Fully-mechanized face mining method based on mining and exploring at same time

Abstract

The invention discloses a fully-mechanized face mining method based on mining and exploring at the same time. The method is implemented according to the following steps that a data monitoring substation is arranged, and stress and micro-seismic data are received from an underground stress monitoring system; current stope stress and roof and floor conditions are obtained through stress and micro-seismic data, and a working face is guided to advance; the method comprises the following steps: establishing a transparent geologic model by using coal seam geologic information and three-dimensional space information of a working face, fusing spatial position information and working state information of fully-mechanized coal mining equipment into the transparent geologic model to obtain a mining data model, and controlling a coal mining machine by combining inertial navigation and a coal mining machine cutting curve correction model; and along with advancing of the working face, new geological information is obtained, the steps 1-3 are repeated, and the mining data model is dynamically updated. By means of the real-time dynamic monitoring and exploring while mining technology, geological exploration, data analysis and inertial navigation are integrated, sub-meter advanced high-precision exploration, geological model dynamic updating and self-adaptive planning mining are achieved, geological prediction accuracy is improved, and real-time geological navigation and stable guarantee are provided.

Description

Technical Field

[0001] The invention belongs to the technical field of coal mining methods, and in particular relates to a fully mechanized mining face mining method based on simultaneous mining and exploration. Background Art

[0002] In the process of coal mining, the rational application of various types of mining and monitoring technologies can not only improve the efficiency of coal mining, but also fully guarantee the quality and stability of mining work. However, with the continuous increase in the depth and scope of coal mining, some relatively complex geological environmental conditions are often faced in the process of coal mining. Roof disasters are caused by the internal movement and fracture of the overlying rock strata caused by mining, which are difficult to observe directly. Analyzing the law of mine pressure manifestation in the working face is still the main way to explore the characteristics of roof activity. Roof disasters are driven by mine pressure. Therefore, mine pressure monitoring is a necessary prerequisite for ensuring the mining of coal mining working faces. Mine pressure monitoring in the existing technology cannot guarantee the normal mining of the working face because mine pressure monitoring is mostly developed and operated on the basis of sporadic working faces. Summary of the invention

[0003] The purpose of the present invention is to provide a comprehensive mining face mining method based on simultaneous mining and exploration, which has the characteristics of achieving efficient mining through advanced detection and dynamic monitoring of changes in mine pressure stress.

[0004] The scheme of the present invention is to implement the fully mechanized face mining method based on exploration-while-mining according to the following steps: Step 1: Arrange data monitoring substations and receive stress and microseismic data from the downhole stress monitoring system; Step 2: Obtain the current stope stress and roof and floor conditions through stress and microseismic data and guide the advancement of the working face; Step 3: Use the coal seam geological information and three-dimensional spatial information of the working face to establish a transparent geological model, and integrate the spatial position information and working status information of the fully mechanized mining equipment into the transparent geological model to obtain a mining data model, and combine the inertial navigation and the coal mining machine cutting curve correction model to control the coal mining machine; Step 4: As the working face advances, new geological information is obtained, steps 1 to 3 are repeated, and the mining data model is dynamically updated to realize the planned mining of the coal mining machine in the underground fully mechanized mining working face.

[0005] The present invention is also characterized in that: The data monitoring substations in step 1 are arranged at the same parallel position in the tunnels on both sides of the advanced fully mechanized mining face within 200m.

[0006] Step 2 is implemented as follows: Step 2.1, when the coal mining machine of the fully mechanized mining face cuts the coal wall, the stress and microseismic data collected by the monitoring substation are used as the seismic source, and a stress plane cloud map is drawn according to the stress data and the real-time position of the working face to obtain the stress distribution law of the working face; Step 2.2, when mining at the fully mechanized working face, obtain the advance support pressure data according to the stress monitoring system, monitor the advance support pressure range and stress peak intensity in real time, and find out the stress concentration degree of the advance support pressure; the advance support pressure data is the drilling stress arranged within 5 to 50 m of the coal wall area of ​​the advance working face; Step 2.3, based on the microseismic probes arranged within the mining area, the probes monitor the source signals, draw the microseismic location and energy distribution characteristic map, and obtain the development range of the overburden fracture; the source signal includes the event generation time, three-dimensional coordinates and energy size; Step 2.4: As the working face advances, real-time monitoring and feedback of data from the data monitoring substation is used to achieve high-precision advance detection of static geological structures within 200m in front of the comprehensive mining working face and real-time dynamic monitoring of dynamic stress changes, thereby guiding the advancement of the working face.

