Method for constructing three-dimensional visual model of ore main draw shaft wall

Abstract

The invention relates to the technical field of model construction, and particularly discloses a three-dimensional visual model construction method for a main ore draw shaft wall, which comprises the following steps of: acquiring mine unloading parameters of the shaft wall in real time on the basis of a database and monitoring equipment, and establishing a three-dimensional geometric model of the draw shaft wall by utilizing a parametric modeling method; the method comprises the following steps: selecting a three-dimensional geometric model, dispersing a well wall into a plurality of grid units with material attributes and initial damage states, judging whether the motion trail of an ore block meets a well wall collision condition or not, performing ore motion simulation in the three-dimensional geometric model, decomposing the speed of the ore block when the ore block collides with the well wall, and calculating the collision speed of the well wall. Kinetic energy changes before and after collision are calculated to obtain impact energy, a Gaussian attenuation function is utilized to disperse part of energy to adjacent well wall grid units, damage increments of all the well wall grid units are calculated and accumulated into local damage values, the ore unloading flow is automatically adjusted through a feedback control algorithm, and dynamic monitoring and regulation of the damaged state of the well wall are achieved. And the mine production safety is effectively guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of model construction, and more specifically, to a method for constructing a three-dimensional visualization model of a main ore chute wall. Background Art

[0002] With the continuous expansion of mining scale and the rapid development of mining technology, the main chute is the key channel for ore unloading and transportation. The safety and stability of its shaft wall structure have become important issues that need to be urgently solved in mine production. During the ore unloading process, the high-speed fluid generated by the falling ore and the flow of materials has a continuous impact on the shaft wall. The local stress state of the shaft wall is complex, and it is very easy to form a local high stress concentration area under high flow rate and high flow conditions, resulting in local damage, spalling and even large-scale collapse of the rock mass. The existing literature (Yin Yue, Lu Zengxiang, Ma Chi. The influence of three-dimensional movement of ore and rock on the collision range of the main chute wall [J]. Metal Mines, 2020, (11): 31-36. DOI: 10.19614 / j.cnki.jsks.202011005.) mentioned that during the ore unloading process, when the ore block enters the main chute from the inclined chute, its initial motion state (including speed, direction angle, etc.) directly determines the collision position and impact area with the shaft wall, and gives the following. Figure 2 The motion trajectory of the ore block in the chute is shown in the figure. Due to the high-speed movement and randomness of the ore block, multiple impacts will cause cumulative damage to the shaft wall. The impact range of the main chute shaft wall is predicted and analyzed by establishing a three-dimensional motion model of the ore block. The speed of the ore when entering the chute and its initial direction angle jointly determine its motion trajectory and the position of the first collision with the shaft wall. However, when the ore flow rate is high, although the chute structural parameters remain unchanged, the high speed makes the inertia effect during the collision more obvious, which is easy to change the distribution of the impact area, resulting in a higher or more concentrated impact area, thereby affecting the force distribution of the shaft wall. When the ore flow rate is low, it will lead to reduced work efficiency, making it difficult to balance the unloading flow rate between ensuring efficient production and shaft wall protection. In order to solve the above problems, a technical solution is now provided. Summary of the invention

[0003] In order to overcome the above-mentioned defects of the prior art, the present invention provides a method for constructing a three-dimensional visualization model of the shaft wall of the main ore chute. The three-dimensional geometric model of the shaft wall is combined with a feedback control algorithm to automatically adjust the unloading flow rate to solve the problem that the unloading flow rate is difficult to strike a balance between ensuring efficient production and shaft wall protection, and to achieve dynamic monitoring and regulation of the damaged state of the shaft wall, effectively ensuring the safety of mine production, so as to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above object, the present invention provides the following technical solutions: A method for constructing a three-dimensional visualization model of a main ore chute wall comprises the following steps: Step 1, obtaining the shaft wall unloading parameters in real time based on the database and monitoring equipment; Step 2: Use a parametric modeling method to establish a three-dimensional geometric model of the shaft wall, and discretize the shaft wall into a number of grid units with material properties and initial damage states to determine whether the movement trajectory of the ore block meets the shaft wall collision condition; Step 3, by simulating the movement of ore in a three-dimensional geometric model, when the ore block collides with the well wall, the velocity of the ore block is decomposed according to the coefficient of restitution, the change in kinetic energy before and after the collision is calculated, and the impact energy is obtained; Step 4: Multiply the impact energy by the absorption rate of the well wall material and distribute it to the well wall grid unit where the collision point is located, and use the Gaussian attenuation function to disperse part of the energy to the adjacent well wall grid units, calculate the damage increment of each well wall grid unit and accumulate it as the local damage value; the well wall grid unit divides the well wall evenly according to the circumferential direction and height direction of the main chute, and divides it into Layer, divided into Layer; each well wall grid unit records its center coordinates and area; Step 5, using 3D graphics rendering technology and color mapping to display the real-time damage value of each grid cell of the well wall in the form of a heat map, and at the same time animating the movement trajectory of the ore block and the collision event; Step 6, according to the real-time damage data and collision frequency of each area of ​​the well wall, the unloading flow rate is automatically adjusted through the feedback control algorithm to achieve real-time closed-loop control of the unloading flow rate.

