A system and method for detecting strata in an open cut coal mine

Abstract

The application discloses an open coal mine stratum detection system and method, the detection system comprises a non-contact system, a contact system and a cloud computing service platform, is arranged on each device of a full continuous mining system, and performs detection, stratum data information detected by constructing two systems is respectively subjected to comprehensive data analysis and processing, accurate detection of a coal rock interface of the whole coal mine area can be realized, meanwhile, characteristic distribution of typical coal seam properties in the coal seam is completed, finally, an accurate stratum three-dimensional geological model is established, and coal rock interface distribution rules are obtained. The detection system of the application has wide application range, does not need manual intervention, the evaluation method is stable and reliable, the identification precision is high, and provides a theoretical basis for accurate stratum detection of a large open coal mine and determination of a construction space range of the full continuous mining system.

Description

Technical Field

[0001] This invention belongs to the field of open-pit coal mine rock strata detection technology, and relates to an open-pit coal mine rock strata detection system and method. Background Technology

[0002] Currently, with the increasing intensity and difficulty of open-pit coal mining, the surrounding rock of the entire mining area has already undergone structural deformation due to the layout of the construction site. The rock strata data obtained from the initial exploration before the open-pit mining face cannot accurately reflect the latest state, resulting in a lack of accurate coal seam data for the fully continuous mining system. Furthermore, the specific spatial range and intervals of the coal face cannot be accurately obtained before construction. Insufficient adaptability to geological conditions has become a technical bottleneck restricting intelligent and precise mining in fully continuous mining systems, urgently requiring the construction of a high-precision, transparent three-dimensional geological model of the working face. Currently, all detection and identification methods require on-site collection of rock strata samples for analysis, generally relying on manual experience to select sampling locations. The use of single sampling and evaluation methods is prone to unreasonable settings, high operational risks for personnel, and inaccurate results. Moreover, the inability to obtain effective coal-rock interfaces leads to the common use of qualitative construction operations during coal mining, resulting in untimely adjustments, significant coal waste, and an inability to effectively guide safe production. Meanwhile, due to factors such as insufficient accuracy in detecting geological conditions of coal seams and unclear coupling mechanisms of coal-rock dynamic disasters, the adaptability of intelligent coal mining technology has generally encountered some technical bottlenecks; precise detection of rock strata in open-pit coal mines has become a key technical link that seriously restricts open-pit coal mining. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the present invention aims to provide an open-pit coal mine rock strata detection system and method, which establishes an accurate three-dimensional geological model of open-pit coal mine rock strata, derives the distribution patterns of different rock strata characteristics, and simultaneously completes accurate detection of the corresponding coal-rock interface distribution.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] An open-pit coal mine strata detection system is deployed on various equipment within a fully continuous mining system for detection. The fully continuous mining system includes: a first open-pit miner, a first double rotary transfer machine, a first straight-line transfer machine, a second straight-line transfer machine, and a first tracked unloading car for mining the lower coal seam; and a second open-pit miner, a second double rotary transfer machine, and a second tracked unloading car for mining the upper coal seam; it also includes a movable belt conveyor and an end-side steep-angle belt conveyor.

[0006] The detection system includes: non-contact systems, contact systems, and a cloud computing service platform;

[0007] The non-contact system is used to detect the mining face using non-contact methods. The non-contact system includes an electromagnetic wave device, an ultrasonic device, and a reflectance spectroscopy device. The contact system is used to detect the mining face using contact methods. The contact system includes drilling equipment. The detection area of ​​the upper and lower coal seams in the open-pit coal mine is finely divided into N pose feature points. Both the non-contact and contact systems can measure the feature parameters of each pose feature point. The cloud computing service platform is used to comprehensively analyze and calculate the detection data to obtain the detection results, and data transmission is performed using a wireless local area network.

[0008] The present invention also includes the following technical features:

[0009] Optionally, in the fully continuous mining system: a movable belt conveyor is installed along the mining length of the coal seam working face and located at the top of the lower coal seam; a first tracked unloading car and a second tracked unloading car straddle the movable belt conveyor; a first open-face mining machine, a first double rotary transfer machine, and a first straight transfer machine are connected and arranged at the bottom of the coal seam; the second straight transfer machine is arranged at the top of the lower coal seam and is on the same plane as the movable belt conveyor; the first open-face mining machine mines coal along the bottom of the coal seam, and the mined coal is sequentially passed through the first double rotary transfer machine. The first and second straight-line transfer machines are connected and transported to the first tracked unloading car; the second open-pit mining machine mines coal along the bottom of the upper coal seam, and the mined coal is transported and transferred to the second tracked unloading car via the second double-rotary transfer machine; the end-side steep-angle belt conveyor is located at one end of the movable belt conveyor and is deployed along the undulating terrain of the coal mining face; thus, the coal mined from the upper and lower coal seams is transported and merged onto the movable belt conveyor, and then the end-side steep-angle belt conveyor lifts the coal from the bottom of the pit to the surface.

[0010] Optionally, the electromagnetic wave device employs gamma-ray identification and includes a transmitter and a receiver; the transmitter is arranged at fixed intervals on the movable belt conveyor and the end-side steep-angle belt conveyor; all transmitters are in the same plane; the number of transmitters is n. In the formula: L is the length of the open-pit coal mine working face, C is the detection requirement coefficient, and the value range is determined according to the on-site construction accuracy requirements and the variation range of rock strata characteristics; the receiver is arranged on the first double rotary transfer machine, the first straight transfer machine, the second straight transfer machine, the second double rotary transfer machine, the first tracked unloading car, and the second tracked unloading car; the receiver is used to receive the electromagnetic wave echo time, echo energy, and transmission distance returned by the transmitter.

[0011] The ultrasonic device includes a second transmitter and a second receiver. The second transmitter is arranged in a double layer, positioned at fixed intervals on the movable belt conveyor and the end-side inclined belt conveyor, and spaced apart from the first transmitter. All second transmitters are in the same plane. The second receiver is arranged on the first double rotary transfer machine, the first straight transfer machine, the second straight transfer machine, the second double rotary transfer machine, the first tracked unloading car, and the second tracked unloading car, and is arranged parallel to the first receiver. The second receiver can receive signals from all second transmitters and is used to measure the reflection coefficient and transmission coefficient of each characteristic point of the receiver.

[0012] The reflectance spectroscopy device includes three transmitters and three receivers. The three transmitters are arranged at fixed intervals on the movable belt conveyor and the end-side steep-angle belt conveyor. The arrangement is such that they are spaced apart in the transverse direction between the first transmitters and placed in the longitudinal direction between two adjacent second transmitters arranged in a double layer. The three receivers are arranged at the center of the first double rotary transfer machine, the first straight transfer machine, the second straight transfer machine, the second double rotary transfer machine, the first tracked unloading car, and the second tracked unloading car. They can receive signals from all the third transmitters and are used to measure the reflectance and wavelength of each characteristic point received.