[0007] The guidance method of step 2.4 is to follow the stress distribution law of the working surface, that is, the peak value of the advance support pressure, the change of stress concentration, or the microseismic energy greater than 10 5 J, when the working face advances to this area, adjust the coal cutting speed of the coal mining machine, the working face advancement speed, the support strength of the hydraulic support and the advance support strength of the drift.

[0008] The mining data model in step 3 includes mining technology, coal mining machine cutting curve, hydraulic follow-up curve, follow-up parameters, power supply, fluid supply, transportation system coordination parameters and control content.

[0009] Step 3 is implemented as follows: Step 3.1, based on the existing mine geological data, using geophysical exploration and drilling methods, obtain the coal seam geological information of the working face itself and the three-dimensional spatial information of the working face; using Unity3D software, based on the coal seam geographic information of the working face and the three-dimensional spatial information of the working face, establish a transparent geological model; Step 3.2, establish a mining model based on the transparent geological model, obtain the fully mechanized mining face data, use the big data decision platform to update the mining data model, use radar, inertial navigation system and coal mining machine sensor equipment to obtain fully mechanized mining face data in real time; perform noise reduction, clarity and inspection on the obtained fully mechanized mining face data to obtain pre-processed fully mechanized mining face data; perform data format conversion on the pre-processed fully mechanized mining face data, and perform height parameter weighting to obtain weighted data information, use an iterative algorithm, and use the weighted data information to update the mining data model in real time to obtain an updated mining data model; Step 3.3, using the mining data model updated in step 3.2, combined with the real-time data perception of the coal mining machine, monitoring the position and posture of the coal mining machine, calculating the cutting boundary point of the coal mining machine drum, overlaying analysis with the model, determining the drum height adjustment value, sending the obtained drum adjustment value to the coal mining machine controller for storage and issuing corresponding control instructions, realizing automatic adjustment of the coal mining machine drum height and inclination angle, and controlling the coal mining machine to plan cutting; Step 3.4: The inertial navigation system installed on the coal mining machine can reflect the displacement changes of the three directions of inertial navigation x, y, and z in real time, and correct the mining height and slope in the updated mining data model.

[0010] In step 3.3, the specific calculation method of the cutting boundary point of the coal machine drum is: The position of the coal mining machine is represented by three-dimensional coordinates (x, y, z), where x and y are coordinates on the horizontal plane, and z is the coordinate in the vertical direction. According to the diameter (D) and length (L) of the drum, as well as the posture of the coal mining machine, the cutting surface of the drum at the current position is calculated. The cutting surface is a cylindrical surface with the axis of the drum as the rotation axis, and its radius is equal to the radius of the drum (D / 2). 0 ,y 0 , z 0 ) is the coordinate point on the drum axis, which is determined by the position and posture of the coal mining machine; (1) Cut boundary point equation: Assuming that the coal seam surface is an inclined plane, its equation can be expressed as: z = mx + ny + b (2) Among them, m and n are the cosine values ​​of the inclination direction of the coal seam, the inclination angle of the coal seam is θ, and b is the intercept, that is, the ratio of the coal seam thickness H to the z coordinate of the coal mining machine; By solving equations (1) and (2), the coordinates of the cutting boundary point can be obtained, which is the cutting boundary point of the drum at the current position.

[0011] The real-time data of the coal mining machine in step 3.3 includes the coal mining machine operation control information, the support operation parameters and the coal mining conveyor operation parameters. The coal mining machine operation control information includes the coal mining machine operation status information, the coal mining machine posture sensor data, the actual displacement of the coal mining machine encoder, the coal mining machine mining height and bottom volume data and the coal mining machine video information.

[0012] The three-dimensional posture of the coal mining machine in step 3.4 includes pitch angle, roll angle and heading angle.