[0005] As a further solution of the present invention, in step 1, the well wall unloading parameters include well wall parameters and unloading parameters; the well wall parameters include diameter and well depth; the unloading parameters include unloading flow rate and unloading time.

[0006] As a further solution of the present invention, in step 2, it is determined whether the motion trajectory of the ore block meets the well wall collision condition, and the specific steps are: Step 21, by taking a time step during the unloading period Calculate the trajectory of the ore block, based on each time step The position coordinates of the ore block construct the first motion trajectory coordinate set , summarize the first motion trajectory coordinate set of all ore blocks Get the first trajectory sequence , where the location coordinates of the ore block are: ; ; ; Where: For in time The x-coordinate of the ore block at time, For in time The y coordinate of the ore block. To indicate the time The coordinate of the ore block in the z direction, is the coordinate of the ore block in the x direction at the current time t, is the coordinate of the ore block in the y direction at the current time t, is the coordinate of the ore block in the z direction at the current time t, is the initial velocity of the ore block when it enters the unloading area, is the angle between the initial velocity of the ore block and the horizontal direction, is the deflection angle of the initial movement direction of the ore block in the horizontal plane, is the time step, is the acceleration due to gravity; Step 22: According to the first trajectory sequence Determine whether the motion trajectory of the ore block meets the well wall collision condition. The well wall collision condition is determined based on the projection of the motion trajectory of the ore block on the horizontal plane. The judgment formula for the well wall collision condition is: ; Where: for The x-coordinate of the ore block at the moment, for The y coordinate of the ore block at the moment, is the diameter of the wellbore; Step 23, when the first motion trajectory coordinate sets of the ore block all meet the well wall collision condition, it indicates that the ore block has not collided with the well wall; when there is a first motion trajectory coordinate set of the ore block that does not meet the well wall collision condition, it indicates that the ore block has collided with the well wall.

[0007] As a further solution of the present invention, in step 3, when the ore block collides with the well wall, the velocity of the ore block is decomposed according to the coefficient of restitution, the change of kinetic energy before and after the collision is calculated, and the impact energy is obtained, specifically: Step 31, decompose the velocity of the ore block into a normal component and a tangential component, and obtain the normal incident velocity at the moment of collision: , the tangential incident velocity is , the normal velocity component and tangential velocity component of each ore block when it leaves after collision are calculated in real time, and the velocity component of the ore block when it leaves after collision is: ; ; ; Where: is the normal velocity component of the ore block when it leaves after collision, is the tangential velocity component of the ore block when it leaves after collision, is the normal restitution coefficient, is the normal incident velocity at the moment of collision, is the tangential restitution coefficient, is the tangential incident velocity at the moment of collision; Step 32, calculating the impact energy released by the collision based on the kinetic energy difference before and after the collision: ; Where: The impact energy released by the collision, is the velocity of the ore block before it collides with the well wall, is the speed of the ore block when it leaves after collision, is the mass of the ore block.

[0008] As a further solution of the present invention, step 4, multiplying the impact energy by the absorption rate of the well wall material to distribute it to the well wall grid unit where the collision point is located, and using the Gaussian attenuation function to disperse part of the energy to the adjacent units, calculate the damage increment of each well wall grid unit and accumulate it as a local damage value, the specific steps are: Step 41, at each collision, the impact energy released by the collision Multiply by the energy absorption rate of the wellbore material , as the actual energy transferred by the collision to the local wellbore wall ; Step 42, the grid cells of the three-dimensional model of the wellbore are all assigned an initial damage value of zero during initialization, and when a collision occurs, the damage increment is calculated according to the following formula: ; Where: is the damage increment, is the actual energy transferred by the collision to the local wellbore wall, is the collision energy threshold, If , the result is zero; if , the result is ; Step 43, using a Gaussian attenuation function, the actual energy transferred by the collision to the local well wall is apportioned among the collision point and its adjacent well wall grid cells, and the well wall grid cells located at the well wall are selected. The collision point and the well wall grid cells in its neighborhood The collision point , calculate the local damage value of each wellbore grid cell in its neighborhood; Step 44, after each collision, the cumulative damage value of the corresponding well wall grid unit is updated, and the collision position, occurrence time, impact energy and updated cumulative damage value are recorded at the same time to form a collision event log.

[0009] As a further solution of the present invention, in step 43, the local damage value of each well wall grid unit in the neighborhood is The damage increment is multiplied by a decay factor The attenuation factor is used to reflect the distance effect between the collision point and the center of the adjacent unit. is the standard deviation of the Gaussian decay function.

