的三维坐标，并利用插值方法计算煤层和特征岩层顶、底部任意点的三维坐标；根据钻孔资料及地质报告数据获取煤岩层分布情况及力学性质信息；
根据全矿井已完成的全部回采区段和关键巷道的布置情况，及矿井预设的未开挖回采区段和关键巷道的布置情况，结合煤层和特征岩层顶、底部任意点的三维坐标，利用CAD的二次开发软件CASS10.1获得所有回采区段和关键巷道的边界控制点三维坐标；
根据矿井断层分布特征、地表起伏情况、矿井边界、煤层和特征岩层顶、底部任意点三维坐标、所有回采区段和关键巷道的边界控制点三维坐标，利用FLAC3D软件或3DEC软件建立包含复杂地形条件下所有回采区段和关键巷道的矿井等比例三维地质数值计算模型；按照常规方法给模型不同的煤层和岩层参数赋值，给模型施加约束边界；根据模型自重施加竖直方向应力，并根据侧压系数向地质模型施加水平方向应力使地质模型形变；继续采用FLAC3D软件或3DEC软件运算地质模型完成形变直至初始应力平衡状态；
步骤2，建立历史等比例三维地质模型；
根据历史资料明确全矿井已完成的回采区段和关键巷道的施工接替顺序，利用FLAC3D软件或3DEC软件对步骤1中所建立的等比例三维地质模型依次模拟执行全矿井所有回采区段和关键巷道的开挖作业，数值模拟中的采掘接替顺序和历史真实顺序相同，并计算全矿井采掘过程中地应力随时间的演化规律，并在地质模型计算全过程中连续记录模型中所有关键地点的应力、位移数据，模拟的开挖过程持续至现实中矿井采掘施工当前状态，最终计算结果包含矿井历史应力演化数据及矿井当前应力分布数据；
将全矿井的历史资料与矿井模型中的关键点的数据进行比较，具体地，调取地应力监测点数据、矿企监测部门记录的矿井突出卡片信息、、煤岩层移动观测数据等历史资料，对比步骤1中得到的等比例三维的地质模型中一系列关键地点的模拟数据，对标实际数据去修改模型中的参数然后重新运行地质模型，使得地质模型计算得到的结果和历史中出现的煤与瓦斯突出事故的时间和关键地点，以及发生突出的坐标及突出的类型相吻合，得到最终矿井地应力场反演计算结果；通过计算结果来调整赋值后的地质模型中的赋值参数，运算重新赋值后的地质模型，使其运算结果和矿井关键地点历史数据吻合，最终将步骤1中的等比例三维地质模型完善为能够反映矿山运行历史自然规律和经验知识的矿山历史同化模型；
步骤3，建立高度逼真地模拟开采实况下巷道周围煤岩体变化的可信数字孪生模型：
在步骤2中所建立的矿山历史同化模型的基础上，对物理实体的现实地应力环境状态进行数字化描述，创建起与物理实体忠实映射的可信数字孪生模型，并能够通过人机交互界面持续跟踪输入物理实体的实时数据，尤其是地应力和岩表位移量的变化状态值，进而高度逼真地反映开采实况下巷道周围煤岩体地应力大小、地应力分布、岩表位移量变化特征；
具体地，采用套芯应力解除法、钻屑量法进行现场地应力实测，选取测点为未进行开采活动的区域，观测站实时监测岩表位移量；将实测数据与可信数字孪生模型中对应位置的数据进行对比，通过修改可信数字孪生模型的参数并重新运行，使得可信数字孪生模型计算得到的结果和一系列实测地点的地应力与位移量数据吻合，便可以认为本次可信数字孪生模型计算结果为比较准确的矿井地应力场反演结果，同时将矿山环境、巷道开挖状态信息、井下传感器数据进行采集并数字化处理上传至人机交互界面，实时映射于数字模型中，最终将矿山历史同化模型转变为真正意义上的可信数字孪生模型。
所述步骤1中，全矿井是指由多个在采动过程中相互影响的回采区段组成的一个完整区域，区段数量大于10个，相邻回采区段之间的最小水平距离小于200m；特征岩层是指采矿过程中能对顶板移动、应力演化起到关键作用的岩层，该岩层一般情况下具有较大强度或者 较大厚度；关键巷道一般是指位于煤层内的区段回风平巷、区段运输平巷和切眼巷道；已完成的全部回采区段和关键巷道，指从矿井生产之初至今的全部回采区段和关键巷道；模型设置可以采用的常规方法是通过内置命令、编写命令流完成建模过程，所赋值参数主要包括体积模量、剪切模量、密度、抗拉强度、内摩擦角、弹性模量、泊松比。
