Method for determining displacement range of tectonic stress type ore rock monitored by three-dimensional laser and GPS (Global Positioning System)

Abstract

The invention provides a three-dimensional laser and GPS monitoring tectonic stress type ore rock displacement range determination method, which comprises the following steps of: firstly, acquiring horizontal displacement and settlement displacement contour lines obtained by monitoring a mining area; according to the obtained contours of the tectonic stress type metal mine area, in combination with a horizontal deformation threshold value # imgabs0 #, an inclined deformation threshold value # imgabs1 # and a curvature deformation threshold value # imgabs2 # of the surface collapse line, the surface collapse line of the mine area is determined, and the largest surface collapse line is selected as the surface collapse line caused by underground ore body mining of the tectonic stress type metal mine; according to the determined surface collapse line and the boundary of the mined goaf of the mining area, selecting a typical section perpendicular to the goaf to determine the collapse angle of the tectonic stress type metal mine, and delineating the surface collapse range of the future mined ore body of the mining area according to the determined collapse angle. And a basis is provided for delineating the surface rock movement range of the tectonic stress type metal mine.

Description

Technical Field

[0001] The invention belongs to the field of rock stratum movement research in mining engineering, and more specifically relates to a method for determining the range of tectonic stress type ore rock movement by three-dimensional laser and GPS monitoring. Background Art

[0002] During the excavation of underground ore bodies in tectonic stress metal mines, as the goaf gradually grows from small to large, the surrounding rock of the goaf is constantly unloaded, causing the surrounding rock of the goaf to continuously move and deform. With the mining of the underground ore body, this movement and deformation will gradually be transmitted to the surface and form a large subsidence basin on the surface. In addition, due to the existence of tectonic stress in such metal mines, the surface subsidence basin of tectonic stress metal mines is larger than that of general mines. The surface structures arranged in the mining area will suffer cracking in advance, causing serious losses to the mining area. At the same time, a larger subsidence basin will also pose a serious threat to the surrounding environment and people’s lives and property. Therefore, it is urgent to determine the scope of surface subsidence of tectonic stress metal mines to provide a basis for delineating the scope of surface rock movement of tectonic stress metal mines.

[0003] A method for determining the range of tectonic stress type mine rock movement using three-dimensional laser and GPS monitoring avoids the limitations of traditional GPS monitoring. In order to ensure life safety, traditional GPS monitoring generally cannot be performed in mining subsidence areas. By using three-dimensional laser for non-contact monitoring in mining subsidence areas, the three-dimensional coordinates of the three-dimensional laser scanning target in the subsidence area are effectively extracted, and the three-dimensional coordinates measured by GPS monitoring and the three-dimensional coordinates of the target obtained by three-dimensional laser scanning are combined, so that the drawn tectonic stress type metal mine contour lines are more accurate, and thus the obtained tectonic stress type metal mine rock stratum collapse angle is more accurate than the traditional method, achieving the purpose of effectively controlling the movement of rock strata in the mining area, providing a basis for the layout of surface buildings and safe production in domestic tectonic stress type metal mines, and having important theoretical significance and application value. Summary of the invention

[0004] The present invention belongs to the field of rock stratum movement research in mining engineering, and more specifically relates to a method for determining the range of tectonic stress type rock stratum movement monitored by three-dimensional laser and GPS, which comprises the following steps: Step 1: In the undeformed area far away from the goaf of the tectonic stress metal mining area, GPS reference points are arranged in the mining area to cover the deformation range of the entire mining area, and three-dimensional laser scanning artificial target points are arranged in the subsidence area; data is obtained through multiple monitoring periods, including arranging a three-dimensional laser scanner at the GPS monitoring point adjacent to the subsidence area during each monitoring period, selecting a GPS monitoring point as a rear-view point, using a three-dimensional laser scanner to scan and monitor the subsidence area, and obtaining point cloud scanning data. After one GPS monitoring point completes scanning and monitoring, scan at the next GPS monitoring point until all the ranges of the subsidence area are scanned, and GPS monitoring equipment is used to perform relative static positioning of the reference point and the monitoring point; Step 2: Obtain the three-dimensional coordinates of the GPS monitoring points and the three-dimensional laser scanning artificial target points in the mining area, perform displacement calculation processing, and obtain the cumulative horizontal displacement and settlement displacement of the GPS monitoring points and the three-dimensional laser scanning artificial target points during each monitoring period; Step 3, import the accumulated horizontal displacement and settlement displacement described in step 2 into the Surfer software, perform Kriging interpolation operation, and obtain the mining area horizontal displacement contour lines and settlement displacement contour lines of the GPS monitoring points and the three-dimensional laser scanning artificial target points in each monitoring period; Step 4: Combine the contour lines in step 3 with the surface subsidence lines according to the horizontal deformation threshold of the surface subsidence line of the metal mine. and tilt deformation threshold and curvature deformation threshold , determine the surface subsidence lines of three types of tectonic stress metal mining areas, and select the one with the largest coverage as the surface subsidence line caused by underground ore body mining in tectonic stress metal mines; Step 5. According to the surface subsidence line described in step 4 and in combination with the boundary of the mined goaf in the mining area, select a section perpendicular to the ore body and connect it into a straight line from the boundary of the mined goaf and the surface subsidence line. The angle between the straight line and the horizontal direction is called the subsidence angle. The surface subsidence range of the ore body to be mined in the mining area in the future is delineated according to the subsidence angle.