[0010] As a further solution of the present invention, in step 5, the real-time damage value of each grid unit of the well wall is displayed in a heat map manner by using three-dimensional graphics rendering technology and color mapping, and the well wall grid units and ore blocks are rendered; Well wall grid unit rendering: Draw the well wall grid unit, the initial color can be set to gray, and when there is damage data, apply color mapping to each well wall grid unit: according to the damage increment, map it to blue for 0 damage and red for maximum damage, and gradually interpolate to form a real-time changing heat map. The heat map can be superimposed with a certain degree of transparency, so that both the well wall structure and the damage distribution can be highlighted. For areas that have not been hit, keep the background color; as the simulation progresses, units continue to change color. For example, when a certain place is frequently hit, the color will gradually evolve from blue→green→yellow→red, and users can understand the damage hotspot area at a glance.

[0011] Ore block rendering: Draw the moving ore blocks as particles or entities. In simple representation, small balls or polyhedrons can be used to represent the ore blocks. To enhance perception during rendering, motion shadows or velocity vector arrows can be given according to the speed of the ore blocks to assist in display. The color of the ore blocks can also be coded, such as using a uniform color to distinguish them from the well wall, or varying the depth according to the speed (bright color at high speed, dark color at low speed). When the ore blocks collide, flashes or special marks can be made on the graphics to indicate that a violent collision has occurred. For example, a small spark effect flashes briefly to indicate that a violent collision has occurred, allowing users to intuitively capture the location and time of the collision event.

[0012] Technical effects and advantages of a method for constructing a three-dimensional visualization model of the shaft wall of a main ore pass: Based on a database and monitoring devices, the present invention obtains the ore unloading parameters of the shaft wall in real time. Using the parametric modeling method, a three-dimensional geometric model of the ore pass shaft wall is established, and the shaft wall is discretized into several grid units with material properties and initial damage states. It is judged whether the movement trajectory of the ore block meets the shaft wall collision condition. By performing ore movement simulation in the three-dimensional geometric model, when the ore block collides with the shaft wall, the velocity of the ore block is decomposed, the change in kinetic energy before and after the collision is calculated to obtain the impact energy, and part of the energy is dispersed to the adjacent shaft wall grid units using the Gaussian attenuation function. The damage increment of each shaft wall grid unit is calculated and accumulated as the local damage value. The ore unloading flow is automatically adjusted through the feedback control algorithm, realizing the dynamic monitoring and control of the damaged state of the shaft wall, and effectively ensuring the safety of mine production. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 The three-dimensional visualization and real-time monitoring interface provided by the present invention; Figure 2 The movement trajectory diagram of the ore block in the ore pass provided by the present invention; Figure 3 The flow schematic diagram of a method for constructing a three-dimensional visualization model of the shaft wall of a main ore pass provided by the present invention; Figure 4 The flow schematic diagram of step 2 in a method for constructing a three-dimensional visualization model of the shaft wall of a main ore pass provided by the present invention; Figure 5 The flow schematic diagram of step 3 in a method for constructing a three-dimensional visualization model of the shaft wall of a main ore pass provided by the present invention; Figure 6 The flow schematic diagram of step 4 in a method for constructing a three-dimensional visualization model of the shaft wall of a main ore pass provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0014] The following will clearly and completely describe the technical solutions in the present invention with reference to the accompanying drawings in the present invention. Obviously, the described technical solutions are only a part of the present invention, rather than all of it. Based on the technical solutions in the present invention, all other technical solutions obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present invention.

[0015] Example 1

[0016] Figure 3 The flow schematic diagram of a method for constructing a three-dimensional visualization model of the shaft wall of a main ore pass provided by the present invention. As shown in the figure, a method for constructing a three-dimensional visualization model of the shaft wall of a main ore pass includes the following steps: Step 1, obtaining the shaft wall unloading parameters in real time based on the database and monitoring equipment; Step 2: Use a parametric modeling method to establish a three-dimensional geometric model of the shaft wall, and discretize the shaft wall into a number of grid units with material properties and initial damage states to determine whether the movement trajectory of the ore block meets the shaft wall collision condition; Step 3, by simulating the movement of ore in a three-dimensional geometric model, when the ore block collides with the well wall, the velocity of the ore block is decomposed according to the coefficient of restitution, the change in kinetic energy before and after the collision is calculated, and the impact energy is obtained; Step 4: Multiply the impact energy by the absorption rate of the well wall material and distribute it to the well wall grid unit where the collision point is located, and use the Gaussian attenuation function to disperse part of the energy to the adjacent well wall grid units, calculate the damage increment of each well wall grid unit and accumulate it as the local damage value; the well wall grid unit divides the well wall evenly according to the circumferential direction and height direction of the main chute, and divides it into Layer, divided into Layer; each well wall grid unit records its center coordinates and area; Step 5, using 3D graphics rendering technology and color mapping to display the real-time damage value of each grid cell of the well wall in the form of a heat map, and at the same time animating the movement trajectory of the ore block and the collision event; Step 6, according to the real-time damage data and collision frequency of each area of ​​the well wall, the unloading flow rate is automatically adjusted through the feedback control algorithm to achieve real-time closed-loop control of the unloading flow rate.

