Intelligent fully-mechanized mining planning cutting method based on dynamic working face geologic model

Abstract

The invention discloses an intelligent fully-mechanized mining planning cutting method based on a dynamic working face geologic model. The method comprises the following steps: constructing a working face basic model; docking data of the dispatching daily report management system; data of a coal cutter of the intelligent fully-mechanized coal mining system are connected; performing cyclic traversal according to the production tool sequence of the coal cutter; and virtual planning cutting and evaluation are carried out. Compared with the prior art, the method has the advantages that the mining efficiency is improved, the automation and intelligence level of coal mining can be remarkably improved through real-time data butt joint and intelligent planning, and therefore the mining efficiency is improved. Safety is enhanced, the working face geologic model is dynamically updated, geological changes can be found and coped with in time, and potential safety hazards in the mining process are effectively avoided. Resource utilization is optimized, the cutting track is intelligently planned, it can be ensured that the top and bottom plates are completely cut, and the recovery rate of coal resources is increased. Labor intensity is reduced, manual intervention is reduced, the labor intensity of workers is reduced, and the comfort degree of the working environment is improved.

Description

Technical Field

[0001] The present invention relates to the field of coal mining technology, and in particular to the intelligent mining of fully mechanized coal mining working faces. An intelligent fully mechanized mining planning and cutting method based on a dynamic working face geological model is proposed, aiming to improve the efficiency and safety of coal mining through real-time data docking, dynamic model updating and intelligent planning. Background Art

[0002] Coal resources play the role of ballast in my country's energy supply and are vital to the country's economic lifeline and energy security. At the same time, as a non-renewable resource, coal resources will eventually face the problem of resource depletion. This requires coal mining companies to continuously explore and study how to improve coal mining efficiency, continuously improve resource utilization efficiency, reduce resource waste, and maximize the efficiency of coal production and mineral resource utilization.

[0003] In order to improve the efficiency of coal mine production and the comprehensive utilization rate of coal mine resources, the development of comprehensive mining face mining activities in underground mines has gone through several stages. The first stage is to use comprehensive mechanized mining equipment, and to achieve efficient mining and resource utilization of coal mines by using mechanical equipment and advanced technical means. Mechanized comprehensive mining equipment has greatly improved production efficiency, realized continuous mining of coal mines, eliminated labor and time costs, and increased mining speed. The second stage is information construction assisted mining. In this stage, through the upgrading and transformation of coal mine informatization and the construction of high-speed industrial ring network, remote monitoring and control of comprehensive mining equipment has been realized, the operation and maintenance efficiency of equipment has been improved, the goal of unmanned or less-manned comprehensive mining face has been achieved, and the labor intensity of workers has been reduced. The third stage is that in recent years, relevant state ministries and commissions and major coal-producing provinces have successively launched guidance plans for the construction of intelligent mines. As the infrastructure in the intelligent construction of coal mines, the transparent geological guarantee construction of coal mines has played an increasingly important role in the intelligent production of comprehensive mining faces. Based on the high-precision coal seam working face model, the top and bottom plate curves for the coal cutter are planned to complete unmanned intelligent production. In the construction of transparent geological support for coal mines, how to accurately identify the data of the top and bottom plates of coal seams is a hot research issue. Generally, drilling, geophysical exploration and other technical means and methods are used to achieve transparent expression of the working face, establish a three-dimensional geological model, and conduct remote simulation of the coal mining process. Traditional drilling methods are highly accurate, but they are restricted by borehole density and cost constraints and cannot be used alone in the construction of transparent three-dimensional geological models. Traditional geophysical methods cannot meet the requirements of fine detection. At present, the geophysical methods for detecting geological structures underground in coal mines mainly include seismic slot wave method and radio pit penetration method. Some research teams also use seismic full waveform inversion methods to construct high-precision geological body models.

[0004] The intelligent fully-mechanized mining technology based on the transparent geological guarantee of coal mines represents the future development direction in this field. Currently, the methods for constructing the three-dimensional geological model of the working face mainly rely on the drilling result data (drilling holes and their interpretation data) and various geophysical exploration result data. These methods all depend on the implementation of geological exploration projects, generally going through several stages such as design, construction, and data processing, with a relatively long implementation cycle and unable to ensure the continuous progress of the working face mining process.