[0005] In the step 1: there are at least 2 GPS reference points, and any monitoring point and any two reference points should be arranged in an equilateral triangle; the GPS reference points and the GPS monitoring points should be arranged in a rock formation with a stable ground foundation, and the GPS reference points and the GPS monitoring points are used as measuring points, and the angle between the line from the measuring point to the highest point of the obstacle and the horizontal plane between the measuring point and the obstacle does not exceed 15°; the target type used is a spherical target made of high reflectivity material.

[0006] The step 2 of obtaining the three-dimensional coordinates of the GPS monitoring points and the three-dimensional laser scanning artificial target points in the mining area includes: Step 21, according to the benchmark and projection of the coordinate system type of the tectonic stress metal mine in the monitoring area, the coordinate system is set by inputting these two parameters in the coordinate system of the GPS post-processing software Magnet tools, and then the GPS data of each monitoring point is imported into the GPS post-processing software to obtain the three-dimensional coordinates of the monitoring point; Step 22, import the point cloud scanning data into Maptek I-SiteStudio, the corresponding post-processing software for 3D laser, and generate the entire digital elevation model of the mining area through station splicing, data filtering, and point cloud data thinning. Use this model to generate and export the topographic map of the entire mining area, and extract the 3D coordinates of the artificial target points scanned by the 3D laser through CAD; Step 23, repeat the operations of steps 21 to 22 for the point cloud scanning data and GPS data of each monitoring point obtained in each monitoring period, and obtain the three-dimensional coordinates of the GPS monitoring points and three-dimensional laser scanning artificial target points of the mining area obtained in each monitoring period through data processing.

[0007] In step 22: The station stitching is to input the three-dimensional coordinates of the monitoring points and the back-view points measured by the GPS observation equipment into the three-dimensional laser scanner post-processing software Maptek I-Site Studio, so that the point cloud scanning data is transferred to the common local coordinate system of the mining area, and the point cloud scanning data observed at different monitoring points in the mining area are stitched into a whole through rigid body transformation to obtain the point cloud data map of the entire mining area; In the station stitching, the point pair (P, Q) representing the same point on the object surface in the two stations A and B satisfies the same rigid body transformation (R, T), that is: (1) Where P = (x p , y p , z p )∈A,Q= (x Q , y Q , z Q )∈B, R is a 3×3 rotation matrix used to describe the rotation of point Q relative to point P, and T is a 3×1 translation matrix used to describe the translation of point Q relative to point P; The data filtering includes three types: isolated point filtering, terrain filtering, and intensity filtering. Isolated point filtering is used to remove noise points in the scan data; terrain filtering is used to remove data points that are not related to the terrain; and intensity filtering is to filter data points based on the intensity information of laser reflection. The point cloud data thinning is used to simplify the point cloud data.

[0008] In step 2, displacement calculation processing is performed to obtain the cumulative horizontal displacement and settlement displacement of the GPS monitoring point and the three-dimensional laser scanning artificial target point during each monitoring period, including: Suppose the three-dimensional coordinates of the GPS monitoring point m obtained in the first monitoring or the artificial target point m obtained by three-dimensional laser scanning are (x m1 , y m1 , z m1 ), the three-dimensional coordinates of the GPS monitoring point m obtained by the ith monitoring or the artificial target point m obtained by three-dimensional laser scanning are (x mi , y mi , z mi ), the two coordinates are subtracted to obtain the cumulative horizontal displacement in the orthogonal direction of the GPS monitoring point m or the target point m in the i-th monitoring (h mix = x mi -x m1 ,h miy = y mi -y m1 ) and cumulative settlement displacement (V mi =z mi -z m1 ), where the cumulative horizontal displacement is .

[0009] 6. The method according to claim 1, characterized in that the performing of the Kriging interpolation operation in step 3 comprises: First, group the data points into equal intervals according to the known intervals between them; The semivariogram function is then applied to each group to obtain a discrete set of known data points , these known data points describe the semivariance of data point pairs at different distances, and we get , Based on known data points and known data points The semivariance value calculated by the distance between reflects the spatial correlation between known data points; The semivariogram function is: (2) in: Represents the estimated value of the semivariogram function, which is used to describe the distance between two data points in space. The average of the squares of the differences between their observations is used to measure the autocorrelation of spatial data. and They are located at and The observed value of Indicates that the distance interval The number of data points within represents the average distance between point pairs, Represents a pair of data points and The distance between Calculate the unknown points to be estimated The semivariogram function value between all known data points is obtained. ; Then, the Kriging formula (3) is used to obtain the relationship between each known data point and the unknown point. Weight of the semivariogram function value ; (3) in: Represents a known point For unknown points The unknown quantity c is a constant about the Lagrange multiplier to ensure unbiasedness; Using weights and known data points The eigenvalue of To estimate the unknown point The eigenvalue of ; (4) Formula (3) is the constructed semivariogram model: eigenvalue and It is the accumulated horizontal displacement and settlement displacement of the unknown point. The known data points are the GPS monitoring points and the artificial target points obtained by 3D laser scanning.