[0017] It should be noted that for the modeling of ore blocks: ore blocks can be regarded as moving rigid bodies, and the source of ore may be a continuous flow (such as continuous ore discharge from the ore bin gate) or discrete batches (a batch of ore drops at regular intervals). For the convenience of simulation, an ore generator can be defined at the wellhead to generate ore blocks according to the set flow rate or time series. In terms of the shape of the ore blocks, approximate spheres or cubes are usually used to simplify the calculation. In DEM simulation, spheres with equivalent diameters are often used to represent irregular gravel blocks. Of course, the fidelity can also be improved by using polyhedrons or irregular shapes (for example, using clustered spheres to form blocks). This model supports ore blocks of different particle sizes to reflect the distribution of ore block size. If the effect of particle size on collision is to be considered, the diameter of the ore block can be set to obey a certain statistical distribution (such as normal, lognormal or actual screening distribution), and randomly selected when generating ore blocks. The mass of the ore block is calculated based on its volume and density. The density of ore blocks is usually known, and a uniform ore density can be set in the model or small perturbations can be given to different ore blocks.

[0018] Ore motion simulation uses time stepping: time step The acceleration, velocity and displacement of all active ore blocks are calculated, and new collisions are detected. If the ore block is inside the surface of the well wall, a collision event is determined to have occurred, and the collision response needs to be calculated (the velocity is modified according to the aforementioned collision mechanics model, and impact data is generated). Since the well wall is a fixed boundary, the detection of the collision between the ore block and the well wall is relatively simple: as long as the distance from the center of the ore block to the center of the wellbore is less than the wellbore radius, it means that the ore block has entered the wall; further considering the size of the ore block, it can be determined that the surface of the ore block is in contact with the wall.

[0019] Whenever a collision occurs, the well wall grid unit where the collision occurred and the impact energy are recorded, and the damage accumulation algorithm is executed to update the well wall grid unit. At the same time, the rebound trajectory of the ore block is calculated based on the speed after the collision. If the speed of the ore block is still high after the rebound, it may hit the opposite side of the well wall again, so that a ore block may experience multiple collisions until the speed decreases and finally slides to the bottom of the chute. The simulation will continue until the ore block reaches the bottom exit (or the speed approaches zero and stays at the bottom of the well). Then, as needed, the ore block can be removed from the simulation (equivalent to falling into a mine car or conveyor belt), and new ore blocks are continuously generated and put into the simulation to achieve continuous flow simulation.

[0020] Specifically, in step 1, the well wall unloading parameters include well wall parameters and unloading parameters; the well wall parameters include diameter and well depth; the unloading parameters include unloading flow rate and unloading time.

[0021] Figure 4 The present invention provides a flow chart of step 2 in a method for constructing a three-dimensional visualization model of a main ore chute wall. As shown in the figure, in step 2, it is determined whether the motion trajectory of the ore block meets the wall collision condition. The specific steps are: Step 21, by taking a time step during the unloading period Calculate the trajectory of the ore block, based on each time step The position coordinates of the ore block construct the first motion trajectory coordinate set , summarize the first motion trajectory coordinate set of all ore blocks Get the first trajectory sequence , where the location coordinates of the ore block are: ; ; ; Where: For in time The x-coordinate of the ore block at time, For in time The y coordinate of the ore block. To indicate the time The coordinate of the ore block in the z direction, is the coordinate of the ore block in the x direction at the current time t, is the coordinate of the ore block in the y direction at the current time t, is the coordinate of the ore block in the z direction at the current time t, is the initial velocity of the ore block when it enters the unloading area, is the angle between the initial velocity of the ore block and the horizontal direction, is the deflection angle of the initial movement direction of the ore block in the horizontal plane, is the time step, is the acceleration due to gravity; Step 22: According to the first trajectory sequence Determine whether the motion trajectory of the ore block meets the well wall collision condition. The well wall collision condition is determined based on the projection of the motion trajectory of the ore block on the horizontal plane. The judgment formula for the well wall collision condition is: ; Where: for The x-coordinate of the ore block at the moment, for The y coordinate of the ore block at the moment, is the diameter of the wellbore; Step 23, when the first motion trajectory coordinate sets of the ore block all meet the well wall collision condition, it indicates that the ore block has not collided with the well wall; when there is a first motion trajectory coordinate set of the ore block that does not meet the well wall collision condition, it indicates that the ore block has collided with the well wall.