[0013] Optionally, the drilling equipment is mounted on the first and second open-pit mining machines. The center of the drilling equipment is concentric with all the positional feature points. It follows the construction of the first and second open-pit mining machines to complete all borehole construction. The borehole can reach all N positional feature points. The measurement parameters of each positional feature point include borehole mechanical parameters and rock stratum performance parameters. The borehole mechanical parameters include axial force, friction force, vibration frequency, and torque. The rock stratum performance parameters include rock compressive strength, rock saturation, contrast, and porosity.

[0014] A method for detecting rock strata in open-pit coal mines, the method being implemented using the aforementioned open-pit coal mine rock strata detection system; the method includes:

[0015] By using data measured by a non-contact system, the electromagnetic wave comprehensive coefficient, ultrasonic wave comprehensive coefficient, and reflectance spectrum comprehensive coefficient are solved to obtain electromagnetic wave comprehensive dataset, ultrasonic wave comprehensive dataset, and reflectance spectrum comprehensive dataset. Then, a non-contact comprehensive dataset is constructed, and a triangular membership function of the non-contact comprehensive dataset is established to obtain the critical value of the non-contact comprehensive data of the known lithology.

[0016] By using the data measured by the contact system, the comprehensive mechanical coefficient and the comprehensive rock performance coefficient in the borehole are solved to obtain the comprehensive mechanical dataset and the comprehensive rock performance dataset. Then, the contact comprehensive dataset is constructed, and the triangular membership function of the contact comprehensive dataset is established to obtain the critical value of the contact comprehensive data for the known lithology.

[0017] Optionally, the process for solving the electromagnetic wave synthesis coefficients and the electromagnetic wave synthesis dataset is as follows:

[0018] The electromagnetic wave synthesis coefficient of a transmitter 1 received at a certain pose feature point z:

[0019]

[0020] In the formula: i represents the number of transmitters receiving the signal, i = 1, 2, ..., n; Q 1i t is the electromagnetic wave comprehensive coefficient; c1, c2, and c3 are weighting coefficients, all real numbers between 0 and 1, and c1 + 2 + 3 = 1; a, b, and c are adjustment coefficients, which are selected according to the on-site conditions of the open-pit coal mine, and their values ​​range from 0 to 3; t is the echo time; j is the echo energy; and D is the transmission distance.

[0021] The electromagnetic wave synthesis coefficient dataset for a certain pose feature point z is Q1={Q 11 Q 12 ,...Q 1i ,...Q 1n The dataset is standardized and averaged to obtain the comprehensive electromagnetic wave data value X for that point. z Then, the electromagnetic wave composite dataset X = {X1, X2, ... X}, consisting of all pose feature points, is obtained. z , ...X N}, z = 1, 2, ..., N.

[0022] Optionally, the process for solving the ultrasonic synthesis coefficients and the ultrasonic synthesis dataset is as follows:

[0023] The ultrasonic wave synthesis coefficient of a transmitter II received at a certain pose feature point z:

[0024]

[0025] In the formula: j represents the number of transmitters receiving signals, j = 1, 2, ..., n-2; Q 2j is the ultrasonic comprehensive coefficient; c4 and c5 are weighting coefficients, both real numbers between 0 and 1, and c4 + c5 = 1; d and r are adjustment coefficients, which are selected according to the on-site conditions of the open-pit coal mine, and their values ​​range from 0 to 3; f is the reflection coefficient; q is the transmission coefficient.

[0026] The dataset of ultrasonic composite coefficients for a certain pose feature point z is Q2={Q 21 Q 22 ,...Q 2j ,...Q 2(n-2) The dataset is standardized and its average value is calculated to obtain the comprehensive ultrasonic data value Y for that point. zThen, the ultrasonic composite dataset Y = {Y1, Y2, ... Y}, consisting of all pose feature points, is obtained. z , ...Y N}, z = 1, 2, ..., N.

[0027] Optionally, the process for solving the comprehensive reflectance spectral coefficients and the comprehensive reflectance spectral dataset is as follows:

[0028] The combined coefficients of the reflection spectrum of a transmitter 3 received at a certain pose feature point z:

[0029]

[0030] In the formula: k is the number of transmitters receiving signals, j = 1, 2, ..., n / 2-1; Q 3k Here, c6 and c7 are weighting coefficients, both real numbers between 0 and 1, and c6 + c7 = 1; c and g are adjustment coefficients, determined according to the on-site conditions of the open-pit coal mine, with values ​​ranging from 0 to 3; p is reflectivity, and y is wavelength; the dataset of the comprehensive reflectance spectrum coefficients for a certain pose feature point z is Q3 = {Q 31 Q 32 ,...Q 3k ,...Q 3(n / 2-1) The dataset is standardized and its average value is calculated to obtain the comprehensive reflectance spectral data value Z for that point. z Then, the comprehensive dataset of reflectance spectra formed by all pose feature points is obtained: Z = {Z1, Z2, ... Z}. z ...Z N}, z = 1, 2, ..., N.

[0031] Optionally, the construction of the non-contact integrated dataset, the establishment of the triangular membership function of the non-contact integrated dataset, and the acquisition of the critical value of the non-contact integrated data for the known lithology include:

[0032] Construct a non-contact comprehensive dataset A1, A 1z ∈A1, A 1z =e1·X z +e2·Y z +e3·Z z , where A 1z Let X be the non-contact integrated data value at position z, where e1, e2, and e3 are weighting coefficients, all real numbers between 0 and 1, and e1 + e2 + e3 = 1; z ∈X, X z Y is the comprehensive electromagnetic wave data value at position z. z ∈Y, Y z Z represents the comprehensive ultrasonic data value at position z. z∈Z, Z z This represents the composite data value of the reflectance spectrum at position z; this non-contact composite dataset is a non-contact composite dataset of known lithology and strata.

[0033] The coal and rock strata are divided into multiple categories, not less than three categories; for any known rock strata, the triangular membership function of its non-contact comprehensive dataset is established as shown in the following equation (5):

[0034]

[0035] In the formula, μ 1z A represents the degree of membership of the non-contact composite data value of the pose feature point z to the known lithology. 1z For the non-contact integrated data value at position z, A 1a A 1b A 1c These are the critical values ​​of the non-contact integrated data for the known lithology.

[0036] Optionally, the process for solving the comprehensive mechanical coefficients and comprehensive mechanical dataset within the hole is as follows:

[0037] The comprehensive mechanical coefficients within the hole at a certain pose feature point z:

[0038]

[0039] In the formula: z is the number of pose feature points, z = 1, 2, ..., N; Q 4z For the comprehensive mechanical parameters inside the hole, c8, c9, c 10 c 11 The weighting coefficients are all real numbers between 0 and 1, and c8+c9+c 10 +c 11 =1, aa, bb, cc, dd are adjustment coefficients, which need to be selected according to the on-site conditions of the open-pit coal mine, and their value range is 0 to 3, W is axial force, E is friction force, R is vibration frequency, and P is torque;

[0040] The data is standardized to obtain the comprehensive mechanical data value S of the hole at that point. 1z ;

[0041] Then, the comprehensive dataset S1 = {S} of the hole mechanics, consisting of all pose feature points, is obtained. 11 S 12 ,...S 1z ,...S 1N}, z = 1, 2, ..., N.