[0010] The step 4 comprises: Step 41, calculate the deformation difference between adjacent horizontal displacement contour lines: , calculate the deformation difference between adjacent settlement displacement contour lines: ; and are the horizontal displacement values ​​of the adjacent horizontal displacement contour line n and horizontal displacement contour line n+1 respectively; W n and W n+1 are the settlement displacement values ​​of the adjacent settlement displacement contour line n and settlement displacement contour line n+1 respectively; Step 42: According to the horizontal deformation threshold The deformation difference between the horizontal displacement contour line and the surface limit horizontal length corresponding to the deformation difference is calculated. , according to the tilt deformation threshold The deformation difference between the displacement contour and the settlement contour is used to calculate the surface limit tilt length corresponding to the deformation difference. , then the surface limit horizontal length and the surface limit tilt length Set the diameters to draw the first movable circle and the second movable circle respectively; Step 43, move the first movable circle to all positions between the adjacent nth and n+1th horizontal displacement contour lines. If the first movable circle is tangent to the adjacent nth and n+1th horizontal displacement contour lines when the center of the first movable circle moves to any position, the center of the circle at that position is marked as a horizontal sink line threshold point. Move the second movable circle to all positions between the adjacent nth and n+1th settlement displacement contour lines. If the second movable circle is tangent to the adjacent nth and n+1th settlement displacement contour lines when the center of the second movable circle is moved to any position, the center of the circle at that position is marked as a settlement sink line threshold point. Step 44, repeating steps 41 to 43, marking all the sink line threshold points between all two adjacent horizontal displacement or settlement displacement contour lines; then connecting all the horizontal sink line threshold points with a spline curve to obtain the surface sink line of the tectonic stress type metal mining area corresponding to the horizontal displacement; All the subsidence line threshold points are connected by spline curves to obtain the surface subsidence line of the tectonic stress type metal mining area corresponding to the subsidence displacement; Step 45, select a surface monitoring point on the settlement and displacement contour line of the tectonic stress type metal mine that intersects with a section parallel to the direction of the goaf and perpendicular to the direction of the goaf, obtain the settlement and displacement of different surface monitoring points on the section according to the settlement and displacement contour line, calculate the curvature deformation value k at each surface monitoring point on the section, if the curvature deformation value of a surface monitoring point on the section is Curvature deformation threshold If the absolute value of the difference is the smallest, the surface monitoring point is determined to be the location of the critical deformation of the curvature on the profile; Step 46: Repeat step 45 to construct multiple sections and mark the critical deformation position of curvature on each section, connect the critical deformation positions of curvature of all sections with spline curves to form a curve based on curvature deformation. Determined surface subsidence line of tectonic stress type metal mine; mm / m, mm / m, / m.

[0011] Curvature deformation corresponding to the surface monitoring point m+1 It refers to the ratio of the difference in inclination between adjacent line segments to the horizontal distance between the midpoints of the two line segments; (5) Refers to the horizontal distance between adjacent surface monitoring points m+1 and m+2; Refers to the horizontal distance between adjacent surface monitoring point m and surface monitoring point m+1; represents the average tilt deformation between adjacent surface monitoring points m+1 and m+2, represents the average tilt deformation between the adjacent surface monitoring point m and the surface monitoring point m+1; Tilt deformation Calculated according to formula (6), it refers to the ratio of the vertical subsidence difference between two adjacent surface monitoring points m and m+1 to their horizontal distance, reflecting the slope of the surface movement basin in a certain direction; (6) In the formula, Refers to the horizontal distance between the adjacent surface monitoring points m and m+1; W m and W m+1 are the settlement displacements of the adjacent surface monitoring points m and m+1 respectively; Represents the average tilt deformation between adjacent surface monitoring points m and m+1.

[0012] The smaller the collapse angle is, the larger the collapse range of the surface caused by underground mining is, and the surface collapse range of the future mining body can be delineated based on the determined collapse angle of the tectonic stress type metal mine. The beneficial effects of the present invention are as follows: a method for determining the range of tectonic stress type ore rock movement by three-dimensional laser and GPS monitoring avoids the limitations of traditional GPS monitoring, and effectively extracts the three-dimensional coordinates of the target in the collapse area by using three-dimensional laser for non-contact monitoring in the mining collapse area, and combines the three-dimensional coordinates measured by GPS monitoring with the three-dimensional coordinates of the target obtained by three-dimensional laser scanning, so that the drawn tectonic stress type metal mine contour lines are more accurate, and the obtained tectonic stress type metal mine rock stratum collapse angle is more accurate than that determined by traditional methods, which provides a basis for the layout of surface buildings and safe production of domestic tectonic stress type metal mines, and has important theoretical significance and application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 A flow chart of a method for determining the range of tectonic stress-type ore rock movement using three-dimensional laser and GPS monitoring; Figure 2 It is the contour map of horizontal displacement of the mining area; Figure 3 It is the contour map of settlement and displacement in the mining area; Figure 4 It is the mining area subsidence line formed by connecting the first movable circles between the mining area horizontal displacement contour lines; Figure 5 The subsidence line map of the mining area is determined based on horizontal deformation; Figure 6The subsidence line map of the mining area determined based on settlement deformation; Figure 7 The subsidence line map of the mining area is determined based on the curvature deformation; Figure 8 This is the mining area subsidence line map; Fig. 9 This is the collapse angle diagram of the mining area perpendicular to the goaf section. DETAILED DESCRIPTION