[0013] The beneficial effects of the present invention are: 1. The present invention uses real-time and dynamic monitoring technology to accurately capture and analyze the mine pressure distribution and changes in roof and floor conditions within the advance working face area, thereby achieving sub-meter high-precision advance detection of static geological structures in front of the working face, and real-time, non-delay dynamic monitoring of dynamic stress changes, thereby enhancing the accuracy of geological predictions for coal mining and providing detailed, real-time geological data support for the mining system.

[0014] 2. The present invention integrates advanced geological exploration and data analysis technologies to provide high-precision geological navigation services for the mining of coal mine fully-mechanized mining faces, improves the efficiency and accuracy of mine geological support work, and realizes instant feedback and dynamic updating of geological information. Through precise geological navigation, the present invention can reduce geological risks in the mining process and ensure the stable operation of fully-mechanized mining faces.

[0015] 3. The present invention adopts the method of exploration while mining. With the continuous advancement of the coal mine fully-mechanized mining face, it can immediately reveal and capture the latest geological information, realize the real-time dynamic update of the geological model, and ensure the timeliness and accuracy of the geological data. The present invention also uses inertial navigation technology and coal mining machine planning and cutting technology, and realizes adaptive planning and mining of coal mining machines in underground fully-mechanized mining faces through in-depth analysis of geological data. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a flow chart of the comprehensive mining face mining method based on simultaneous mining and exploration according to the present invention. DETAILED DESCRIPTION

[0017] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0018] like Figure 1 As shown, the present invention provides a fully mechanized mining face mining method based on simultaneous mining and exploration, which is implemented according to the following steps: Step 1: In the underground environment, implement the deployment strategy of data monitoring substations, which involves receiving stress parameters and microseismic data from the underground stress monitoring system. The deployment of data monitoring substations follows the following professional method: within 200 meters in front of the advanced comprehensive mining working face, monitoring substations are set up at the same horizontal position in the tunnels on both sides to ensure comprehensive data collection and monitoring.

[0019] Step 2. The present invention relies on the exploration-as-you-mine technical framework, and through real-time collection and analysis of stress and microseismic data, accurately evaluates the stress distribution state and roof and floor conditions of the current mining area, thereby providing a scientific basis for the reasonable advancement of the working face. As the working face continues to move forward, the technology can continuously capture the stress distribution in front of the coal seam (including normal stress, shear stress, stress direction, stress magnitude) and the precise geological information of the roof strata (including rock layer thickness, lithology, fracture development, water content, rock layer strength). The present invention combines technical means such as the inertial navigation system used on the coal mining machine to achieve real-time monitoring of the operating status of the coal mining machine and accurately obtain its detailed information in three-dimensional space, thereby further improving the accuracy of the mining operation.

[0020] Step 2.1. Use stress sensors arranged on the fully mechanized mining face to collect stress change data of the coal wall and surrounding rock formations in real time; use the microseismic monitoring system to capture microseismic signals generated during the coal wall cutting process. These signals contain dynamic information such as fracture and deformation of the coal wall and surrounding rock formations. When the fully mechanized mining face coal mining machine cuts the coal wall, the stress and microseismic data collected by the monitoring substation are used as the seismic source. Through the control system or positioning system of the coal mining machine, the real-time position information of the working face advancement is obtained in real time, and professional visualization software (ANSYS, MATLAB) is used to draw the stress plane cloud map. In the cloud map, different colors represent different stress values, and the changes in stress distribution during the advancement of the working face are dynamically displayed in the form of animation or video.

[0021] By analyzing and interpreting the drawn stress plane cloud map, the stress distribution law of the working surface can be obtained. These laws include: Stress concentration areas: Identify areas of stress concentration in the coal wall and surrounding rock formations. These areas are often high-risk areas for disasters such as coal wall rupture and deformation.

[0022] Stress change trend: Analyze the stress change trend during the advancement of the working face, including the changes in the magnitude and direction of the stress. This helps to predict the disaster risks that may occur during the coal wall cutting process.