步骤2中所述的关键地点指测试地应力地点、发生过动力灾害的历史突出地点、煤岩层移动观测地点等，具体地，相关数据主要来源于矿山企业地质勘探部门整理的矿区地质历史资料、档案，以及通风部整理的矿井突出卡片。
步骤3中，一系列实测地点指未开采的系统巷道、底板瓦斯抽放巷道、煤巷掘进头、采面切眼地点、工作面对应地表岩层；具体地，采用应力解除法测地应力大小、采用钻屑量法测地应力场分布、观测站监测地表岩移。
基于步骤1所构建的初始等比例三维地质模型，根据矿井真实的施工接替顺序“复刻历史过程”直至当前状态，并对比一系列关键地点的模拟数据与历史实测数据、对比一系列实测地点的模拟数据与当前实测数据，定义偏差系数当偏差系数在10％以内时，可认为等比例三维地质模型运算结果与实际相符、模型同化完成，否则就修改等比例三维地质模型参数并重复运行，如此重复多次直至计算结果符合要求。
修改可信数字孪生模型的参数，即根据复制历史数据不断修正的煤岩体力学性参数及地应力大小与方向，初始状态参数组在步骤1中确定后保持不变；
不断修正主要包括两个过程：第一个过程是建立一个等比例三维地质模型的小型简化数值模型，进行小型简化数值模型的模拟开挖，采用与等比例三维地质模型相同的数值计算参数，根据小型简化数值模型模拟开挖过程中的应力分布规律及围岩变形规律，修改小型简化数值模型的力学参数，包括内聚力、内摩擦角、弹性模量及泊松比，以期数值模拟结果与现场实测规律基本一致；第二个过程是采用第一个过程所确定的力学参数带入等比例三维地质模型进行运算，在此过程中由于应力数值与赋存环境变化，应力分布规律以及围岩变形可能会与小型简化数值模型存在偏差，此时再进行参数修正，使得等比例三维地质模型的力学分布规律与变形规律与现场实测一致，完成同化。
有益效果：本发明通过前期全面调研与综合分析矿区的勘探、建设、开采、维护等相关历史资料，建立等比例三维地质模型，利用同化分析技术将模型运行值与实际数据不断趋近，不断完善计算模型的参数设置使得模型结果与历史资料数据及当前状态实测数据基本匹配， 来获取采掘作业空间应力场的时空演化和分布特征，以数字孪生的理念创建矿山物理实体的虚拟孪生体模型，通过人机交互界面实现物理模型与数字模型之间的忠实映射、动态交互、实时反馈。本发明聚焦于煤矿采掘接替施工过程中的应力响应及突出动力灾害发生机理，综合运用三维建模、数值模拟、同化分析、数字孪生等科技革命创新成果，先基于建井完井初期资料构建起等比例三维地质模型，并结合历史资料使模型在历史时空下与物理实体同步演化，矿山历史同化模型可用于描述现实物理域实体从开始至当前的历史进程，最后通过数字孪生的精准映射、协同交互，矿山历史同化模型转变为真正意义上的可信数字孪生模型，如此深入挖掘历史信息资源价值，构建起全矿井全时空的采掘应力场数值模型，为突出动力灾害防治提供数据支持，助力实现矿井安全高效开采。
附图说明
图1为本发明全时空采掘过程的矿山应力场孪生建模同化系统的示意图；
图2为本发明全时空采掘过程的矿山应力场孪生建模同化方法实施例中的数字建模同化孪生过程示意框图；
图3为本发明实施例中的全矿井三维地层模型示意图；
图4为本发明实施例中的关键地点的布置图；
图5为本发明实施例中的实测地点的布置图。
具体实施方式
下面结合附图对本发明的实施例做进一步说明：
如图1所示，一种面向全时空采掘过程的矿山应力场孪生建模同化系统，包括数字模型单元、物理模型单元及人机交互单元，人机交互单元实现数字模型单元与物理模型单元之间的数据交互共享，搭建起双向信息流动通道，保证孪生系统物理实体和虚拟模型的一致性，提供虚实同步、反馈监控的功能；
数字模型单元：首先运用软件建模技术根据矿企建井资料搭建等比例三维地质模型，然后运用同化反演技术根据历史数据训练地质模型得到矿山历史同化模型、最后运用数字孪生技术通过实测的矿山物理实体状态参数映射到历史同化模型中得到可信数字孪生模型；