[0022] Through step 1, the geometric parameters of the shaft wall (diameter, shaft depth) and the unloading parameters (unloading flow rate, unloading time) are obtained from the database and monitoring equipment in real time to ensure that the input data of the model always reflects the actual working conditions on site, which helps to improve the accuracy of simulation and judgment; the motion trajectory of the ore block in the unloading process is calculated using discrete time steps to form a first motion trajectory coordinate set, and the first trajectory sequence is generated by summarizing, so that the entire motion process can be simulated finely, and every position change of the ore block in the motion process can be captured, which is convenient for subsequent collision judgment and energy calculation; collision detection is simplified by judging the position coordinates of the ore block on the horizontal plane. Since the shaft wall is usually a cylinder, using horizontal projection to judge whether it enters the shaft wall area is an intuitive and efficient method. When all coordinates in the first trajectory sequence meet the collision conditions, it can be quickly determined that the ore block has not collided with the well wall; conversely, once there are coordinates that do not meet the conditions, the collision event can be captured in time, which is convenient for the subsequent calculation of impact energy and well wall damage; using discrete time steps for trajectory calculation can not only maintain simulation accuracy, but also quickly determine the collision state through simple conditional judgment, thereby reducing calculation complexity; after determining the collision point, the impact energy can be further calculated using the change in kinetic energy before and after the collision, and the energy can be apportioned using the Gaussian attenuation function according to subsequent steps to calculate the damage of each grid unit of the well wall. The step-by-step implementation strategy enables the entire system to form a complete closed-loop control system from parameter acquisition, trajectory calculation, collision detection, energy distribution to damage accumulation.

[0023] Figure 5 The present invention provides a flow chart of step 3 in a method for constructing a three-dimensional visualization model of a main ore chute wall. As shown in the figure, in step 3, when an ore block collides with the shaft wall, the velocity of the ore block is decomposed according to the coefficient of restitution, and the change in kinetic energy before and after the collision is calculated to obtain the impact energy, specifically: Step 31, decompose the velocity of the ore block into a normal component (perpendicular to the well wall surface at the collision point) and a tangential component (parallel to the well wall surface), and obtain the normal incident velocity at the moment of collision: , the tangential incident velocity is , then the velocity component of the ore block when it leaves after collision is: ; ; ; Where: is the normal velocity component of the ore block when it leaves after collision, is the tangential velocity component of the ore block when it leaves after collision, is the normal restitution coefficient, is the normal incident velocity at the moment of collision, is the tangential restitution coefficient, is the tangential incident velocity at the moment of collision; Step 32, calculating the impact energy released by the collision based on the kinetic energy difference before and after the collision: ; Where: The impact energy released by the collision, is the velocity of the ore block before it collides with the well wall, is the speed of the ore block when it leaves after collision, is the mass of the ore block.

[0024] Figure 6 The present invention provides a flow chart of step 4 in a method for constructing a three-dimensional visualization model of a main ore chute wall. As shown in the figure, step 4 distributes the impact energy multiplied by the absorption rate of the wall material to the wall grid unit where the collision point is located, and disperses part of the energy to the adjacent units using a Gaussian attenuation function, calculates the damage increment of each wall grid unit and accumulates it as a local damage value. The specific steps are: Step 41, at each collision, the impact energy released by the collision Multiply by the energy absorption rate of the wellbore material , as the actual energy transferred to the local wellbore wall by this collision : ; Step 42, the grid cells of the three-dimensional model of the wellbore are all assigned an initial damage value of zero during initialization, and when a collision occurs, the damage increment is calculated according to the following formula: ; Where: is the damage increment, is the actual energy transferred by the collision to the local wellbore wall, is the collision energy threshold, It means that effective damage energy is generated only when the actual transferred energy exceeds the collision energy threshold, and the excess part contributes to the destruction; Step 43, using a Gaussian attenuation function, the actual energy transferred by the collision to the local well wall is apportioned among the collision point and its adjacent well wall grid cells, and the well wall grid cells located at the well wall are selected. The collision point and the well wall grid cells in its neighborhood The collision point , then the local damage value of each wellbore grid unit in its neighborhood is: ; Where: For collision events, the well wall grid cells The local damage value caused, is the grid unit where the collision point is located The damage increment obtained, The collision point The center coordinates of the grid cell on the well wall, The collision point The center coordinates of the grid cell on the well wall, is the standard deviation of the Gaussian decay function; Step 44, after each collision, the cumulative damage value of the corresponding well wall grid unit is updated, and the collision position, occurrence time, impact energy and updated cumulative damage value are recorded at the same time to form a collision event log.