[0023] Stress distribution characteristics: summarize the characteristics and laws of stress distribution in coal wall and surrounding rock formations; Step 2.2, when mining at the fully mechanized working face, obtain the advance support pressure data according to the stress monitoring system, monitor the advance support pressure range and stress peak intensity in real time, and find out the stress concentration degree of the advance support pressure; the advance support pressure data is used to arrange the drilling stress within the range of 5 to 50 m in the coal wall area of ​​the advance working face; guide the efficient mining of the subsequent working face; Step 2.3: Based on the source signals monitored by the microseismic probes arranged within the mining area, the microseismic positioning and energy distribution characteristic maps are drawn to obtain the development range of overburden fractures; the source signal includes the time of event occurrence, three-dimensional coordinates and energy size; the energy size can reflect the degree of stress concentration in the mining area space. The greater the energy and the more concentrated it is, the more concentrated the stress is.

[0024] Step 2.4: As the working face advances, the data monitoring substation provides real-time monitoring and feedback to achieve high-precision advance detection of static geological structures within 200m in front of the fully mechanized mining working face and real-time dynamic monitoring of dynamic stress changes, thus guiding the advancement of the working face; The guidance method of step 2.4 is to follow the stress distribution law of the working surface, that is, the peak value of the advance support pressure, the change of stress concentration, or the microseismic energy greater than 10 5 J, when the working face advances to this area, adjust the coal cutting speed of the coal mining machine, the working face advancement speed, the support strength of the hydraulic support and the advance support strength of the drift to ensure efficient advancement of the area.

[0025] Step 3: Based on the coal seam geological information and detailed three-dimensional spatial information of the working face itself, a high-precision transparent geological model is constructed. Subsequently, the real-time spatial position information and working status information of the fully mechanized mining equipment are integrated into the transparent geological model to generate a comprehensive mining data model. This model not only covers the specific details of the mining process, the cutting curve of the coal mining machine, the follow-up curve of the hydraulic system, and the key follow-up parameters, but also includes the coordinated parameters and control instructions of the power supply system, the fluid supply system, and the transportation system. Combined with advanced inertial navigation technology and the dynamic correction model of the coal mining machine cutting curve, precise control of the coal mining machine is achieved.

[0026] Step 3.1. Based on the existing mine geological data, use geophysical exploration and drilling methods to obtain the coal seam geological information of the working face itself and the three-dimensional spatial information of the working face; use Unity3D software to establish a transparent geological model based on the coal seam geographic information of the working face and the three-dimensional spatial information of the working face; Unity3D software can realize the transparency and visualization of the geological model.

[0027] Step 3.2, establish a mining model based on the transparent geological model, obtain the fully mechanized mining face data, use the big data decision platform to update the mining data model, use radar, inertial navigation system and coal mining machine sensor equipment to obtain fully mechanized mining face data in real time; perform pre-processing such as noise reduction, clarity and inspection on the obtained fully mechanized mining face data to obtain pre-processed fully mechanized mining face data; perform data format conversion on the pre-processed fully mechanized mining face data, and perform height parameter weighting to obtain weighted data information, use an iterative algorithm, and use the weighted data information to update the mining data model in real time to obtain an updated mining data model; Step 3.3, using the mining data model updated in step 3.2, combined with the real-time data perception of the coal mining machine, monitoring the position and posture of the coal mining machine, calculating the cutting boundary point of the coal mining machine drum, overlaying analysis with the model, determining the drum height adjustment value, sending the obtained drum adjustment value to the coal mining machine controller for storage and issuing corresponding control instructions, the control instructions include specific operations such as drum height adjustment and tilt angle adjustment, and controlling the coal mining machine to plan cutting; The position is represented by three-dimensional coordinates (x, y, z), where x and y are coordinates on the horizontal plane, and z is the coordinate in the vertical direction. According to the diameter (D) and length (L) of the drum, and the attitude (pitch angle, yaw angle and roll angle) of the coal mining machine, the cutting surface of the drum at the current position is calculated. The cutting surface is a cylindrical surface with the axis of the drum as the rotation axis, and its radius is equal to the radius of the drum (D / 2). 0 ,y 0 , z 0 ) is the coordinate point on the drum axis, which is determined by the position and posture of the coal mining machine.

[0028] It should be noted that since the drum is rotating, the cutting surface is actually a dynamically changing cylindrical surface. However, at a certain moment, it can be regarded as a fixed cylindrical surface for calculation.