[0042] Optionally, the process for solving the comprehensive rock performance coefficient and the comprehensive rock performance dataset is as follows:

[0043] The comprehensive coefficient of rock strata properties at a certain pose feature point z:

[0044]

[0045] In the formula: z is the number of pose feature points, z = 1, 2, ..., N; Q 5z For comprehensive parameters of rock strata performance, c 12 c 13 c 14 c 15 The weighting coefficients are all real numbers between 0 and 1, and c 12 +c 13 +c 14 +c 15 =1, ee, ff, gg, hh are adjustment coefficients, which need to be selected according to the site conditions of the open-pit coal mine, and their value range is 0 to 3, V is the rock compressive strength, E is the rock saturation, K is the rock contrast, and U is the rock porosity.

[0046] The data was standardized to obtain the comprehensive rock strata performance value S at that point. 2z ;

[0047] Then, the comprehensive dataset of rock strata properties consisting of all pose feature points is obtained: S2 = {S 21 S 22 ,...S 2z ,...S 2N}, z = 1, 2, ..., N.

[0048] Optionally, the construction of the contact composite dataset and the establishment of a triangular membership function for the contact composite dataset to obtain the critical value of the contact composite data for the known lithology include:

[0049] Construct a contact-based integrated dataset A2, A 2z ∈A2, A 2z =e4·S 1z +e5·S 2z , where A 2z Let S be the contact-based composite data value at position z, where e4 and e5 are weighting coefficients, both real numbers between 0 and 1, and e4 + e5 = 1; 1z ∈S1, S 1z S represents the comprehensive mechanical data value of the hole at position z. 2z ∈S2, S 2z This is the comprehensive data value of rock strata properties at position z. This contact-type comprehensive dataset is a contact-type comprehensive dataset of known lithological strata.

[0050] For any known rock stratum, the triangular membership function of its contact-type integrated dataset is established as shown in equation (8):

[0051]

[0052] In the formula, μ 2z A represents the degree of membership of the contact-type composite data value of the pose feature point z to the known lithology. 2z A is the contact composite data value at position z. 2a A 2b A 2c These are the critical values ​​of the contact composite data for the known lithology.

[0053] A method for identifying the characteristics of rock strata in open-pit coal mines, comprising the following steps:

[0054] Based on the relationship between the non-contact composite data value of the pose feature point of the stratum to be evaluated and the critical value of the non-contact composite data of any known lithology, the membership degree of the stratum to be evaluated belonging to any known lithology is calculated using the triangular membership function of the non-contact composite dataset of any known lithology. Then, the maximum membership degree μ is selected. 1z，max ;

[0055] Based on the relationship between the contact composite data value of the pose feature point of the stratum to be evaluated and the critical value of the contact composite data of any known lithology stratum, the membership degree of the stratum to be evaluated belonging to the known lithology of the contact composite dataset of any known lithology stratum is calculated using the triangular membership function of the contact composite dataset of any known lithology stratum. Then, the maximum membership degree μ is selected. 2z，max ;

[0056] If μ 1z，max and μ 2z，max If the lithology belongs to the same type and all values ​​are greater than the first threshold, then the lithology at position i is μ. 1z，max and μ 2z，max The lithology to which it belongs, and the range of the first threshold value is [0.8, 0.9];

[0057] If μ 1z，max When the value is greater than the second threshold, the lithology at position z is μ. 1z，max The lithology to which it belongs, and the range of the second threshold is [0.9, 0.95];

[0058] If μ 2z，max When the value is greater than the third threshold, the lithology at position z is μ. 2z，max The lithology to which it belongs, the value range of the third threshold is [0.9, 0.95];

[0059] The distribution of rock strata characteristics at multiple locations on the same cross section constitutes the rock strata characteristic assessment result of the rock strata cross section. The rock strata characteristic assessment results of multiple cross sections are then used to assess the rock strata characteristics of the entire mining face.

[0060] A method for identifying the coal-rock interface in open-pit coal mines, comprising the following steps: (The method involves identifying the coal-rock interface based on the detection results of an open-pit coal mine strata detection method and the identification results of an open-pit coal mine strata characteristic identification method.)

[0061] Step 1: Obtain all pose feature points of adjacent pose feature points for two different rock strata, namely coal seam and rock strata;

[0062] Step 2: Obtain the non-contact integrated data value of the midpoint of the adjacent pose feature points of two different rock strata, namely coal seam and rock strata, and determine the maximum value of the membership degree of the known lithology to which it belongs as the rock stratum attribute of this midpoint.

[0063] Step 3: Determine a new midpoint between the above midpoint and adjacent pose feature points of different rock strata attributes, and continue to measure its non-contact integrated data value. Determine the maximum value of the membership degree of the known lithology to which the new midpoint belongs as the new midpoint rock strata attribute.

[0064] Step 4: Repeat step 3 until the distance between the newly determined midpoint and the adjacent pose feature points of different rock strata properties reaches the design accuracy requirements. Then, use interpolation to fit the newly determined midpoint into a curved surface as the result of the coal-rock interface.

[0065] Compared with the prior art, the present invention has the following technical effects:

[0066] This invention can establish a precise three-dimensional geological model of open-pit coal mine strata, derive the distribution patterns of different strata characteristics, and simultaneously complete the precise detection of the corresponding coal-rock interface distribution. This invention requires no manual intervention, its evaluation method is stable and reliable, with high identification accuracy, small error, wide identification range, and strong applicability. It can provide a theoretical basis for precise strata detection in large open-pit coal mines and for determining the construction space and construction technology of fully continuous mining systems. Attached Figure Description

[0067] Figure 1 This is a schematic diagram of the deployment of the detection system of the present invention in a fully continuous mining system;

[0068] Figure 2 This is a schematic diagram of the components of a contact system;

[0069] Figure 3 This is a schematic diagram of the components of a non-contact system;

[0070] Figure 4 This is a schematic diagram of the contact system layout in an open-pit mine.

[0071] Figure 5 A schematic diagram showing the arrangement of a non-contact system on a double rotary transfer machine;

[0072] Figure 6 A schematic diagram showing the layout of a non-contact system on a single-line transfer machine;

[0073] Figure 7 This is a schematic diagram showing the layout of a non-contact system on a tracked unloading vehicle.

[0074] Figure 8 This is a schematic diagram of the non-contact system layout on a movable belt conveyor.

[0075] Figure 9 A schematic diagram showing the layout of a non-contact system on a belt conveyor with a large inclination angle at the end.

[0076] Figure 10 This is a flowchart of the method of the present invention.