[0005] In addition, the original geological information on which these methods rely to construct the three-dimensional model mainly includes the drilling data obtained during the geological exploration stage and the interpretation results of the exploration of the pre-planned working face test area. During the model construction process, the geological information of the coal seam gradually revealed by the mining activities, the geological description information, and the advance footage information of the working face are not integrated. Such information directly reflects the latest changes occurring daily in the coal seam working face and can provide more original information for constructing the three-dimensional working face model. Summary of the Invention

[0006] To solve the above problems, the present invention proposes an intelligent fully-mechanized mining planning and cutting method based on a dynamic working face geological model. This method realizes the intelligentization and high efficiency of coal mine mining by collecting data in real time, constructing and updating the working face geological model, and intelligently planning the cutting trajectory.

[0007] To solve the above technical problems, the technical solution provided by the present invention is: an intelligent fully-mechanized mining planning and cutting method based on a dynamic working face geological model, including the following steps:

[0008] (1) Construct the basic model of the working face: Collect the drilling interpretation data, the working face description data, and the roadway sketch data, and use the collected data to construct a three-dimensional geological body model of the main coal seam on the geological guarantee modeling and analysis platform software, and use the inflection point coordinates of the working face to cut the coal seam model to obtain the basic model of the working face;

[0009] (2) Connect to the data of the dispatching daily report management system: Through the webService service interface, obtain the cumulative mining advance footage data of the fully-mechanized working face on the current day, and perform the initial update on the basic model of the working face to form the daily model of the working face;

[0010] (3) Connect to the data of the shearer of the intelligent fully-mechanized mining system: Connect to the real-time production data of the shearer through protocols such as Mqt and OpcServer;

[0011] (4) Perform a loop traversal according to the production cutter sequence of the shearer;

[0012] (5) Virtual planning for cutting and evaluation.

[0013] As an improvement, during the coal mining process in step (4), the shearer cutting from one end to the other along the coal wall direction is called "one cut". The hydraulic support numbers where the shearer is located also change from the smallest to the largest. According to the change rule of the hydraulic support numbers where the shearer is located, the start and end times of each cut are analyzed. According to the start and end time range of the current cut, the real-time position of the shearer and the cutting heights of the left and right cutting drums in the current cut are obtained from the real-time shearer data docked in step (3), and the cumulative mining advance of the previous day and the daily model of the working face of the previous day are obtained from step (2).

[0014] As an improvement, according to the production experience of the shearer propulsion, each cut advances a fixed distance L along the mining direction. The cumulative mining advance of the current cut = the cumulative mining advance of the previous day + the cut sequence number * L. In this way, the accurate positions of each cutting point during the production of the current cut based on the current working face model are obtained, which includes a set of roof points (roof1, roof2,...) and a set of floor points (bottom1, bottom2,...). Based on the working face model of the previous day and a set of roof points (roof1, roof2,...) and floor points (bottom1, bottom2,...) generated by the first cut of coal mining on the current day, a mature interpolation method is used to construct and update the working face geological body model to obtain the working face model of the current cut sequence.

[0015] As an improvement, if the production on the current day has not ended, repeat the above process for the data of the next cut, analyze the end time range of the next cut, and repeat the above process of updating the working face cut sequence model. Continuously update to generate the working face cut sequence model corresponding to each cut. If the production on the current day ends, obtain the cumulative mining advance of the fully mechanized working face on the current day through step (2), and update and generate the final daily model of the working face on the current day according to the advance number. Then return to step (4) and cycle through the production cut sequences of the next day, and so on, updating the working face model sequentially following the production process of the shearer.

[0016] As an improvement, in step (5), for each working face model of the current cut sequence updated in step (4), taking the complete cutting of the roof and floor as the criterion, the cutting trajectory data of the roof and floor for the next cut are planned.

[0017] As an improvement, verify the feasibility of the planned cutting roof and floor trajectory data of this scheme, compare and analyze it with the real cutting data of the next cut of the shearer obtained in step (4), and calculate and statistically analyze the deviation.