[0029] (1) Cut boundary point equation: Assuming that the coal seam surface is an inclined plane, its equation can be expressed as: z = mx + ny + b (2) Among them, m and n are the cosine values ​​of the inclination direction of the coal seam, the inclination angle of the coal seam is θ, and b is the intercept, that is, the ratio of the coal seam thickness H to the z coordinate of the coal mining machine; Solving equations (1) and (2) together, we can get the coordinates of the cutting boundary points. By solving this set of equations, we can get a series of (x, y, z) coordinate points that meet the conditions. These points are the cutting boundary points of the roller at the current position.

[0030] Step 3.4: The inertial navigation system installed on the coal mining machine can reflect the displacement changes in the three directions of inertial navigation x, y, and z in real time to reflect the current three-dimensional position of the coal mining machine and correct the mining height and slope in the updated mining data model. As the working face continues to advance, the inertial navigation operation trajectory is continuously recorded.

[0031] The real-time data of the coal mining machine in step 3.3 includes coal mining machine operation control information, support operation parameters and coal mining conveyor operation parameters.

[0032] The coal mining machine operation control information includes the coal mining machine operation status information, the coal mining machine posture sensor data, the actual displacement of the coal mining machine encoder, the coal mining machine mining height and bottom data and the coal mining machine video information.

[0033] The three-dimensional posture of the coal mining machine in step 3.4 includes pitch angle, roll angle and heading angle.

[0034] Step 4: As the working face continues to advance, the system continues to obtain the latest geological information and cyclically executes the process from step 1 to step 3 to dynamically update and optimize the mining data model. This process ensures that the mining data model can reflect the actual geological conditions and equipment status of the underground fully mechanized mining face in real time, thereby providing a solid basis for the planning and mining of the coal mining machine.

[0035] The present invention provides high-precision geological navigation services for coal mine fully-mechanized mining working faces, thereby improving the efficiency and accuracy of mine geological support work, and effectively ensuring efficient mining operations of the working face under complex geological conditions.

[0036] By implementing the comprehensive mining method of exploration while mining, the coal mine's coal mining efficiency increased by 20% during the mining process and the resource utilization rate reached more than 85%.

[0037] Example 1 The comprehensive mining method based on exploration-while-mining is implemented in the following steps: Step 1: Arrange data monitoring substations and receive stress and microseismic data from the downhole stress monitoring system; Step 2: Obtain the current stope stress and roof and floor conditions through stress and microseismic data and guide the advancement of the working face; Step 3: Use the coal seam geological information and three-dimensional spatial information of the working face to establish a transparent geological model, and integrate the spatial position information and working status information of the fully mechanized mining equipment into the transparent geological model to obtain a mining data model, and combine the inertial navigation and the coal mining machine cutting curve correction model to control the coal mining machine; Step 4: As the working face advances, new geological information is obtained, steps 1-3 are repeated, and the mining data model is dynamically updated to realize the planned mining of the coal mining machine in the underground fully mechanized mining working face.

[0038] Example 2 Step 1: Arrange data monitoring substations and receive stress and microseismic data from the downhole stress monitoring system; Step 2: Obtain the current stope stress and roof and floor conditions through stress and microseismic data and guide the advancement of the working face; Step 3: Use the coal seam geological information and three-dimensional spatial information of the working face to establish a transparent geological model, and integrate the spatial position information and working status information of the fully mechanized mining equipment into the transparent geological model to obtain a mining data model, and combine the inertial navigation and the coal mining machine cutting curve correction model to control the coal mining machine; Step 4: As the working face advances, new geological information is obtained, steps 1-3 are repeated, and the mining data model is dynamically updated to realize the planned mining of the coal mining machine in the underground fully mechanized mining working face.

[0039] The data monitoring substations in step 1 are arranged at the same parallel position in the tunnels on both sides of the advanced fully mechanized mining face within 200m.