[0025] By decomposing the velocity of the ore block into a normal component (perpendicular to the well wall) and a tangential component (parallel to the well wall), and using the coefficient of restitution to correct the velocity after the collision, the model can accurately reflect the energy loss and velocity attenuation during the collision process, thereby calculating the change in kinetic energy before and after the collision. The energy released by the collision is multiplied by the absorption rate of the well wall material, and the energy actually transferred to the well wall is used as the basis for damage assessment. This not only takes into account the material's ability to absorb energy, but also avoids the unreasonable assumption of full energy transfer. The collision energy is apportioned from the collision point to the adjacent well wall grid units using the Gaussian attenuation function. The energy distribution conforms to the physical characteristics of energy transfer in reality: the area near the collision point is most significantly affected, and the farther the distance, the smaller the impact. After each collision, the system automatically updates the cumulative damage value of the corresponding well wall grid unit, and records the collision location, occurrence time and impact energy, forming a detailed collision event log, which provides a reliable data basis for subsequent monitoring, analysis and feedback control. Recording detailed collision logs not only helps to monitor the well wall status in real time, but can also be used for later statistical analysis, model correction and optimization of early warning mechanisms.

[0026] Specifically, step 6 uses three-dimensional graphics rendering technology and color mapping to display the real-time damage value of each grid unit of the well wall in the form of a heat map, and at the same time, an animation is displayed of the movement trajectory and collision events of the ore block; specifically, it includes rendering of the well wall grid unit and rendering of the ore block; Well wall grid unit rendering: Draw the well wall grid unit, the initial color can be set to gray, and when there is damage data, apply color mapping to each well wall grid unit: according to the damage increment, map it to blue for 0 damage and red for maximum damage, and gradually interpolate to form a real-time changing heat map. The heat map can be superimposed with a certain degree of transparency, so that both the well wall structure and the damage distribution can be highlighted. For areas that have not been hit, keep the background color; as the simulation progresses, units continue to change color. For example, when a certain place is frequently hit, the color will gradually evolve from blue→green→yellow→red, and users can understand the damage hotspot area at a glance.

[0027] Ore block rendering: Draw the moving ore blocks as particles or entities. In simple representation, small balls or polyhedrons can be used to represent the ore blocks. To enhance perception during rendering, motion shadows or velocity vector arrows can be given according to the speed of the ore blocks to assist in display. The color of the ore blocks can also be coded, such as using a uniform color to distinguish them from the well wall, or varying the depth according to the speed (bright color at high speed, dark color at low speed). When the ore blocks collide, flashes or special marks can be made on the graphics to indicate that a violent collision has occurred. For example, a small spark effect flashes briefly to indicate that a violent collision has occurred, allowing users to intuitively capture the location and time of the collision event.

[0028] Specifically, in step 7, according to the real-time damage data and collision frequency of each area of ​​the well wall, the unloading flow rate is automatically adjusted through the feedback control algorithm to achieve real-time closed-loop control of the unloading flow rate; Step 71, by real-time monitoring of the local damage value and collision frequency of each well wall grid unit, key control indicators are obtained, including the maximum local damage value and the actual energy transmitted to the local well wall by each collision per unit time; Step 72, set the target local damage value and the transfer energy threshold. When the maximum local damage value is greater than the target local damage value or the actual transfer energy is greater than the transfer energy threshold, the control module automatically adjusts the ore block unloading flow rate downward; when the maximum local damage value is less than the target local damage value or the actual transfer energy is less than the transfer energy threshold, the control module automatically adjusts the ore block unloading flow rate upward.

[0029] Figure 1 The three-dimensional visualization and real-time monitoring interface of the main ore chute provided by the present invention can display the damage of the shaft wall and the movement status of the ore blocks in real time. The left side of the interface is the parameter control and monitoring area, which can adjust the height of the ore block and the unloading flow rate, and display the current damage progress, collision frequency and collision energy; the right side is a three-dimensional graphics rendering window, which intuitively presents the local damage distribution of the shaft wall through color mapping (thermal map). The red area represents a high degree of damage, and the blue area represents a low degree of damage. The "start", "pause" and "stop" buttons below realize the dynamic operation of the simulation or monitoring process. The overall interface is not only convenient for operators to adjust the unloading process, but also can monitor and warn the safety status of the shaft wall in real time, thereby effectively ensuring the safety of mine production and shaft wall structure.

[0030] Example 2

[0031] Taking the main chute of an underground mine as an example, the following shaft wall unloading parameters are given. The shaft wall unloading parameters include shaft wall parameters and unloading parameters; the shaft wall parameters include a diameter of 5.0m, a shaft depth of 70m, and the shaft wall is divided into 14 layers (each layer is 5m) in the height direction and 20 grid units in the circumferential direction, with a total of 14×20=280 grid units; the unloading parameters include an unloading flow rate of 5 blocks / second and an unloading time of 60S.