[0014] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0015] The positioning type adopted by GPS is a high-precision, stable relative static positioning technology. This positioning technology is a satellite positioning method that measures the relative positions of multiple measuring stations. It can significantly reduce the impact of positioning deviations caused by receiving device clock deviations, satellite trajectory deviations, and refraction of the ionosphere and troposphere, thereby improving positioning accuracy.

[0016] Example 1 S01. GPS reference points are set up in the non-deformed area far away from the goaf of the tectonic stress metal mining area. GPS monitoring points covering the entire deformation range of the mining area are set up in the mining area, and three-dimensional laser scanning artificial target points are arranged in the collapse area. Among them, at least 2 GPS reference points are required, and the number of GPS monitoring points can be arranged according to the monitoring range of the mining area. Any monitoring point and any two reference points should be arranged in an equilateral triangle; GPS reference points and GPS monitoring points should be arranged in rock formations with stable ground foundations, and GPS reference points and GPS monitoring points should be used as measuring points. The angle between the line from the measuring point to the highest point of the obstacle and the horizontal plane between the measuring point and the obstacle should not exceed 15°; the target type used is a spherical target made of high-reflectivity material to ensure strong reflection of the three-dimensional laser signal and improve the recognition rate and positioning accuracy of the target.

[0017] S02. Since the GPS reference point is far away from the collapse area, the three-dimensional laser scanner cannot identify and locate it. Therefore, when monitoring, first arrange the three-dimensional laser scanner on the GPS monitoring point adjacent to the collapse area, select one GPS monitoring point as the backsight point, scan and monitor the collapse area, and obtain point cloud scanning data. When one GPS monitoring point completes scanning and monitoring, it can scan at the next GPS monitoring point until the entire collapse area is scanned; then use GPS monitoring equipment to monitor the GPS monitoring point. During monitoring, two GPS observation devices are fixed on the GPS reference point as control points for a long time, and other GPS observation devices are installed on the GPS monitoring point in each time period to monitor deformation and obtain GPS data of each monitoring point. The GPS observation equipment observes each measuring point for at least 60 minutes, and the number of effective satellites observed simultaneously is at least 4. During GPS monitoring, first monitor the GPS monitoring point where the three-dimensional laser scanner is set up and the backsight point used for orientation and positioning, and then measure other GPS monitoring points.

[0018] The backsight point is a point with known coordinates used to determine the position and direction of the 3D laser scanner. The backsight point is usually a target point or a prism. The backsight point is placed at a position that the 3D laser scanner can identify and measure so as to be used for orientation and positioning during the scanning process. The steps of scanning and monitoring at the GPS monitoring point specifically include: during three-dimensional laser scanning, the three-dimensional laser scanner is set up on a tripod connected to the base of the three-dimensional laser scanner at the GPS monitoring point adjacent to the subsidence area, the entire three-dimensional laser scanner is leveled and the measurement mark of the GPS monitoring point is centered. Since the reference point is far away from the subsidence area, the three-dimensional laser scanner cannot identify and locate it. A GPS monitoring point with a better field of view is selected as the rear-sight point of the three-dimensional laser scanning, and the center of the crosshairs on the eyepiece of the three-dimensional laser scanner is aligned with the measurement mark on the GPS rear-sight point. Finally, the range to be scanned is selected on the notebook and the scanning point cloud density is selected according to the accuracy required by the mining area to start scanning.

[0019] S03. Set the coordinate system in the GPS post-processing software Magnet tools according to the benchmark and projection parameters of the tectonic stress type metal mine coordinate system type in the monitoring area, then import the GPS data of each monitoring point into the GPS post-processing software to obtain the three-dimensional coordinates (x, y, z) of the monitoring point; S04. Import the point cloud scanning data into Maptek I-Site Studio, a post-processing software for 3D laser point cloud, and generate the entire digital elevation (DEM) model of the mining area through the following processing: station stitching, data filtering, and point cloud data thinning. Generate a topographic map of the entire mining area through the digital elevation (DEM) model, and then export the topographic map in CAD format from Maptek I-Site Studio software, and extract the 3D coordinates of the artificial target points of the 3D laser scanning through CAD; Station stitching is to input the three-dimensional coordinates (x, y, z) of the monitoring points and backsight points measured by the GPS observation equipment into the 3D laser scanner post-processing software Maptek I-Site Studio, so that the point cloud scanning data is transferred to the common local coordinate system of the mining area. Through rigid body transformation, the point cloud scanning data observed at different monitoring points in the mining area are stitched into a whole to obtain the point cloud data map of the entire mining area.