[0018] The advantages of the present invention compared with the prior art are as follows: Improving the mining efficiency: Through real-time data docking and intelligent planning, the present invention can significantly improve the automation and intelligence level of coal mining, thereby improving the mining efficiency. Enhancing the safety: Dynamically updating the geological model of the working face can timely detect and respond to geological changes, effectively avoiding potential safety hazards during the mining process. Optimizing the resource utilization: Intelligent planning of the cutting trajectory can ensure complete cutting of the roof and floor, improving the recovery rate of coal resources. Reducing the labor intensity: Reducing manual intervention, lowering the labor intensity of workers, and improving the comfort of the working environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a flowchart of an intelligent fully-mechanized mining planning cutting method based on a dynamic working face geological model.

[0020] Figure 2 is a fully-mechanized mining face model diagram of an intelligent fully-mechanized mining planning cutting method based on a dynamic working face geological model.

[0021] Figure 3 is a schematic diagram of a fully-mechanized mining face of an intelligent fully-mechanized mining planning cutting method based on a dynamic working face geological model.

[0022] Figure 4 is a real-time position diagram of a shearer of an intelligent fully-mechanized mining planning cutting method based on a dynamic working face geological model.

[0023] Figure 5 is a production geological map of an intelligent fully-mechanized mining planning cutting method based on a dynamic working face geological model.

[0024] Figure 6 is a dynamic update diagram of a working face of an intelligent fully-mechanized mining planning cutting method based on a dynamic working face geological model.

[0025] Figure 7 is a comparison diagram between the planned first cut and the actual ninth cut of an intelligent fully-mechanized mining planning cutting method based on a dynamic working face geological model.

[0026] Figure 8 is a comparison diagram between the planned second cut and the actual tenth cut of an intelligent fully-mechanized mining planning cutting method based on a dynamic working face geological model.

[0027] Figure 9 is a comparison diagram between the planned third cut and the actual eleventh cut of an intelligent fully-mechanized mining planning cutting method based on a dynamic working face geological model.

[0028] Figure 10 is a flowchart of the prior art. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] The present invention will be further described in detail below with reference to the accompanying drawings.

[0030] During the specific implementation of the present invention, a basic three-dimensional working face model is constructed in a mature geological modeling platform based on the drilling interpretation data, the realistic working face data, and the tunnel sketch data. The mining engineering data acquired in real time and dynamically during the working face recovery process is integrated to complete the continuous iterative update of the three-dimensional working face model, so that it gradually approaches the three-dimensional form of the real working face and more accurately describes the undulating state of the roof and floor plates in the area to be mined. Based on the continuously updated working face model, with complete cutting of the roof and floor plates as the criterion, the roof and floor plate cutting curves of one or several cuts in the future are planned for use by the coal cutter in decision-making. The algorithm flow chart of the entire scheme is as follows: Figure 1 shown.

[0031] (1) Construct the basic model of the working face. The three-dimensional geological model of the main coal seam is constructed on the geological support modeling and analysis platform software using the drilling interpretation data, working face realistic data, and tunnel sketch data. The coal seam model is cut using the inflection point coordinates of the working face to obtain the basic model of the working face.

[0032] (2) Connect to the daily dispatch management system data. Through the webService service interface, obtain the cumulative mining footage data of the comprehensive mining face on the day, perform the initial update of the basic model of the working face, and form the daily model of the working face.

[0033] (3) Connecting to the data of the coal cutter of the intelligent comprehensive mining system. Connecting to the real-time production data of the coal cutter through protocols such as Mqt and OpcServer. Mainly including the speed of the coal cutter, the cutting height of the left and right cutters, the distance between the coal cutter and the head, and the hydraulic support number where the coal cutter is located. Figures 2-3 shown.

[0034] (4) Loop through the production sequence of the coal cutter.

[0035] During the coal mining process, the coal cutter cuts from one end to the other along the coal wall, which is called "one cut". The hydraulic support number where the coal cutter is located will also change from the smallest to the largest. According to the change rule of the hydraulic support number where the coal cutter is located, the start and end time of each cut can be analyzed. Figure 4 shown.

[0036] According to the start and end time range of the current cut, obtain the real-time position of the coal shearer and the cutting heights of the left and right cutting drums (the larger one is used as the roof cutting height, and the smaller one is used as the floor cutting height) from the real-time data of the coal shearer docked in step (3). Obtain the cumulative mining advance of the previous day and the daily model of the working face of the previous day from step (2). According to the production experience of the coal shearer's advancement, each cut advances a fixed distance L (L is generally taken as 70 to 80 cm) along the mining direction. The cumulative mining advance of the current cut = the cumulative mining advance of the previous day + the cut sequence number * L. In this way, the precise position of each cutting point during the production of the current cut based on the current working face model is obtained, which includes a set of roof points (roof1, roof2,...) and a set of floor points (bottom1, bottom2,...).