[0032] A block of ore is generated by the ore generator at time t=0, with its initial coordinates set at the wellhead (x(0)=0, y(0)=0, z(0)=0), initial velocity 7.67m / s, elevation angle 30°, azimuth angle 45°. After several time steps, when the horizontal distance reaches D / 2=2.5 m, a collision is determined. Assume that =3.2s, the position of the ore block is: , , ; The detection conditions are met ( ), so it is determined that a collision occurs, and the collision point is located at the grid unit corresponding to the well wall , the center coordinates of the unit may be (3.0m,3.0m,15.0m).

[0033] At the moment of collision, the velocity of the ore block is decomposed, assuming the normal incidence velocity =5.0m / s, tangential incidence velocity =6.0 m. The velocity after the collision is: ; ; ; The velocity before the collision is v≈7.67 m / s, so the change in kinetic energy is: ; Multiply by the absorption rate of the well wall material (0.8) to get the actual transferred energy: ; Presets According to the damage increment calculation formula, , which means that in the grid cell G(i,j) where the collision point is located, the damage increment caused by this collision is 4.26 (unit is dimensionless value).

[0034] Use the Gaussian attenuation function to distribute this energy in the neighborhood. Select the grid cell located on the well wall The collision point and the well wall grid cells with a distance of 0.5m in its neighborhood The collision point , then the local damage value of each wellbore grid unit in its neighborhood is: ; For a grid cell with a distance of 1.0m, , and the damage increment obtained by each adjacent grid unit decays according to the distance. Finally, the collision is amortized in the local range, and the cumulative damage value of each grid unit is updated.

[0035] After each collision, the system records the collision event log, including the time of collision, the center coordinates of the grid unit G(i,j) where the collision point is located, the impact energy released by the collision and the actual transferred energy, the damage increment calculated by the collision, and the damage increment allocated to each adjacent grid unit using Gaussian distribution and the updated cumulative damage value. An example table of some collision event logs after 60s simulation is shown in Table 1:

[0036] Table 1 Example of some collision event logs after 60s simulation Among them, the "highest neighborhood damage value" is the damage value obtained by the unit where the collision point is located, and other neighborhood units obtain lower damage values ​​according to different distances.

[0037] Through 3D graphics rendering technology, the real-time cumulative damage value of each grid unit of the well wall is color mapped. Initially, the color of all grid units is gray-blue (damage value is 0). As the simulation progresses, if the cumulative damage of a certain area gradually increases due to frequent collisions, the color gradually transitions from blue to green, yellow, and finally red. For example, in the collision hotspot area, the cumulative damage value may reach 5.0 after continuous collisions, and this area will be displayed in dark red.

[0038] At the same time, the movement trajectory of the ore blocks is displayed in an animated way. After each ore block is generated at the wellhead, its position is continuously updated according to the movement trajectory. When a collision occurs, the collision point flashes and the collision direction and rebound trajectory are marked. Such animation effects enable engineers to intuitively observe the spatial distribution and evolution of the damage to the well wall during ore unloading.

[0039] During the entire simulation process, the system counts the maximum cumulative damage value and average damage value of each area of ​​the current shaft wall at regular intervals (every 10 seconds). For example, after the first 10 seconds of simulation, the maximum cumulative damage value may be 0.8, and the error is -0.2, indicating that the shaft wall is still safe, so the unloading flow rate is not adjusted; At 20 seconds, if the maximum cumulative damage value reaches 1.2 and the error is 0.2, the PID controller is triggered to output a positive signal, causing the system to reduce the unloading flow rate.

[0040] As the flow rate decreases, the collision frequency decreases and the growth rate of the cumulative damage to the well wall slows down; when the local damage value returns to a safe level (for example, less than 1.0), the controller allows the flow rate to rise appropriately, thereby achieving real-time closed-loop regulation of the unloading flow rate.

[0041] The data table of the flow control process within 60 seconds is shown in Table 2:

[0042] Table 2 Data changes of the flow control process simulated within 60s The embodiment of the present invention obtains the shaft wall unloading parameters in real time based on a database and monitoring equipment, establishes a three-dimensional geometric model of the shaft wall by using a parametric modeling method, and discretizes the shaft wall into a number of grid units with material properties and initial damage states, judges whether the motion trajectory of the ore block meets the shaft wall collision condition, simulates the ore movement in the three-dimensional geometric model, decomposes the speed of the ore block when it collides with the shaft wall, calculates the change in kinetic energy before and after the collision to obtain the impact energy, uses a Gaussian attenuation function to disperse part of the energy to adjacent shaft wall grid units, calculates the damage increment of each shaft wall grid unit and accumulates it as a local damage value, and automatically adjusts the unloading flow rate through a feedback control algorithm, thereby realizing dynamic monitoring and regulation of the shaft wall damage state, and effectively ensuring the safety of mine production.