[0020] In the station splicing, the point pair (P, Q) representing the same point on the surface of the object in the two stations A and B satisfies the same rigid body transformation (R, T), that is, (1) Where P = (x p , y p , z p )∈A,Q= (x Q , y Q , z Q )∈B, R is a 3×3 rotation matrix used to describe the rotation of point Q relative to point P, and T is a 3×1 translation matrix used to describe the translation of point Q relative to point P.

[0021] Data filtering includes isolated point filtering, terrain filtering, and intensity filtering. Isolated point filtering is mainly used to remove noise points in the scan data; terrain filtering is mainly used to remove data points that are not related to the terrain, such as vegetation, buildings, etc.; intensity filtering filters data points based on the intensity information of laser reflection.

[0022] Point cloud data thinning is used to further streamline point cloud data and improve processing efficiency.

[0023] S05, let the three-dimensional coordinates of the GPS monitoring point m obtained by the first monitoring or the artificial target point m obtained by three-dimensional laser scanning be (x m1 , y m1 , z m1 ), the three-dimensional coordinates of the GPS monitoring point m obtained by the ith monitoring or the artificial target point m obtained by three-dimensional laser scanning are (x mi , y mi , z mi), the two coordinates are subtracted to obtain the cumulative horizontal displacement in the orthogonal direction of the GPS monitoring point m or the target point m during the i-th monitoring period (h mix = x mi -x m1 ,h miy = y mi -y m1 ) and cumulative settlement displacement (V mi =z mi -z m1 ), where the cumulative horizontal displacement is , the vector direction is determined according to the displacement magnitude in the x-direction and the y-direction; after multiple observations, the cumulative horizontal displacement and settlement displacement in each monitoring period of the mining area can be obtained; S06, the cumulative horizontal displacement Hmn and settlement displacement Vmn of the GPS monitoring point m or target point m obtained in the nth monitoring and the plane coordinates (x) of the GPS monitoring point m or target point m obtained in the nth monitoring and the target obtained by three-dimensional laser scanning are converted into mn , y mn ) is imported into Surfer software, and the horizontal displacement contour lines and settlement displacement contour lines of the mining area obtained by the nth monitoring of the mining area are obtained by using the Kriging interpolation method in Surfer software, and the horizontal displacement and settlement displacement contour lines in CAD format are exported from Surfer ( Figure 2 and Figure 3 ); The smaller the interval between the horizontal displacement and settlement displacement contour lines generated by surfer, the more accurate the location of the surface subsidence line.

[0024] Kriging interpolation is a geostatistical method used to predict the value of an unknown point based on known data points. This method is widely used in geology, environmental science, agriculture and other fields. The Kriging interpolation technique performs interpolation based on the correlation between existing scattered measured data points, and the correlation between these scattered data points depends only on the distance between them. The semivariogram function is a key tool used in Kriging interpolation to describe the spatial correlation between data points, as shown in the following formula: (2) in: Represents the estimated value of the semivariogram function, which is used to describe the distance between two data points in space. The average of the squares of the differences between their observations is used to measure the autocorrelation of spatial data. and They are located at and The observed value of Indicates that the distance interval The number of data points within represents the average distance between point pairs, Represents data point pairs and The distance between.

[0025] Use Kriging interpolation to estimate the measured points The eigenvalues ​​on The method comprises the following steps: First, group the data points into equal intervals according to the known intervals between them; Then apply the semivariogram function (Formula 2) to each group to obtain a set of discrete known data points , these known data points describe the semivariance of pairs of data points at different distances. , Based on known data points and known data points The semivariance value calculated by the distance between reflects the spatial correlation between known data points; Calculate the unknown points to be estimated The semivariogram function value between all known data points is obtained. ; Then, the Kriging formula (3) is used to obtain the relationship between each known data point and the unknown point. Weight of the semivariogram function value ; (3) in: Represents a known point For unknown points The unknown quantity c is a constant about the Lagrange multiplier to ensure unbiasedness.

[0026] Using these weights and known data points The eigenvalue of To estimate the unknown point The eigenvalue of ; (4) Formula (3) is the constructed semivariogram model: eigenvalue T and It is the accumulated horizontal displacement and settlement displacement of known points and unknown points. The known data points are the GPS monitoring points and the artificial target points obtained by 3D laser scanning.