物理模型单元：用以记载矿井区域的地层、矿井各采面巷道系统的数据；
人机交互单元：包括信息数据库、命令流编辑器、模拟监控界面；将矿企建井资料、历史监测数据以及孪生数据，包括物理实体属性值、现场实测值、传感器数据均输入至信息数据库，然后通过编写命令流实现对数据的加工处理更新，最终反馈到模拟监控界面以供查询 管控。
如图2所示，一种面向全时空采掘过程的矿山应力场孪生建模同化方法，其步骤如下：
步骤1，建立初始的等比例三维地质模型：
根据全矿井地质勘探钻孔详细资料获取矿井的全地质信息，包括钻孔位置处煤层和特征岩层顶、底部的三维坐标，并利用插值方法计算煤层和特征岩层顶、底部任意点的三维坐标；根据钻孔资料及地质报告数据获取煤岩层分布情况及力学性质信息；
根据全矿井已完成的全部回采区段和关键巷道的布置情况，及矿井预设的未开挖回采区段和关键巷道的布置情况，结合煤层和特征岩层顶、底部任意点的三维坐标，利用CAD的二次开发软件CASS10.1获得所有回采区段和关键巷道的边界控制点三维坐标；
根据矿井断层分布特征、地表起伏情况、矿井边界、煤层和特征岩层顶、底部任意点三维坐标、所有回采区段和关键巷道的边界控制点三维坐标，利用FLAC3D软件或3DEC软件建立包含复杂地形条件下所有回采区段和关键巷道的矿井等比例三维地质数值计算模型；按照常规方法给模型不同的煤层和岩层参数赋值，给模型施加约束边界；根据模型自重施加竖直方向应力，并根据侧压系数向地质模型施加水平方向应力使地质模型形变；继续采用FLAC3D软件或3DEC软件运算地质模型完成形变直至初始应力平衡状态；
步骤2，建立历史等比例三维地质模型；
根据历史资料明确全矿井已完成的回采区段和关键巷道的施工接替顺序，利用FLAC3D软件或3DEC软件对步骤1中所建立的等比例三维地质模型依次模拟执行全矿井所有回采区段和关键巷道的开挖作业，数值模拟中的采掘接替顺序和历史真实顺序相同，并计算全矿井采掘过程中地应力随时间的演化规律，并在地质模型计算全过程中连续记录模型中所有关键地点的应力、位移数据，模拟的开挖过程持续至现实中矿井采掘施工当前状态，最终计算结果包含矿井历史应力演化数据及矿井当前应力分布数据；
将全矿井的历史资料与矿井模型中的关键点的数据进行比较，具体地，调取地应力监测点数据、矿企监测部门记录的矿井突出卡片信息、、煤岩层移动观测数据等历史资料，对比步骤1中得到的等比例三维的地质模型中一系列关键地点的模拟数据，对标实际数据去修改模型中的参数然后重新运行地质模型，使得地质模型计算得到的结果和历史中出现的煤与瓦斯突出事故的时间和关键地点，以及发生突出的坐标及突出的类型相吻合，得到最终矿井地应力场反演计算结果；通过计算结果来调整赋值后的地质模型中的赋值参数，运算重新赋值后的地质模型，使其运算结果和矿井关键地点历史数据吻合，最终将步骤1中的等比例三维地 质模型完善为能够反映矿山运行历史自然规律和经验知识的矿山历史同化模型；
步骤3，建立高度逼真地模拟开采实况下巷道周围煤岩体变化的可信数字孪生模型：
在步骤2中所建立的矿山历史同化模型的基础上，对物理实体的现实地应力环境状态进行数字化描述，创建起与物理实体忠实映射的可信数字孪生模型，并能够通过人机交互界面持续跟踪输入物理实体的实时数据，尤其是地应力和岩表位移量的变化状态值，进而高度逼真地反映开采实况下巷道周围煤岩体地应力大小、地应力分布、岩表位移量变化特征；
具体地，采用套芯应力解除法、钻屑量法进行现场地应力实测，选取测点为未进行开采活动的区域，观测站实时监测岩表位移量；将实测数据与可信数字孪生模型中对应位置的数据进行对比，通过修改可信数字孪生模型的参数并重新运行，使得可信数字孪生模型计算得到的结果和一系列实测地点的地应力与位移量数据吻合，便可以认为本次可信数字孪生模型计算结果为比较准确的矿井地应力场反演结果，同时将矿山环境、巷道开挖状态信息、井下传感器数据进行采集并数字化处理上传至人机交互界面，实时映射于数字模型中，最终将矿山历史同化模型转变为真正意义上的可信数字孪生模型。