[0077] The meanings of the labels in the diagram are as follows:

[0078] 1. First open-pit mine, 2. First double rotary transfer conveyor, 3. First straight-line transfer conveyor, 4. Second straight-line transfer conveyor, 5. End-side steep-angle belt conveyor, 6. Second open-pit mine, 7. Second double rotary transfer conveyor, 8. Second tracked unloading vehicle, 9. First tracked unloading vehicle, 10. Transfer belt conveyor, 11. Cloud computing service platform, 12. Non-contact system, 13. Contact system, 14. Electromagnetic wave device, 15. Ultrasonic device, 16. Reflection spectroscopy device, 17. Drilling equipment, 18. Transmitter I, 19. Receiver I, 20. Transmitter II, 21. Receiver II, 22. Transmitter III, 23. Receiver III. Detailed Implementation

[0079] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments. All equivalent modifications made based on the technical solutions of this application fall within the protection scope of the present invention.

[0080] like Figures 1 to 9 As shown, the present invention provides an open-pit coal mine strata detection system, which is deployed on various equipment of a fully continuous mining system for detection. The fully continuous mining system includes: a first open-pit miner, a first double rotary transfer machine, a first straight transfer machine, a second straight transfer machine, and a first tracked unloading car for mining the lower coal seam; and a second open-pit miner, a second double rotary transfer machine, and a second tracked unloading car for mining the upper coal seam; it also includes a movable belt conveyor and an end-side steep-angle belt conveyor.

[0081] The detection system includes: non-contact system, contact system, and cloud computing service platform.

[0082] The non-contact system is used to detect the mining face using non-contact methods and is configured as required to detect the upper and lower coal seams separately. The non-contact system includes an electromagnetic wave device, an ultrasonic device, and a reflection spectroscopy device. The contact system is used to detect the mining face using contact methods and is configured as required to detect the upper and lower coal seams separately. The contact system includes drilling equipment. The detection area of ​​the upper and lower coal seams in the open-pit coal mine is finely divided into N pose feature points. The non-contact system and the contact system can measure the feature parameters of each pose feature point. A total of N pose feature points are set with a length of L, a width of Q, and a depth of D, evenly distributed. The number and distribution density of pose feature points are determined according to the detection accuracy and detection time requirements. The cloud computing service platform is used to comprehensively analyze and calculate the detection data to obtain the detection results. It is deployed on one side of the movable belt conveyor and uses a wireless local area network for data transmission.

[0083] In a fully continuous mining system: a movable belt conveyor is installed along the mining length of the coal seam face and located at the top of the lower coal seam; the first and second tracked unloading cars straddle the movable belt conveyor; the first open-face mining machine, the first double rotary transfer machine, and the first straight-line transfer machine are connected and arranged at the bottom of the coal seam, and the second straight-line transfer machine is arranged at the top of the lower coal seam and is on the same plane as the movable belt conveyor. The first open-face mining machine mines coal along the bottom of the coal seam, and the mined coal is passed sequentially through the first double rotary transfer machine, ... The first and second straight-line transfer machines connect and transport the coal to the first tracked unloading car; the second open-pit mine extracts coal along the bottom of the upper coal seam, and transports the extracted coal to the second tracked unloading car via the second double-rotary transfer machine; the end-side steep-angle belt conveyor is located at one end of the movable belt conveyor and is deployed along the undulating terrain of the coal mining face; thus, the coal mined from the upper and lower coal seams is transported and merged onto the movable belt conveyor, and then the end-side steep-angle belt conveyor lifts the coal from the bottom of the pit to the surface.

[0084] The electromagnetic wave device uses gamma rays for identification and includes a transmitter and a receiver. The transmitter is positioned at fixed intervals on the movable belt conveyor and the steeply inclined end-face belt conveyor. The transmitter is mounted using a connecting plate base. The movable belt conveyor and the steeply inclined end-face belt conveyor are arranged parallel to the upper and lower coal seams and cover the entire mining area. The transmitters are arranged in equal numbers on both the upper and lower layers, without affecting the basic function and structural strength of the equipment. Both the movable belt conveyor and the steeply inclined end-face belt conveyor have multiple sets of adjustable walking mechanisms. All transmitters are on the same plane. The left and right boundary positions of the transmitter are determined based on the coal-rock interface after the first cut of coal by the open-pit mine. The left and right boundary positions of the transmitter are ensured to be greater than the coal-rock interface. The connecting plate bases of the movable belt conveyor and the steeply inclined end-face belt conveyor are adjusted to ensure that the number of transmitters at the interface is no less than three per layer. The total number of transmitters is n. In the formula: L is the length of the open-pit coal mine working face, C is the detection requirement coefficient, and the value range is determined according to the on-site construction accuracy requirements and the variation range of rock strata characteristics; Receiver 1 is arranged on the first double rotary transfer machine, the first straight transfer machine, the second straight transfer machine, the second double rotary transfer machine, the first tracked unloading car, and the second tracked unloading car; Receiver 1 is fixed by bolts and is equipped with vibration damping blocks, which does not affect the basic function and structural strength of the equipment, does not affect the parameters collected by the equipment, and the working trajectory does not affect the signal transmission of Receiver 1, and receives the signals of all transmitters 1 in the upper and lower layers respectively; Receiver 1 is used to receive the electromagnetic wave echo time, echo energy and transmission distance returned by transmitters 1 at each posture feature point;

[0085] The ultrasonic device includes transmitter two and receiver two. Transmitter two is arranged in a double layer, with a quantity of n-2, and is positioned at fixed intervals on the movable belt conveyor and the end-side steep-angle belt conveyor. It is mounted using a connecting plate base and is arranged at intervals with transmitter one. All transmitter two are in the same plane. Receiver two is arranged on the first double rotary transfer machine, the first straight transfer machine, the second straight transfer machine, the second double rotary transfer machine, the first tracked unloading car, and the second tracked unloading car. It is fixedly connected by bolts and is equipped with vibration damping blocks. It is arranged in parallel with receiver one and does not affect the basic function and structural strength of the equipment. Receiver two can receive signals from all transmitter two in the upper and lower layers and is used to measure the reflection coefficient and transmission coefficient of each characteristic point of the received position.

[0086] The reflectance spectroscopy device includes three transmitters and three receivers. The three transmitters are arranged in a single layer, with a quantity of n / 2-1, and are positioned at fixed intervals on the movable belt conveyor and the end-side steep-angle belt conveyor. They are mounted using connecting plate bases and are arranged laterally between the first transmitters and longitudinally between two adjacent second transmitters in a double-layer arrangement. The three receivers are located at the center of the first double-rotary transfer machine, the first straight-line transfer machine, the second straight-line transfer machine, the second double-rotary transfer machine, the first tracked unloading car, and the second tracked unloading car. They are fixedly connected with bolts without affecting the basic function and structural strength of the equipment. They can receive signals from all three transmitters and are used to measure the reflectivity and wavelength of each characteristic point received.

[0087] The drilling equipment is installed on the first and second open-pit mines. The center of the drilling equipment is concentric with all the position feature points, so it does not affect the normal construction operation of the open-pit mines. It follows the construction of the first and second open-pit mines to complete all the drilling. The construction range is L long and Q wide data holes, and the depth can reach D. The drilling can reach all N position feature points. The measurement parameters of each position feature point include the mechanical parameters inside the hole and the rock performance parameters. The mechanical parameters inside the hole include axial force, friction force, vibration frequency, and torque. The rock performance parameters include rock compressive strength, rock saturation, contrast, and porosity.