[0027] S07, according to the horizontal deformation threshold of the surface subsidence line of the metal mine and tilt deformation threshold , and combined with the deformation value difference between the horizontal displacement and settlement displacement contour lines, the surface limit horizontal length corresponding to the deformation value difference is calculated to draw a circle to determine the deformation threshold of the sink line; S071. If the difference in deformation between the adjacent nth and n+1th horizontal displacement contour lines of the mine is 4 cm, set the horizontal deformation threshold is 6 mm / m, so there are 4 cm / = =6mm / m, find the limit horizontal length of the ground surface =6.67m); Similarly, the difference in deformation between the adjacent nth and n+1th settlement displacement contour lines of the mine is , set the horizontal deformation threshold is 10 mm / m, so there are 4 cm / = =6mm / m, the determined surface limit tilt length 4 m; S072. Then, the surface limit horizontal length and the surface limit tilt length Set the diameters to draw the first movable circle and the second movable circle respectively; S073. The first movable circle (such as Figure 4 The red circle shown in FIG. 1 is moved to all positions between the adjacent nth and n+1th horizontal displacement contour lines. If the center of the first movable circle moves to any position, the first movable circle is tangent to the adjacent nth and n+1th horizontal displacement contour lines, then the center of the circle at that position is marked as the threshold point of the horizontal sink line. Move the second movable circle to all positions between the adjacent nth and n+1th settlement displacement contour lines. If the second movable circle is tangent to the adjacent nth and n+1th settlement displacement contour lines when the center of the second movable circle is moved to any position, the center of the circle at that position is marked as a settlement sink line threshold point. S074. Finally, repeat steps S071 to S073 to mark all the sink line threshold points between two adjacent horizontal displacement or settlement displacement contour lines; many sink line threshold points can be obtained from the contour lines of horizontal displacement and settlement displacement, and then the sink line threshold points of horizontal displacement and settlement displacement are connected by spline curves respectively, so that the horizontal deformation threshold value can be obtained. and tilt deformation threshold The surface subsidence line of the tectonic stress metal mining area corresponding to the horizontal displacement and settlement displacement is obtained ( Figure 5 The blue curve and Figure 6 The red curve in ); S08. Select the surface monitoring points that intersect the sections parallel to the goaf and perpendicular to the goaf on the settlement and displacement contour lines of the tectonic stress type metal mine. According to the settlement and displacement contour lines, the settlement and displacement values ​​of different surface monitoring points on the section are obtained. The curvature deformation value k at each surface monitoring point on the section is calculated. If the curvature deformation value of a surface monitoring point on the section is Curvature deformation threshold The absolute value of the difference is the smallest, then the surface monitoring point is determined to be the location of the critical curvature deformation on the profile, and the locations of the critical curvature deformation of all profiles are connected with spline curves to form a curve based on the curvature deformation. Determined surface collapse line of tectonic stress type metal mine ( Figure 7 Green curve); Curvature deformation Calculate as follows: (5) Refers to the horizontal distance between adjacent surface monitoring points m+1 and m+2; Refers to the horizontal distance between adjacent surface monitoring point m and surface monitoring point m+1; represents the average tilt deformation between adjacent surface monitoring points m+1 and m+2, represents the average tilt deformation between the adjacent surface monitoring point m and the surface monitoring point m+1; Curvature deformation corresponding to the surface monitoring point m+1 It refers to the ratio of the inclination difference between adjacent line segments to the horizontal distance between the midpoints of the two line segments.

[0028] Tilt deformation Calculated according to formula (6), it refers to the ratio of the vertical subsidence difference between two adjacent surface monitoring points m and m+1 to their horizontal distance, reflecting the slope of the surface movement basin in a certain direction; (6) In the formula, Refers to the horizontal distance between the adjacent surface monitoring points m and m+1; W m and W m+1 are the settlement displacements of the adjacent surface monitoring points m and m+1 respectively; It represents the average tilt deformation between the adjacent surface monitoring points m and m+1; The deformation threshold of the sink line is: mm / m, mm / m, / m S09, according to the deformation threshold of the sink line , and Among the three surface collapse lines identified, the one with the largest coverage is selected as the surface collapse line caused by the underground ore body of the tectonic stress type metal mine. According to the comparison, it can be seen that the horizontal deformation Determined maximum; like Figure 8 As shown, the blue, red, and green trap lines are represented by , and k, so horizontal deformation is selected The determined collapse line is used as the surface collapse line caused by the underground ore body of the tectonic stress type metal mine; S10, according to the surface collapse line of the tectonic stress metal mine obtained in step S09, select a section perpendicular to the ore body and connect it from the boundary of the mined goaf and the surface collapse line to form a straight line. The angle between the straight line and the horizontal direction is called the collapse angle ( Fig. 9 ), the upper plate is 55°, and the lower plate is 65°. This collapse angle can determine the collapse range caused by underground mining in tectonic stress metal mining areas. The smaller the rock formation collapse angle obtained, the larger the collapse range of the surface caused by underground mining. For example, the collapse range of the upper plate of the mine is greater than that of the lower plate, and the surface collapse range of the future mining body can be delineated based on the determined collapse angle.