实施例
本发明以陕西省某矿区为对象展开试验研究，该矿区是我国典型的强突出危险性矿区，该矿区下属A煤矿是典型的地应力主导型的突出矿井，下面结合附图所示的应力场反演为例说明本实施方式，使能更好地理解本发明的功能、特点。
S1：初始模型构建，具体见图3；
S11：搜集A煤矿全矿井地质勘探钻孔详细资料、采掘工程平面图、井上下对照图，钻孔数据等；根据钻孔资料获取煤岩层分布情况，将岩层整合为砂岩组、泥岩组、灰岩组等特征岩层，同时根据地质报告数据获取各特征岩层力学性质信息；根据底板等高线、地质钻孔等资料获取钻孔位置处煤层和特征岩层顶、底部的三维坐标；并利用插值方法计算煤层和特征岩层顶、底部任意点的三维坐标；根据全矿井已完成的全部回采区段和关键巷道的布置情况，及矿井未来回采区段和关键巷道的布置情况，结合煤层和特征岩层顶、底部任意点的三维坐标，利用CAD的二次开发软件CASS10.1获得所有回采区段和关键巷道的边界控制点三维坐标；根据矿井断层分布特征、地表起伏情况、矿井边界、煤层和特征岩层顶、底部任意点三维坐标、所有回采区段和关键巷道的边界控制点三维坐标，建立三维全仿真计算模型；考虑到若将全矿井建立在一个模型中模型的跨度过大，网格数量过多会导致计算缓慢，且矿井的三个采区间距均在500m以上，各个采区之间可简化看作相互无响应，因此依据矿井采 区布置，将矿井模型划分为三个模块；按照划分的区域利用FLAC3D软件建立包含所有回采区段和关键巷道的矿井等比例三维数值计算模型；模型网格划分采取渐变网格，以期在保证计算准确度的前提下尽可能减少计算压力。
S12：依据摩尔库伦准则，基于步骤S12中搜集到的参数给模型不同的岩层分别赋值，根据模型自重施加竖直方向应力，并根据突出历史初步判断最大主应力方向，以侧压系数方式初步施加水平方向应力；给模型施加约束边界后运算模型至初始应力平衡状态进行试运算。
S2：全矿井应力演化历史及当前应力分布计算，如图4所示。
S21：根据全矿井已完成的回采区段和关键巷道的施工接替顺序，利用FLAC3D软件依次执行全矿井所有回采区段和关键巷道的开挖作业，保证数值模拟中的采掘接替顺序和历史真实顺序相同，实现矿井采掘接替反演，完成最终计算得到煤矿现如今的采掘应力场分布规律，并在模型计算全过程中连续记录一系列关键地点的应力、位移等数据，关键地点包括历史突出事故发生地点、地应力实测地点等。
S22、以上历史同序开挖过程持续至现实中矿井采掘施工当前状态，记录当前状态下一系列实测地点的应力、位移等数据，包括地应力实测点、钻屑量实测点、已开挖采面地表岩移数据(如4312工作面)；最终计算结果包含矿井历史应力演化数据及矿井当前应力分布数据；
S3：模型同化。
S31：调取该矿井突出卡片信息，依据卡片中所记录的现场情况，初步判断突出时的应力方向，与模型计算时该监测点的应力变化进行比对分析，判断导致突出的应力方向是否匹配，若匹配则表征地应力方向无误，若不匹配则表征模型中地应力方向与实际存在偏差，通过修改侧压系数以及切应力数值实现应力方向的转变；分析历史开挖过程中煤巷位移与应力监测数据(4312工作面)，分析其变化趋势，与模型中相对应点位的应力值演化进行比对分析，若两者匹配(误差≤10％)，则认为应力赋值正确，若不匹配(误差>10％)，则在保证应力方向匹配的前提下修改应力大小及岩石力学参数，直至匹配历史开挖过程中的应力演化历史。
S32：采用套芯应力解除法进行现场地应力实测，选取测点为未进行开采活动的系统巷道(北二采区240辅运巷)、底板瓦斯抽放巷道(南一185切眼底抽巷、北一4322运顺底板巷)；在现采面3319工作面及一采面煤巷掘进头分别进行钻屑量测试；使用全站仪、经纬仪等进行观测收集3319等工作面的地表岩层移动记录数据；将实测数据与模型中对应位置的数据进行对比，通过修改数值模型参数并重新运行数值模型，使得数值模型计算得到的结果和一系列实测地点测量数据吻合(误差≤10％)，得到最终计算结果，具体如图5所示。