[0088] This invention also provides a method for detecting rock strata in open-pit coal mines, which is implemented using the aforementioned open-pit coal mine rock strata detection system; the method includes:

[0089] By using data measured by a non-contact system, the electromagnetic wave comprehensive coefficient, ultrasonic wave comprehensive coefficient, and reflectance spectrum comprehensive coefficient are solved to obtain electromagnetic wave comprehensive dataset, ultrasonic wave comprehensive dataset, and reflectance spectrum comprehensive dataset. Then, a non-contact comprehensive dataset is constructed, and a triangular membership function of the non-contact comprehensive dataset is established to obtain the critical value of the non-contact comprehensive data of the known lithology.

[0090] By using the data measured by the contact system, the comprehensive mechanical coefficient and the comprehensive rock performance coefficient in the borehole are solved to obtain the comprehensive mechanical dataset and the comprehensive rock performance dataset. Then, the contact comprehensive dataset is constructed, and the triangular membership function of the contact comprehensive dataset is established to obtain the critical value of the contact comprehensive data for the known lithology.

[0091] The process of solving for the electromagnetic wave synthesis coefficients and the electromagnetic wave synthesis dataset is as follows:

[0092] The electromagnetic wave synthesis coefficient of a transmitter 1 received at a certain pose feature point z:

[0093]

[0094] In the formula: i represents the number of transmitters receiving the signal, i = 1, 2, ..., n; Q 1i t is the electromagnetic wave comprehensive coefficient; c1, c2, and c3 are weighting coefficients, all real numbers between 0 and 1, and c1 + c2 + c3 = 1; a, b, and c are adjustment coefficients, which are selected according to the on-site conditions of the open-pit coal mine, and their values ​​range from 0 to 3; t is the echo time; J is the echo energy; and D is the transmission distance.

[0095] The electromagnetic wave synthesis coefficient dataset for a certain pose feature point z is Q1={Q 11 Q 12 ,...Q 1i ,...Q 1n The dataset is standardized and averaged to obtain the comprehensive electromagnetic wave data value X for that point. z Then, the electromagnetic wave composite dataset X = {X1, X2, ... X}, consisting of all pose feature points, is obtained. z , ...X N}, z = 1, 2, ..., N.

[0096] The process of solving for the ultrasonic synthesis coefficients and the ultrasonic synthesis dataset is as follows:

[0097] The ultrasonic wave synthesis coefficient of a transmitter II received at a certain pose feature point z:

[0098]

[0099] In the formula: j represents the number of transmitters receiving signals, j = 1, 2, ..., n-2; Q 2j is the ultrasonic comprehensive coefficient; c4 and c5 are weighting coefficients, both real numbers between 0 and 1, and c4 + c5 = 1; d and r are adjustment coefficients, which are selected according to the on-site conditions of the open-pit coal mine, and their values ​​range from 0 to 3; f is the reflection coefficient; q is the transmission coefficient.

[0100] The dataset of ultrasonic composite coefficients for a certain pose feature point z is Q2={Q 21 Q 22 ,...Q 2j ,...Q 2(n-2) The dataset is standardized and its average value is calculated to obtain the comprehensive ultrasonic data value Y for that point. z Then, the ultrasonic composite dataset Y = {Y1, Y2, ... Y}, consisting of all pose feature points, is obtained. z , ...Y N}, z = 1, 2, ..., N.

[0101] The process of solving for the comprehensive reflectance spectral coefficient and the comprehensive reflectance spectral dataset is as follows:

[0102] The combined coefficients of the reflection spectrum of a transmitter 3 received at a certain pose feature point z:

[0103]

[0104] In the formula: k is the number of transmitters receiving signals, j = 1, 2, ..., n / 2-1; Q 3k Here, c6 and c7 are the comprehensive coefficients of the reflectance spectrum, both being real numbers between 0 and 1, and c6 + c7 = 1; e and g are adjustment coefficients, determined according to the on-site conditions of the open-pit coal mine, with values ​​ranging from 0 to 3; p is the reflectance, and y is the wavelength; the dataset of the comprehensive coefficients of the reflectance spectrum of a certain pose feature point z is Q3 = {Q 31 Q 32 ,...Q 3k ,...Q 3(n / 2-1) The dataset is standardized and its average value is calculated to obtain the comprehensive reflectance spectral data value Z for that point. z Then, the comprehensive dataset of reflectance spectra formed by all pose feature points is obtained: Z = {Z1, Z2, ... Z}. z ...Z N}, z = 1, 2, ..., N.

[0105] Construct a non-contact integrated dataset, establish a triangular membership function for the non-contact integrated dataset, and obtain the critical values ​​of the non-contact integrated data for the known lithology, including:

[0106] Construct a non-contact comprehensive dataset A1, A 1z ∈A1, A 1z =e1·X z +e2·Y z +e3·Z z , where A 1z Let X be the non-contact integrated data value at position z, where e1, e2, and e3 are weighting coefficients, all real numbers between 0 and 1, and e1 + e2 + e3 = 1; z ∈X, X z Y is the comprehensive electromagnetic wave data value at position z. z ∈Y, Y z Z represents the comprehensive ultrasonic data value at position z. z ∈Z, Z z This represents the composite data value of the reflectance spectrum at position z; this non-contact composite dataset is a non-contact composite dataset of known lithology and strata.

[0107] The coal and rock strata are divided into multiple categories, not less than three categories, including five categories: weak interlayers, coal seams, mudstone strata, hard rock strata, and sandstone strata; for any known rock strata, the triangular membership function of its non-contact comprehensive dataset is established as shown in the following equation (5):

[0108]

[0109] In the formula, μ 1z A represents the degree of membership of the non-contact composite data value of the pose feature point z to the known lithology. 1z For the non-contact integrated data value at position z, A 1a A 1b A 1c These are the critical values ​​of the non-contact integrated data for the known lithology.

[0110] The solution process for the comprehensive coefficients and comprehensive dataset of mechanics in the borehole is as follows:

[0111] The comprehensive mechanical coefficients within the hole at a certain pose feature point z:

[0112]

[0113] In the formula: z is the number of pose feature points, z = 1, 2, ..., N; Q 4z For the comprehensive mechanical parameters inside the hole, c8, c9, c 10 c 11 The weighting coefficients are all real numbers between 0 and 1, and c8 + c9 + c 10 +c 11 =1, aa, bb, cc, dd are adjustment coefficients, which need to be selected according to the on-site conditions of the open-pit coal mine, and their value range is 0 to 3, W is axial force, E is friction force, R is vibration frequency, and P is torque.

[0114] The data is standardized to obtain the comprehensive mechanical data value S of the hole at that point. 1z .

[0115] Then, the comprehensive dataset S1 = {S} of the hole mechanics, consisting of all pose feature points, is obtained. 11 S 12 ,...S 1z ,...S 1N}, z = 1, 2, ..., N.