[0029] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for determining the range of tectonic stress type ore rock movement using three-dimensional laser and GPS monitoring, characterized in that: The steps include: Step 1: In the undeformed area far away from the goaf of the tectonic stress metal mining area, GPS reference points are arranged in the mining area to cover the deformation range of the entire mining area, and three-dimensional laser scanning artificial target points are arranged in the subsidence area; data is obtained through multiple monitoring periods, including arranging a three-dimensional laser scanner at the GPS monitoring point adjacent to the subsidence area during each monitoring period, selecting a GPS monitoring point as a rear-view point, using a three-dimensional laser scanner to scan and monitor the subsidence area, and obtaining point cloud scanning data. After one GPS monitoring point completes scanning and monitoring, scan at the next GPS monitoring point until all the ranges of the subsidence area are scanned, and GPS monitoring equipment is used to perform relative static positioning of the reference point and the monitoring point; Step 2: Obtain the three-dimensional coordinates of the GPS monitoring points and the three-dimensional laser scanning artificial target points in the mining area, perform displacement calculation processing, and obtain the cumulative horizontal displacement and settlement displacement of the GPS monitoring points and the three-dimensional laser scanning artificial target points during each monitoring period; Step 3, import the accumulated horizontal displacement and settlement displacement described in step 2 into the Surfer software, perform Kriging interpolation operation, and obtain the mining area horizontal displacement contour lines and settlement displacement contour lines of the GPS monitoring points and the three-dimensional laser scanning artificial target points in each monitoring period; Step 4: Combine the contour lines in step 3 with the surface subsidence lines according to the horizontal deformation threshold of the surface subsidence line of the metal mine. and tilt deformation threshold and curvature deformation threshold , determine the surface subsidence lines of three types of tectonic stress metal mining areas, and select the one with the largest coverage as the surface subsidence line caused by underground ore body mining in tectonic stress metal mines; Step 5. According to the surface subsidence line described in step 4 and in combination with the boundary of the mined goaf in the mining area, select a section perpendicular to the ore body and connect it into a straight line from the boundary of the mined goaf and the surface subsidence line. The angle between the straight line and the horizontal direction is called the subsidence angle. The surface subsidence range of the ore body to be mined in the mining area in the future is delineated according to the subsidence angle.

2. The method according to claim 1, characterized in that In the step 1: there are at least 2 GPS reference points, and any monitoring point and any two reference points should be arranged in an equilateral triangle; the GPS reference points and the GPS monitoring points should be arranged in a rock formation with a stable ground foundation, and the GPS reference points and the GPS monitoring points are used as measuring points, and the angle between the line from the measuring point to the highest point of the obstacle and the horizontal plane between the measuring point and the obstacle does not exceed 15°; the target type used is a spherical target made of high reflectivity material.

3. The method according to claim 1, characterized in that The step 2 of obtaining the three-dimensional coordinates of the GPS monitoring points and the three-dimensional laser scanning artificial target points in the mining area includes: Step 21, according to the benchmark and projection of the coordinate system type of the tectonic stress metal mine in the monitoring area, the coordinate system is set by inputting these two parameters in the coordinate system of the GPS post-processing software Magnet tools, and then the GPS data of each monitoring point is imported into the GPS post-processing software to obtain the three-dimensional coordinates of the monitoring point; Step 22, import the point cloud scanning data into Maptek I-Site Studio, the corresponding post-processing software for 3D laser, and generate the entire digital elevation model of the mining area through station splicing, data filtering, and point cloud data thinning. Use this model to generate and export the topographic map of the entire mining area, and extract the 3D coordinates of the artificial target points scanned by the 3D laser through CAD; Step 23, repeat the operations of steps 21 to 22 for the point cloud scanning data and GPS data of each monitoring point obtained in each monitoring period, and obtain the three-dimensional coordinates of the GPS monitoring points and three-dimensional laser scanning artificial target points of the mining area obtained in each monitoring period through data processing.

4. The method according to claim 3, characterized in that In step 22: The station stitching is to input the three-dimensional coordinates of the monitoring points and the back-view points measured by the GPS observation equipment into the three-dimensional laser scanner post-processing software Maptek I-Site Studio, so that the point cloud scanning data is transferred to the common local coordinate system of the mining area, and the point cloud scanning data observed at different monitoring points in the mining area are stitched into a whole through rigid body transformation to obtain the point cloud data map of the entire mining area; In the station stitching, the point pair (P, Q) representing the same point on the object surface in the two stations A and B satisfies the same rigid body transformation (R, T), that is: (1) Where P = (x p , y p , z p )∈A,Q= (x Q , y Q , z Q )∈B, R is a 3×3 rotation matrix used to describe the rotation of point Q relative to point P, and T is a 3×1 translation matrix used to describe the translation of point Q relative to point P; The data filtering includes three types: isolated point filtering, terrain filtering, and intensity filtering. Isolated point filtering is used to remove noise points in the scan data; terrain filtering is used to remove data points that are not related to the terrain; and intensity filtering is to filter data points based on the intensity information of laser reflection. The point cloud data thinning is used to simplify the point cloud data.

5. The method according to claim 3, characterized in that: In step 2, displacement calculation processing is performed to obtain the cumulative horizontal displacement and settlement displacement of the GPS monitoring point and the three-dimensional laser scanning artificial target point during each monitoring period, including: Suppose the three-dimensional coordinates of the GPS monitoring point m obtained in the first monitoring or the artificial target point m obtained by three-dimensional laser scanning are (x m1 ,y m1 , z m1 ), the three-dimensional coordinates of the GPS monitoring point m obtained by the ith monitoring or the artificial target point m obtained by three-dimensional laser scanning are (x mi , y mi , z mi ), the two coordinates are subtracted to obtain the cumulative horizontal displacement in the orthogonal direction of the GPS monitoring point m or the target point m in the i-th monitoring (h mix = x mi -x m1 ,h miy = y mi -y m1 ) and cumulative settlement displacement (V mi =z mi -z m1 ), where the cumulative horizontal displacement is .