Claims (7)

  1. 一种面向全时空采掘过程的矿山应力场孪生建模同化方法，其特征在于步骤如下：
    步骤1，建立初始的等比例三维地质模型：
    根据全矿井地质勘探钻孔详细资料获取矿井的全地质信息，包括钻孔位置处煤层和特征岩层顶、底部的三维坐标，并利用插值方法计算煤层和特征岩层顶、底部任意点的三维坐标；根据钻孔资料及地质报告数据获取煤岩层分布情况及力学性质信息；
    根据全矿井已完成的全部回采区段和关键巷道的布置情况，及矿井预设的未开挖回采区段和关键巷道的布置情况，结合煤层和特征岩层顶、底部任意点的三维坐标，利用CAD的二次开发软件CASS10.1获得所有回采区段和关键巷道的边界控制点三维坐标；
    根据矿井断层分布特征、地表起伏情况、矿井边界、煤层和特征岩层顶、底部任意点三维坐标、所有回采区段和关键巷道的边界控制点三维坐标，利用FLAC3D软件或3DEC软件建立包含复杂地形条件下所有回采区段和关键巷道的矿井等比例三维地质数值计算模型；按照常规方法给模型不同的煤层和岩层参数赋值，给模型施加约束边界；根据模型自重施加竖直方向应力，并根据侧压系数向地质模型施加水平方向应力使地质模型形变；继续采用FLAC3D软件或3DEC软件运算地质模型完成形变直至初始应力平衡状态；
    步骤2，建立历史等比例三维地质模型；
    根据历史资料明确全矿井已完成的回采区段和关键巷道的施工接替顺序，利用FLAC3D软件或3DEC软件对步骤1中所建立的等比例三维地质模型依次模拟执行全矿井所有回采区段和关键巷道的开挖作业，数值模拟中的采掘接替顺序和历史真实顺序相同，并计算全矿井采掘过程中地应力随时间的演化规律，并在地质模型计算全过程中连续记录模型中所有关键地点的应力、位移数据，模拟的开挖过程持续至现实中矿井采掘施工当前状态，最终计算结果包含矿井历史应力演化数据及矿井当前应力分布数据；
    将全矿井的历史资料与矿井模型中的关键点的数据进行比较，具体地，调取地应力监测点数据、矿企监测部门记录的矿井突出卡片信息、、煤岩层移动观测数据等历史资料，对比步骤1中得到的等比例三维的地质模型中一系列关键地点的模拟数据，对标实际数据去修改模型中的参数然后重新运行地质模型，使得地质模型计算得到的结果和历史中出现的煤与瓦斯突出事故的时间和关键地点，以及发生突出的坐标及突出的类型相吻合，得到最终矿井地应力场反演计算结果；通过计算结果来调整赋值后的地质模型中的赋值参数，运算重新赋值后的地质模型，使其运算结果和矿井关键地点历史数据吻合，最终将步骤1中的等比例三维地质模型完善为能够反映矿山运行历史自然规律和经验知识的矿山历史同化模型；
    步骤3，建立高度逼真地模拟开采实况下巷道周围煤岩体变化的可信数字孪生模型：
    在步骤2中所建立的矿山历史同化模型的基础上，对物理实体的现实地应力环境状态进行数字化描述，创建起与物理实体忠实映射的可信数字孪生模型，并能够通过人机交互界面持续跟踪输入物理实体的实时数据，尤其是地应力和岩表位移量的变化状态值，进而高度逼真地反映开采实况下巷道周围煤岩体地应力大小、地应力分布、岩表位移量变化特征；
    具体地，采用套芯应力解除法、钻屑量法进行现场地应力实测，选取测点为未进行开采活动的区域，观测站实时监测岩表位移量；将实测数据与可信数字孪生模型中对应位置的数据进行对比，通过修改可信数字孪生模型的参数并重新运行，使得可信数字孪生模型计算得到的结果和一系列实测地点的地应力与位移量数据吻合，便可以认为本次可信数字孪生模型计算结果为比较准确的矿井地应力场反演结果，同时将矿山环境、巷道开挖状态信息、井下传感器数据进行采集并数字化处理上传至人机交互界面，实时映射于数字模型中，最终将矿山历史同化模型转变为真正意义上的可信数字孪生模型。