[0037] For the daily model of the working face of the previous day and a set of roof points (roof1, roof2,...) and floor points (bottom1, bottom2,...) generated by the first cut of coal mining on the current day, based on these two types of data, use a certain mature interpolation method (such as Kriging interpolation) to construct and update the geological body model of the working face, and obtain the current cut sequence model of the working face.

[0038] If the production on the current day has not ended, repeat the above process for the data of the next cut, analyze the end time range of the next cut, and repeat the above process of updating the cut sequence model of the working face, continuously updating to generate the cut sequence model of the working face corresponding to each cut. If the production on the current day ends, obtain the cumulative mining advance of the fully mechanized coal mining face on the current day through step (2), and update and generate the final daily model of the working face on the current day according to the advance number (by updating the daily model with the cumulative mining advance on the current day, the error accumulated due to using a fixed distance L for each cut during the daily mining process can be corrected).

[0039] Return to step (4) and loop through the production cut sequence of the next day. Repeat this process, and update the working face model sequentially following the production process of the coal shearer.

[0040] (5) Virtual planned cutting and evaluation. For each current cut sequence model of the working face updated in step (4), taking the complete cutting of the roof and floor as the criterion, plan the cutting trajectory data of the roof and floor for the next cut (this data is the final result of the planned cutting). To verify the feasibility of the cutting trajectory data of the roof and floor planned by this solution, compare and analyze it with the real cutting data of the next cut of the coal shearer obtained in step (4), and calculate the statistical deviation.

[0041] The working principle of the present invention: This technical solution has been implemented and verified in the Sandaohe Coal Mine of China National Energy Group.

[0042] First, by docking the data of the intelligent fully-mechanized mining system and the dispatching daily report management system, an intelligent fully-mechanized mining digital twin scenario was constructed. In this scenario, the latest working face model was loaded, and the real-time working condition parameters of the shearer (shearer speed, real-time position of the shearer, real-time hydraulic support number of the shearer, cutting heights of the left and right drums), basic information of the working face, the curve graph of the shearer's trajectory data for the current day, and the start and end times of each cut were displayed.

[0043] Dynamic update of the working face.

[0044] During the dynamic update of the working face, the collected production data of the shearer's cut sequence was displayed, and the start and end time ranges of each cut were analyzed. Based on the actual cutting top and bottom plate curves of each cut, the fully-mechanized mining working face was updated.

[0045] As Figure 6 shown, the production data of cuts 7 to 11, the real cutting top and bottom plate curve data of each cut, and the update situation of the working face model were displayed.

[0046] Cutting plan.

[0047] For the production data of a specific cut sequence, based on the updated working face cut sequence model, the top and bottom plates of the working face were completely cut to generate a cutting plan curve, and a comparative analysis was carried out with the real shearer cutting data. As Figures 7-9 shown, after updating the working face cut sequence model based on the production data of the shearer in the 8th cut, the top and bottom plate cutting data for the subsequent three cuts were continuously planned. As Figures 7-9 shown are the grouped comparisons of the planned 1st cut with the actual 9th cut, the planned 2nd cut with the actual 10th cut, and the planned 3rd cut with the actual 11th cut, and the covariance of the floor and the estimated floor, and the covariance of the roof and the estimated roof for each group were calculated respectively.

[0048] An intelligent fully-mechanized mining planned cutting scheme based on a dynamic working face geological model designed a continuous cutting planning method for the working face during the fully-mechanized coal mining process in an underground coal mine without interruption. A technical scheme of dynamically updating the working face by integrating the real-time production data of the shearer was used, and the geological information of the working face gradually revealed during the coal mine production process was integrated with the existing static drilling and geophysical exploration results. It is different from the conventional 3D working face modeling method based on drilling and geophysical exploration means. This scheme will not cause any interruption to the continuity of coal mine production and can achieve real-time successive approximation of the geological shape of the working face.