6. The method according to claim 1, characterized in that The Kriging interpolation operation performed in step 3 includes: First, group the data points into equal intervals according to the known intervals between them; The semivariogram function is then applied to each group to obtain a discrete set of known data points , these known data points describe the semivariance of data point pairs at different distances, and we get , Based on known data points and known data points The semivariance value calculated by the distance between reflects the spatial correlation between known data points; The semivariogram function is: (2) in: Represents the estimated value of the semivariogram function, which is used to describe the distance between two data points in space. The average of the squares of the differences between their observations is used to measure the autocorrelation of spatial data. and They are located at and The observed value of Indicates that the distance interval The number of data points within represents the average distance between point pairs, Represents a pair of data points and The distance between Calculate the unknown points to be estimated The semivariogram function value between all known data points is obtained. ; Then, the Kriging formula (3) is used to obtain the relationship between each known data point and the unknown point. Weight of the semivariogram function value ; （3） in: Represents a known point For unknown points The unknown quantity c is a constant about the Lagrange multiplier to ensure unbiasedness; Using weights and known data points The eigenvalue of To estimate the unknown point The eigenvalue of ; (4) Formula (3) is the constructed semivariogram model: eigenvalue and It is the accumulated horizontal displacement and settlement displacement of the unknown point. The known data points are the GPS monitoring points and the artificial target points obtained by 3D laser scanning.

7. The method according to claim 1, characterized in that The step 4 comprises: Step 41, calculate the deformation difference between adjacent horizontal displacement contour lines: , calculate the deformation difference between adjacent settlement displacement contour lines: ; and are the horizontal displacement values ​​of the adjacent horizontal displacement contour line n and horizontal displacement contour line n+1 respectively; W n and W n+1 are the settlement displacement values ​​of the adjacent settlement displacement contour line n and settlement displacement contour line n+1 respectively; Step 42: According to the horizontal deformation threshold The deformation difference between the horizontal displacement contour line and the surface limit horizontal length corresponding to the deformation difference is calculated. , according to the tilt deformation threshold The deformation difference between the displacement contour and the settlement contour is used to calculate the surface limit tilt length corresponding to the deformation difference. , then the surface limit horizontal length and the surface limit tilt length Set the diameters to draw the first movable circle and the second movable circle respectively; Step 43, move the first movable circle to all positions between the adjacent nth and n+1th horizontal displacement contour lines. If the first movable circle is tangent to the adjacent nth and n+1th horizontal displacement contour lines when the center of the first movable circle moves to any position, the center of the circle at that position is marked as a horizontal sink line threshold point. Move the second movable circle to all positions between the adjacent nth and n+1th settlement displacement contour lines. If the second movable circle is tangent to the adjacent nth and n+1th settlement displacement contour lines when the center of the second movable circle is moved to any position, the center of the circle at that position is marked as a settlement sink line threshold point. Step 44, repeating steps 41 to 43, marking all the sink line threshold points between all two adjacent horizontal displacement or settlement displacement contour lines; then connecting all the horizontal sink line threshold points with a spline curve to obtain the surface sink line of the tectonic stress type metal mining area corresponding to the horizontal displacement; All the subsidence line threshold points are connected by spline curves to obtain the surface subsidence line of the tectonic stress type metal mining area corresponding to the subsidence displacement; Step 45, select a surface monitoring point on the settlement and displacement contour line of the tectonic stress type metal mine that intersects with a section parallel to the direction of the goaf and perpendicular to the direction of the goaf, obtain the settlement and displacement of different surface monitoring points on the section according to the settlement and displacement contour line, calculate the curvature deformation value k at each surface monitoring point on the section, if the curvature deformation value of a surface monitoring point on the section is Curvature deformation threshold If the absolute value of the difference is the smallest, the surface monitoring point is determined to be the location of the critical deformation of the curvature on the profile; Step 46: Repeat step 45 to construct multiple sections and mark the critical deformation position of curvature on each section, connect the critical deformation positions of curvature of all sections with spline curves to form a curve based on curvature deformation. Determined surface subsidence line of tectonic stress type metal mine; mm / m, mm / m, / m。 8. The method according to claim 7, characterized in that Curvature deformation corresponding to the surface monitoring point m+1 It refers to the ratio of the difference in inclination between adjacent line segments to the horizontal distance between the midpoints of the two line segments; (5) Refers to the horizontal distance between adjacent surface monitoring points m+1 and m+2; Refers to the horizontal distance between adjacent surface monitoring point m and surface monitoring point m+1; represents the average tilt deformation between adjacent surface monitoring points m+1 and m+2, represents the average tilt deformation between the adjacent surface monitoring point m and the surface monitoring point m+1; Tilt deformation Calculated according to formula (6), it refers to the ratio of the vertical subsidence difference between two adjacent surface monitoring points m and m+1 to their horizontal distance, reflecting the slope of the surface movement basin in a certain direction; (6) In the formula, Refers to the horizontal distance between the adjacent surface monitoring points m and m+1; W m and W m+1 are the settlement displacements of the adjacent surface monitoring points m and m+1 respectively; Represents the average tilt deformation between adjacent surface monitoring points m and m+1.

Images