[0116] The process of solving the comprehensive coefficient of rock strata performance and the comprehensive dataset of rock strata performance is as follows:

[0117] The comprehensive coefficient of rock strata properties at a certain pose feature point z:

[0118]

[0119] In the formula: z is the number of pose feature points, z = 1, 2, ..., N; Q 5z For comprehensive parameters of rock strata performance, c 12 c13 c 14 c 15 The weighting coefficients are all real numbers between 0 and 1, and c 12 +c 13 +c 14 +c 15 =1, ee, ff, gg, hh are adjustment coefficients, which need to be selected according to the site conditions of the open-pit coal mine, and their value range is 0 to 3, V is the rock compressive strength, E is the rock saturation, K is the rock contrast, and U is the rock porosity.

[0120] The data was standardized to obtain the comprehensive rock strata performance value S at that point. 2z ;

[0121] Then, the comprehensive dataset of rock strata properties consisting of all pose feature points is obtained: S2 = {S 21 S 22 ,...S 2z ,...S 2N}, z = 1, 2, ..., N.

[0122] Construct a contact composite dataset, establish a triangular membership function for the contact composite dataset, and thus obtain the critical values ​​of the contact composite data for this known lithology, including:

[0123] Construct a contact-based integrated dataset A2, A 2z ∈A2, A 2z =e4·S 1z +e5·S 2z , where A 2z Let S be the contact-based composite data value at position z, where e4 and e5 are weighting coefficients, both real numbers between 0 and 1, and e4 + e5 = 1; 1z ∈S1, S 1z S represents the comprehensive mechanical data value of the hole at position z. 2z ∈S2, S 2z This is the comprehensive data value of rock strata properties at position z. This contact-type comprehensive dataset is a contact-type comprehensive dataset of known lithological strata.

[0124] For any known rock stratum, the triangular membership function of its contact-type integrated dataset is established as shown in equation (8):

[0125]

[0126] In the formula, μ 2z A represents the degree of membership of the contact-type composite data value of the pose feature point z to the known lithology. 2z A is the contact composite data value at position z. 2a A2b A 2c These are the critical values ​​of the contact composite data for the known lithology;

[0127] This invention provides a method for identifying the characteristics of rock strata in open-pit coal mines. This method identifies the characteristics of rock strata based on the detection results of the aforementioned open-pit coal mine rock strata detection method; it includes the following steps:

[0128] In the above detection method, a non-contact comprehensive dataset and a contact comprehensive dataset for the known lithology are constructed. Then, clustering methods are used to obtain the triangular membership functions of the non-contact comprehensive dataset and the contact comprehensive dataset for the known lithology, respectively, to obtain the critical values ​​of the non-contact comprehensive data and the contact comprehensive data for the known lithology. A non-contact comprehensive dataset and a contact comprehensive dataset for all pose feature points of the mining face are constructed, with each dataset containing N data points.

[0129] For any pose feature point z of the rock stratum to be evaluated, using non-contact composite data, z = 1, 2, ..., N; calculate the membership degree of the rock stratum at this pose feature point to each known lithology, including:

[0130] Based on the relationship between the non-contact composite data value of the pose feature point of the stratum to be evaluated and the critical value of the non-contact composite data of any known lithology, the membership degree of the stratum to be evaluated belonging to any known lithology is calculated using the triangular membership function of the non-contact composite dataset of any known lithology. Then, the maximum membership degree μ is selected. 1z，max ;

[0131] For contact-based composite data of any pose feature point of the rock stratum to be evaluated, z = 1, 2, ..., N; calculate the membership degree of the rock stratum at this pose feature point to various known lithologies, including:

[0132] Based on the relationship between the contact composite data value of the pose feature point of the stratum to be evaluated and the critical value of the contact composite data of any known lithology stratum, the membership degree of the stratum to be evaluated belonging to the known lithology of the contact composite dataset of any known lithology stratum is calculated using the triangular membership function of the contact composite dataset of any known lithology stratum. Then, the maximum membership degree μ is selected. 2z，max ;

[0133] If μ 1z，max and μ 2z，max If the lithology belongs to the same type and all values ​​are greater than the first threshold, then the lithology at position z is μ. 1z，max and μ 2z，max The lithology to which it belongs, and the range of the first threshold value is [0.8, 0.9];

[0134] If μ 1z，maxWhen the value is greater than the second threshold, the lithology at position z is μ. 1z，max The lithology to which it belongs, and the range of the second threshold is [0.9, 0.95];

[0135] If μ 2z，max When the value is greater than the third threshold, the lithology at position z is μ. 2z，max The lithology to which it belongs, the value range of the third threshold is [0.9, 0.95];

[0136] The distribution of rock strata characteristics at multiple locations on the same cross section constitutes the rock strata characteristic assessment result of the rock strata cross section. The rock strata characteristic assessment results of multiple cross sections are then used to assess the rock strata characteristics of the entire mining face.

[0137] This invention provides a method for identifying the coal-rock interface in open-pit coal mines. This method identifies the coal-rock interface based on the detection results of the aforementioned open-pit coal mine strata detection method and the identification results of the open-pit coal mine strata characteristic identification method; it includes the following steps:

[0138] Step 1: Obtain all pose feature points of adjacent pose feature points for two different rock strata, namely coal seam and rock strata;

[0139] Step 2: Obtain the non-contact integrated data value of the midpoint of the adjacent pose feature points of two different rock strata, namely coal seam and rock strata, and determine the maximum value of the membership degree of the known lithology to which it belongs as the rock stratum attribute of this midpoint.

[0140] Step 3: Continue to measure the non-contact integrated data value of the new midpoint between the above midpoint and the adjacent pose feature points of different rock layer properties, and determine the maximum value of the membership degree of the known lithology to which the new midpoint belongs as the new midpoint rock layer property.

[0141] Step 4: Repeat step 3 until the distance between the midpoint and the adjacent pose feature points of different rock strata properties reaches the design accuracy requirements. Then, use interpolation to fit all the midpoints into a surface as the result of the coal-rock interface.

Claims

1. A method for detecting rock strata in open-pit coal mines, characterized in that, This method is achieved through an open-pit coal mine rock strata detection system; The open-pit coal mine strata detection system is deployed on various equipment in the fully continuous mining system for detection. The fully continuous mining system includes: a first open-pit miner, a first double rotary transfer machine, a first straight transfer machine, a second straight transfer machine, and a first tracked unloading car for mining the lower coal seam; and a second open-pit miner, a second double rotary transfer machine, and a second tracked unloading car for mining the upper coal seam; it also includes a movable belt conveyor and an end-side steep-angle belt conveyor. The detection system includes: non-contact systems, contact systems, and a cloud computing service platform; The non-contact system is used to detect the mining face using non-contact methods. The non-contact system includes an electromagnetic wave device, an ultrasonic device, and a reflectance spectroscopy device. The contact system is used to detect the mining face using contact methods. The contact system includes drilling equipment. The detection area of ​​the upper and lower coal seams in the open-pit coal mine is finely divided into N pose feature points. Both the non-contact and contact systems can measure the feature parameters of each pose feature point. The cloud computing service platform is used to comprehensively analyze and calculate the detection data to obtain the detection results, and data transmission is performed using a wireless local area network. The method includes: By using data measured by a non-contact system, the electromagnetic wave comprehensive coefficient, ultrasonic wave comprehensive coefficient, and reflectance spectrum comprehensive coefficient are solved to obtain electromagnetic wave comprehensive dataset, ultrasonic wave comprehensive dataset, and reflectance spectrum comprehensive dataset. Then, a non-contact comprehensive dataset is constructed, and a triangular membership function of the non-contact comprehensive dataset is established to obtain the critical value of the non-contact comprehensive data of the known lithology. By using the data measured by the contact system, the comprehensive mechanical coefficient and the comprehensive rock performance coefficient in the borehole are solved to obtain the comprehensive mechanical dataset and the comprehensive rock performance dataset. Then, the contact comprehensive dataset is constructed, and the triangular membership function of the contact comprehensive dataset is established to obtain the critical value of the contact comprehensive data for the known lithology.