[0043] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0044] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for constructing a three-dimensional visualization model of a main ore chute wall, characterized in that: The steps include: Step 1, obtaining the shaft wall unloading parameters in real time based on the database and monitoring equipment; Step 2: Use parametric modeling methods to establish a three-dimensional geometric model of the shaft wall, and discretize the shaft wall into a number of grid units with material properties and initial damage states to determine whether the motion trajectory of the ore block meets the shaft wall collision condition. The specific steps are as follows: Step 21, by taking a time step during the unloading period Calculate the trajectory of the ore block, based on each time step The position coordinates of the ore block construct the first motion trajectory coordinate set , summarize the first motion trajectory coordinate set of all ore blocks Get the first trajectory sequence ; Step 22: According to the first trajectory sequence Determine whether the motion trajectory of the ore block meets the well wall collision condition. The well wall collision condition is determined based on the projection of the motion trajectory of the ore block on the horizontal plane. The judgment formula for the well wall collision condition is: ； Where: for The x-coordinate of the ore block at the moment, for The y coordinate of the ore block at the moment, is the diameter of the wellbore; Step 23, when the first motion trajectory coordinate sets of the ore block all meet the well wall collision condition, it indicates that the ore block has not collided with the well wall; when there is a first motion trajectory coordinate set of the ore block that does not meet the well wall collision condition, it indicates that the ore block has collided with the well wall; Step 3, by simulating the movement of ore in a three-dimensional geometric model, when the ore block collides with the well wall, the velocity of the ore block is decomposed according to the coefficient of restitution, the change in kinetic energy before and after the collision is calculated, and the impact energy is obtained; Step 4: Multiply the impact energy by the absorption rate of the well wall material and distribute it to the well wall grid unit where the collision point is located, and use the Gaussian attenuation function to disperse part of the energy to the adjacent well wall grid units, calculate the damage increment of each well wall grid unit and accumulate it as the local damage value. The specific steps are as follows: Step 41, at each collision, the impact energy released by the collision Multiply by the energy absorption rate of the wellbore material , as the actual energy transferred by the collision to the local wellbore wall ; Step 42, the grid cells of the three-dimensional model of the wellbore are all assigned an initial damage value of zero during initialization, and when a collision occurs, the damage increment is calculated according to the following formula: ； Where: is the damage increment, is the actual energy transferred by the collision to the local wellbore wall, is the collision energy threshold, If , the result is zero; if , the result is ; Step 43, using a Gaussian attenuation function, the actual energy transferred by the collision to the local well wall is apportioned among the collision point and its adjacent well wall grid cells, and the well wall grid cells located at the well wall are selected. The collision point and the well wall grid cells in its neighborhood The collision point , calculate the local damage value of each wellbore grid cell in its neighborhood; Step 44, after each collision, the cumulative damage value of the corresponding well wall grid unit is updated, and the collision position, occurrence time, impact energy and updated cumulative damage value are recorded to form a collision event log; Step 5, using 3D graphics rendering technology and color mapping to display the real-time damage value of each grid cell of the well wall in the form of a heat map, and at the same time animating the movement trajectory of the ore block and the collision event; Step 6, according to the real-time damage data and collision frequency of each area of ​​the well wall, the unloading flow rate is automatically adjusted through the feedback control algorithm to achieve real-time closed-loop control of the unloading flow rate.

2. A method for constructing a three-dimensional visualization model of a main ore chute wall according to claim 1, characterized in that: In step 1, the well wall unloading parameters include well wall parameters and unloading parameters; the well wall parameters include diameter and well depth; the unloading parameters include unloading flow rate and unloading time.

3. The method for constructing a three-dimensional visualization model of a main ore chute wall according to claim 1, characterized in that: In step 3, when the ore block collides with the well wall, the velocity of the ore block is decomposed according to the coefficient of restitution, the change in kinetic energy before and after the collision is calculated, and the impact energy is obtained, specifically: Step 31, decompose the velocity of the ore block into a normal component and a tangential component, and obtain the normal incident velocity at the moment of collision: , the tangential incident velocity is , calculate in real time the normal velocity component and tangential velocity component of each ore block when it leaves after collision; Step 32, calculating the impact energy released by the collision according to the kinetic energy difference before and after the collision.

4. The method for constructing a three-dimensional visualization model of a main ore chute wall according to claim 1, characterized in that: In step 43, the local damage value of each wellbore grid cell in the neighborhood is The damage increment is multiplied by a decay factor The attenuation factor is used to reflect the distance effect between the collision point and the center of the adjacent unit. is the standard deviation of the Gaussian decay function.

5. The method for constructing a three-dimensional visualization model of a main ore chute wall according to claim 1, characterized in that: In step 5, the real-time damage value of each grid cell of the well wall is displayed in the form of a heat map using three-dimensional graphics rendering technology and color mapping. The well wall grid cells and ore blocks are rendered, and the well wall grid cells are drawn. The initial color is set to gray. When there is a local damage value, color mapping is applied to each well wall grid cell. According to the damage increment, it is mapped to blue for 0 damage and red for maximum damage.

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