[0049] This scheme designed a real-time top and bottom plate cutting path planning method based on the dynamically updated fully-mechanized mining working face model, solved the problem of continuously adjusting and optimizing the cutting path with the undulation of the coal seam shape, and achieved the purpose of dynamic planning. It is an improvement on the existing memory cutting planning algorithm in the industry, integrating the undulation state of the coal seam top and bottom plates into the planned cutting process.

[0050] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined.

[0051] In the present invention, unless otherwise clearly specified and defined, terms such as "installed", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "below" and "beneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely means that the horizontal height of the first feature is lower than that of the second feature.

[0053] In the description of this specification, the descriptions with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0054] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention.

Claims

1. An intelligent fully mechanized mining planning and cutting method based on a dynamic working face geological model, characterized in that: The following steps are involved: (1) Constructing the basic model of the working face: Collecting drilling interpretation data, working face realistic data and tunnel sketch data, using the collected data to construct a three-dimensional geological model of the main mining coal seam on the geological support modeling and analysis platform software, and using the inflection point coordinates of the working face to cut the coal seam model to obtain the basic model of the working face; (2) Connecting to the daily dispatch management system data: Through the webService service interface, the cumulative mining footage data of the fully mechanized mining face on the day is obtained, and the basic model of the working face is initially updated to form a daily model of the working face; (3) Connecting to the coal cutter data of the intelligent fully mechanized mining system: Connecting to the real-time production data of the coal cutter through protocols such as Mqt and OpcServer; (4) Loop through the production sequence of the coal cutter; (5) Virtual planning cutting and evaluation.

2. According to claim 1, an intelligent fully mechanized mining planning and cutting method based on a dynamic working face geological model is characterized by: In step (4), during the coal mining process, the coal cutter cuts from one end to the other along the coal wall, which is called "one cut". The hydraulic support number of the coal cutter will also change from the smallest to the largest. According to the change rule of the hydraulic support number of the coal cutter, the start and end time of each cut is analyzed. According to the start and end time range of the current cut, the real-time position of the coal cutter and the cutting height of the left and right cutters are obtained from the real-time data of the coal cutter connected in step (3). The cumulative recovery footage of the previous day and the daily model of the working face of the previous day are obtained from step (2).

3. The intelligent fully mechanized mining planning and cutting method based on the dynamic working face geological model according to claim 2 is characterized by: According to the production experience of coal cutter advancement, each cutter advances a fixed distance L along the mining direction. The cumulative mining footage of the current cutter = the cumulative mining footage of the previous day + the cutter sequence number * L. In this way, the precise position of each cutting point in the current cutter production process based on the current working face model is obtained, including a group of roof points (roof1, roof2, ...) and a group of bottom plate points (bottom1, bottom2, ...), the working face model of the previous day, and a group of roof points (roof1, roof2, ...) and bottom plate points (bottom1, bottom2, ...) generated by the first coal cutting of the day. Based on these two types of data, a mature interpolation method is used to construct and update the geological model of the working face to obtain the current cutter sequence model of the working face.

4. The intelligent fully mechanized mining planning and cutting method based on a dynamic working face geological model according to claim 2 is characterized by: If the production of the day has not ended, repeat the above process for the next cut data, analyze the deadline time range of the next cut, repeat the above working face cutter sequence model update process, and continuously update the working face cutter sequence model corresponding to each cut. If the production of the day is over, obtain the cumulative recovery footage of the comprehensive mining working face of the day through step (2), and update the final working face daily model of the day according to the footage number, return to step (4), loop through the production cutter sequence of the next day, and repeat this process, updating the working face model in sequence according to the production process of the coal cutter.

5. The intelligent fully mechanized mining planning and cutting method based on a dynamic working face geological model according to claim 1 is characterized by: Step (5) plans the top and bottom plate cutting trajectory data of the next cut for each working surface current cutter sequence model generated by the update of step (4) based on the principle of complete cutting of the top and bottom plates.

6. The intelligent fully mechanized mining planning and cutting method based on the dynamic working face geological model according to claim 5 is characterized by: Verify the feasibility of the top and bottom plate trajectory data of the cutting planned by this scheme, compare and analyze it with the actual cutting data of the next cut of the coal cutter obtained in step (4), and calculate the statistical deviation.

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