2. The method for detecting rock strata in open-pit coal mines as described in claim 1, characterized in that, In the fully continuous mining system: a movable belt conveyor is installed along the mining length of the coal seam working face and located at the top of the lower coal seam; a first tracked unloading car and a second tracked unloading car straddle the movable belt conveyor; a first open-face mining machine, a first double rotary transfer machine, and a first straight-line transfer machine are connected and arranged at the bottom of the coal seam; the second straight-line transfer machine is arranged at the top of the lower coal seam and is on the same plane as the movable belt conveyor; the first open-face mining machine mines coal along the bottom of the coal seam, and the mined coal is sequentially passed through the first double rotary transfer machine, the first double rotary transfer machine, the second ... The first and second straight-line transfer machines connect and transport the coal to the first tracked unloading car; the second open-pit mine extracts coal along the bottom of the upper coal seam, and transports the mined coal to the second tracked unloading car via the second double-rotary transfer machine; the end-side steep-angle belt conveyor is located at one end of the movable belt conveyor and is deployed along the undulating terrain of the coal mining face; thus, the coal mined from the upper and lower coal seams is transported and merged onto the movable belt conveyor, and then the end-side steep-angle belt conveyor lifts the coal from the bottom of the pit to the surface.

3. The method for detecting rock strata in open-pit coal mines as described in claim 2, characterized in that, The electromagnetic wave device employs gamma-ray identification and includes a transmitter and a receiver. The transmitter is positioned at fixed intervals on a movable belt conveyor and an end-side steep-angle belt conveyor. All transmitters are in the same plane. The number of transmitters is [number missing]. n : (1) In the formula: L C represents the length of the open-pit coal mine working face, and C is the detection requirement coefficient, the range of which is determined according to the on-site construction accuracy requirements and the range of rock strata characteristics. Receiver 1 is installed on the first double rotary transfer machine, the first straight transfer machine, the second straight transfer machine, the second double rotary transfer machine, the first tracked unloading car, and the second tracked unloading car. Receiver 1 is used to receive the electromagnetic wave echo time, echo energy, and transmission distance returned by transmitter 1. The ultrasonic device includes a second transmitter and a second receiver. The second transmitter is arranged in a double layer, positioned at fixed intervals on the movable belt conveyor and the end-side inclined belt conveyor, and spaced apart from the first transmitter. All second transmitters are in the same plane. The second receiver is arranged on the first double rotary transfer machine, the first straight transfer machine, the second straight transfer machine, the second double rotary transfer machine, the first tracked unloading car, and the second tracked unloading car, and is set up side by side with the first receiver. The second receiver can receive signals from all second transmitters and is used to measure the reflection coefficient and transmission coefficient of each characteristic point of the receiver. The reflectance spectroscopy device includes three transmitters and three receivers. The three transmitters are arranged at fixed intervals on the movable belt conveyor and the end-side steeply inclined belt conveyor. The arrangement is such that they are spaced apart in the transverse direction between the three transmitters and placed in the longitudinal direction between two adjacent transmitters in a double-layer arrangement. The three receivers are arranged at the center of the first double rotary transfer machine, the first straight transfer machine, the second straight transfer machine, the second double rotary transfer machine, the first tracked unloading car, and the second tracked unloading car. They can receive signals from all three transmitters and are used to measure the reflectance and wavelength of each characteristic point received.

4. The method for detecting rock strata in open-pit coal mines as described in claim 3, characterized in that, The drilling equipment is installed on the first and second open-pit mining machines. The center of the drilling equipment is concentric with all the position feature points. It follows the construction of the first and second open-pit mining machines to complete all borehole construction. The borehole can reach all N position feature points. The measurement parameters of each position feature point include borehole mechanical parameters and rock stratum performance parameters. The borehole mechanical parameters include axial force, friction force, vibration frequency, and torque. The rock stratum performance parameters include rock compressive strength, rock saturation, contrast, and porosity.

5. The method for detecting rock strata in open-pit coal mines as described in claim 1, characterized in that, The process for solving the electromagnetic wave synthesis coefficients and the electromagnetic wave synthesis dataset is as follows: a certain pose feature point z The electromagnetic wave synthesis coefficient of a certain transmitter is received: （2） In the formula: i For the number of transmitters receiving the signal, i =1,2,...,n; This is the electromagnetic wave synthesis coefficient; , , These are weighting coefficients, all of which are real numbers between 0 and 1. ; a , b c is an adjustment coefficient, which is determined according to the on-site conditions of the open-pit coal mine, and its value ranges from 0 to 3. t Echo time; J Echo energy; D This refers to the launch distance; a certain pose feature point z The electromagnetic wave synthesis coefficient dataset is as follows The dataset is standardized and averaged to obtain the comprehensive electromagnetic wave data value for that point. Then the electromagnetic wave composite dataset X, consisting of all pose feature points, is obtained. , z =1,2,..., N .

6. The method for detecting rock strata in open-pit coal mines as described in claim 5, characterized in that, The process for solving the ultrasonic synthesis coefficient and the ultrasonic synthesis dataset is as follows: a certain pose feature point z The overall ultrasonic wave coefficient received by transmitter two: （3） In the formula: j The number of transmitters that receive the signal. j =1,2,...,n-2; This is the ultrasonic comprehensive coefficient; , These are weighting coefficients, all of which are real numbers between 0 and 1. ; d , r The value of this adjustment coefficient is determined based on the on-site conditions of the open-pit coal mine, and its range is 0 to 3. f The reflection coefficient; q Transmission coefficient; a certain pose feature point z The dataset of ultrasonic comprehensive coefficients is as follows The dataset was standardized and its average value was calculated to obtain the comprehensive ultrasonic data value for that point. Then the ultrasonic composite dataset Y, consisting of all pose feature points, is obtained. , z =1,2,..., N .