  2. 根据权利要求1所述面向全时空采掘过程的矿山应力场孪生建模同化方法，其特征在于，使用的面向全时空采掘过程的矿山应力场孪生建模同化系统，包括数字模型单元、物理模型单元及人机交互单元，人机交互单元实现数字模型单元与物理模型单元之间的数据交互共享，搭建起双向信息流动通道，保证孪生系统物理实体和虚拟模型的一致性，提供虚实同步、反馈监控的功能；
    数字模型单元：首先运用软件建模技术根据矿企建井资料搭建等比例三维地质模型，然后运用同化反演技术根据历史数据训练地质模型得到矿山历史同化模型、最后运用数字孪生技术通过实测的矿山物理实体状态参数映射到历史同化模型中得到可信数字孪生模型；
    物理模型单元：用以记载矿井区域的地层、矿井各采面巷道系统的数据；
    人机交互单元：包括信息数据库、命令流编辑器、模拟监控界面；将矿企建井资料、历史监测数据以及孪生数据，包括物理实体属性值、现场实测值、传感器数据均输入至信息数据库，然后通过编写命令流实现对数据的加工处理更新，最终反馈到模拟监控界面以供查询管控。
  3. 根据权利要求1所述面向全时空采掘过程的矿山应力场孪生建模同化方法，其特征在于：所述步骤1中，全矿井是指由多个在采动过程中相互影响的回采区段组成的一个完整区域，区段数量大于10个，相邻回采区段之间的最小水平距离小于200m；特征岩层是指采矿过程中能对顶板移动、应力演化起到关键作用的岩层，该岩层一般情况下具有较大强度或者 较大厚度；关键巷道一般是指位于煤层内的区段回风平巷、区段运输平巷和切眼巷道；已完成的全部回采区段和关键巷道，指从矿井生产之初至今的全部回采区段和关键巷道；模型设置可以采用的常规方法是通过内置命令、编写命令流完成建模过程，所赋值参数主要包括体积模量、剪切模量、密度、抗拉强度、内摩擦角、弹性模量、泊松比。
  4. 根据权利要求1所述面向全时空采掘过程的矿山应力场孪生建模同化方法，其特征在于：步骤2中所述的关键地点指测试地应力地点、发生过动力灾害的历史突出地点、煤岩层移动观测地点等，具体地，相关数据主要来源于矿山企业地质勘探部门整理的矿区地质历史资料、档案，以及通风部整理的矿井突出卡片。
  5. 根据权利要求1所述面向全时空采掘过程的矿山应力场孪生建模同化方法，其特征在于：步骤3中，一系列实测地点指未开采的系统巷道、底板瓦斯抽放巷道、煤巷掘进头、采面切眼地点、工作面对应地表岩层；具体地，采用应力解除法测地应力大小、采用钻屑量法测地应力场分布、观测站监测地表岩移。
  6. 根据权利要求1所述面向全时空采掘过程的矿山应力场孪生建模同化方法，其特征在于：基于步骤1所构建的初始等比例三维地质模型，根据矿井真实的施工接替顺序“复刻历史过程”直至当前状态，并对比一系列关键地点的模拟数据与历史实测数据、对比一系列实测地点的模拟数据与当前实测数据，定义偏差系数当偏差系数在10％以内时，可认为等比例三维地质模型运算结果与实际相符、模型同化完成，否则就修改等比例三维地质模型参数并重复运行，如此重复多次直至计算结果符合要求。
  7. 根据权利要求6所述面向全时空采掘过程的矿山应力场孪生建模同化方法，其特征在于：修改可信数字孪生模型的参数，即根据复制历史数据不断修正的煤岩体力学性参数及地应力大小与方向，初始状态参数组在步骤1中确定后保持不变；
    不断修正主要包括两个过程：第一个过程是建立一个等比例三维地质模型的小型简化数值模型，进行小型简化数值模型的模拟开挖，采用与等比例三维地质模型相同的数值计算参数，根据小型简化数值模型模拟开挖过程中的应力分布规律及围岩变形规律，修改小型简化数值模型的力学参数，包括内聚力、内摩擦角、弹性模量及泊松比，以期数值模拟结果与现场实测规律基本一致；第二个过程是采用第一个过程所确定的力学参数带入等比例三维地质模型进行运算，在此过程中由于应力数值与赋存环境变化，应力分布规律以及围岩变形可能会与小型简化数值模型存在偏差，此时再进行参数修正，使得等比例三维地质模型的力学分 布规律与变形规律与现场实测一致，完成同化。
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