7. The method for detecting rock strata in open-pit coal mines as described in claim 6, characterized in that, The process for solving the comprehensive reflectance spectral coefficient and the comprehensive reflectance spectral dataset is as follows: a certain pose feature point z The comprehensive coefficient of the reflected spectrum of a certain transmitter three received: （4） In the formula: k For the number of transmitters receiving the signal, k =1,2,...,n / 2-1; The reflectance spectrum comprehensive coefficient, , These are weighting coefficients, all of which are real numbers between 0 and 1. ; e , g The value of this adjustment coefficient is determined based on the on-site conditions of the open-pit coal mine, and its range is 0 to 3. p For reflectivity, y Wavelength; a certain pose feature point z The dataset of comprehensive reflectance spectral coefficients is as follows The dataset is standardized and averaged to obtain the comprehensive reflectance spectral data value for that point. Then the comprehensive dataset Z of reflectance spectra formed by all pose feature points is obtained. , z =1,2,..., N .

8. The method for detecting rock strata in open-pit coal mines as described in claim 7, characterized in that, The process of constructing a non-contact integrated dataset, establishing a triangular membership function for the non-contact integrated dataset, and obtaining the critical value of the non-contact integrated data for the known lithology includes: Building a contactless comprehensive dataset , , = ,in, This represents the non-contact integrated data value at position z. , , These are the weighting coefficients, both real numbers between 0 and 1. + + =1; , For position z The combined electromagnetic wave data value at that time, , For position z The comprehensive ultrasonic data value at that time, , This represents the composite data value of the reflectance spectrum at position z; this non-contact composite dataset is a non-contact composite dataset of known lithology and strata. The coal and rock strata are divided into multiple categories, not less than three categories; for any known rock strata, the triangular membership function of its non-contact comprehensive dataset is established as shown in the following equation (5): （5） In the formula, The degree of membership of the non-contact composite data value of the pose feature point z to the known lithology is given. The non-contact integrated data value for position z. , , These are the critical values ​​of the non-contact integrated data for the known lithology.

9. The method for detecting rock strata in open-pit coal mines as described in claim 8, characterized in that, The process for solving the comprehensive coefficients and comprehensive dataset of in-hole mechanics is as follows: a certain pose feature point z Comprehensive mechanical coefficients within the hole: （6） In the formula: z The number of pose feature points. z =1,2,..., N ; For the comprehensive mechanical parameters inside the hole, , , , These are weighting coefficients, all of which are real numbers between 0 and 1. , aa , bb , cc, and dd are adjustment coefficients, which need to be selected according to the site conditions of the open-pit coal mine, and their range is 0 to 3. W is the axial force, E is the friction force, R is the vibration frequency, and P is the torque. The data is standardized to obtain the comprehensive mechanical data value of the hole at that point. ; Then, the comprehensive dataset S1 of the in-hole mechanics composed of all pose feature points is obtained. , z =1,2,..., N .

10. The method for detecting rock strata in open-pit coal mines as described in claim 9, characterized in that, The process for solving the comprehensive rock stratum performance coefficient and the comprehensive rock stratum performance dataset is as follows: a certain pose feature point z Comprehensive coefficient of rock strata performance: （7） In the formula: z The number of pose feature points. z =1,2,..., N ; These are comprehensive parameters of rock strata performance. , , , These are weighting coefficients, all of which are real numbers between 0 and 1. ee, ff, gg, and hh are adjustment coefficients that need to be selected according to the site conditions of the open-pit coal mine, and their values ​​range from 0 to 3. V is the rock compressive strength, L is the rock saturation, K is the rock contrast, and U is the rock porosity. The data was standardized to obtain the comprehensive rock strata performance data value for that point. ; Then, the comprehensive dataset S2 of rock strata properties, composed of all pose feature points, is obtained. , z =1,2,..., N .

11. The method for detecting rock strata in open-pit coal mines as described in claim 9, characterized in that, The construction of the contact composite dataset, the establishment of a triangular membership function for the contact composite dataset, and the acquisition of the critical values ​​of the contact composite data for the known lithology include: Building a comprehensive contact dataset , , = ,in, The contact-based integrated data value at position z. , These are the weighting coefficients, both real numbers between 0 and 1. + =1; , For position z Comprehensive mechanical data values ​​of the hole at that time. , For position z The comprehensive data values ​​of rock strata properties at that time, this contact comprehensive dataset is a contact comprehensive dataset of known lithology and rock strata; For any known rock stratum, the triangular membership function of its contact-type integrated dataset is established as shown in equation (8): （8） In the formula, Let z be the degree of membership of the contact-type composite data value of the pose feature point z to the known lithology. The contact composite data value at position z. , , These are the critical values ​​of the contact composite data for the known lithology.

12. A method for identifying the characteristics of rock strata in open-pit coal mines, characterized in that, This method identifies rock strata characteristics based on the detection results of the open-pit coal mine rock strata detection method according to claim 11; it includes the following steps: Based on the relationship between the non-contact composite data value of the pose feature point of the stratum to be evaluated and the critical value of the non-contact composite data of any known lithology, the triangular membership function of the non-contact composite dataset of any known lithology is used to calculate the membership degree of the stratum pose feature point of the stratum to be evaluated to any known lithology, and then the maximum membership degree is selected. ; Based on the relationship between the contact composite data value of the pose feature point of the stratum to be evaluated and the critical value of the contact composite data of any known lithology stratum, the triangular membership function of the contact composite dataset of any known lithology stratum is used to calculate the membership degree of the stratum to be evaluated belonging to that known lithology of the contact composite data point of the stratum to be evaluated. Then, the maximum membership degree is selected. ; like and When they belong to the same lithology and all exceed the first threshold, then the location... i The lithology at that location is and The lithology to which it belongs, and the range of the first threshold value is [0.8, 0.9]; like If the value is greater than the second threshold, then the position... z The lithology at that location is The lithology to which it belongs, and the range of the second threshold value is [0.9, 0.95]; like When the value is greater than the third threshold, the position... z The lithology at that location is The lithology to which it belongs, the value range of the third threshold is [0.9, 0.95]; The distribution of rock strata characteristics at multiple locations on the same cross section constitutes the rock strata characteristic assessment result of the rock strata cross section. The rock strata characteristic assessment results of multiple cross sections are then used to assess the rock strata characteristics of the entire mining face.

13. A method for identifying the coal-rock interface in an open-pit coal mine, characterized in that, This method identifies the coal-rock interface based on the detection results of the open-pit coal mine strata detection method according to claim 11 and the identification results of the open-pit coal mine strata characteristic identification method according to claim 12; it includes the following steps: Step 1: Obtain all pose feature points of adjacent pose feature points for two different rock strata, namely coal seam and rock strata; Step 2: Obtain the non-contact integrated data value of the midpoint of the adjacent pose feature points of two different rock strata, namely coal seam and rock strata, and determine the maximum value of the membership degree of the known lithology to which it belongs as the rock stratum attribute of this midpoint. Step 3: Determine a new midpoint between the above midpoint and adjacent pose feature points of different rock strata attributes, and continue to measure its non-contact integrated data value. Determine the maximum value of the membership degree of the known lithology to which the new midpoint belongs as the new midpoint rock strata attribute. Step 4: Repeat step 3 until the distance between the newly determined midpoint and the adjacent pose feature points of different rock strata properties reaches the design accuracy requirements. Then, use interpolation to fit the newly determined midpoint into a curved surface as the result of the coal-rock interface.

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