[0040] Example 3 The comprehensive mining method based on exploration-while-mining is implemented in the following steps: Step 1: Arrange data monitoring substations and receive stress and microseismic data from the downhole stress monitoring system; Step 2: Obtain the current stope stress and roof and floor conditions through stress and microseismic data and guide the advancement of the working face; Step 3: Use the coal seam geological information and three-dimensional spatial information of the working face to establish a transparent geological model, and integrate the spatial position information and working status information of the fully mechanized mining equipment into the transparent geological model to obtain a mining data model, and combine the inertial navigation and the coal mining machine cutting curve correction model to control the coal mining machine; Step 4: As the working face advances, new geological information is obtained, steps 1-3 are repeated, and the mining data model is dynamically updated to realize the planned mining of the coal mining machine in the underground fully mechanized mining working face.

[0041] Step 2 is implemented as follows: Step 2.1, when the coal mining machine of the fully mechanized mining face cuts the coal wall, the stress and microseismic data collected by the monitoring substation are used as the seismic source, and a stress plane cloud map is drawn according to the stress data and the real-time position of the working face to obtain the stress distribution law of the working face; Step 2.2, when mining at the fully mechanized working face, obtain the advance support pressure data according to the stress monitoring system, monitor the advance support pressure range and stress peak intensity in real time, and find out the stress concentration degree of the advance support pressure; the advance support pressure data is the drilling stress arranged within 5 to 50 m of the coal wall area of ​​the advance working face; Step 2.3, based on the microseismic probes arranged within the mining area, the probes monitor the source signals, draw the microseismic location and energy distribution characteristic map, and obtain the development range of the overburden fracture; the source signal includes the event generation time, three-dimensional coordinates and energy size; Step 2.4: As the working face advances, real-time monitoring and feedback of data from the data monitoring substation is used to achieve high-precision advance detection of static geological structures within 200m in front of the comprehensive mining working face and real-time dynamic monitoring of dynamic stress changes, thereby guiding the advancement of the working face.

[0042] Example 4 The comprehensive mining method based on exploration-while-mining is implemented in the following steps: Step 1: Arrange data monitoring substations and receive stress and microseismic data from the downhole stress monitoring system; Step 2: Obtain the current stope stress and roof and floor conditions through stress and microseismic data and guide the advancement of the working face; Step 3: Use the coal seam geological information and three-dimensional spatial information of the working face to establish a transparent geological model, and integrate the spatial position information and working status information of the fully mechanized mining equipment into the transparent geological model to obtain a mining data model, and combine the inertial navigation and the coal mining machine cutting curve correction model to control the coal mining machine; Step 4: As the working face advances, new geological information is obtained, steps 1-3 are repeated, and the mining data model is dynamically updated to realize the planned mining of the coal mining machine in the underground fully mechanized mining working face.

[0043] Step 2 is implemented as follows: Step 2.1, when the coal mining machine of the fully mechanized mining face cuts the coal wall, the stress and microseismic data collected by the monitoring substation are used as the seismic source, and a stress plane cloud map is drawn according to the stress data and the real-time position of the working face to obtain the stress distribution law of the working face; Step 2.2, when mining at the fully mechanized working face, obtain the advance support pressure data according to the stress monitoring system, monitor the advance support pressure range and stress peak intensity in real time, and find out the stress concentration degree of the advance support pressure; the advance support pressure data is the drilling stress arranged within 5 to 50 m of the coal wall area of ​​the advance working face; Step 2.3, based on the microseismic probes arranged within the mining area, the probes monitor the source signals, draw the microseismic location and energy distribution characteristic map, and obtain the development range of the overburden fracture; the source signal includes the event generation time, three-dimensional coordinates and energy size; Step 2.4: As the working face advances, real-time monitoring and feedback of data from the data monitoring substation is used to achieve high-precision advance detection of static geological structures within 200m in front of the comprehensive mining working face and real-time dynamic monitoring of dynamic stress changes, thereby guiding the advancement of the working face.

[0044] The guidance method of step 2.4 is to follow the stress distribution law of the working surface, that is, the peak value of the advance support pressure, the degree of stress concentration, and the microseismic energy greater than 10 5J, when the working face advances to this area, adjust the coal cutting speed of the coal mining machine, the working face advancement speed, the support strength of the hydraulic support and the advance support strength of the drift.

[0045] Example 5 The comprehensive mining method based on exploration-while-mining is implemented in the following steps: Step 1: Arrange data monitoring substations and receive stress and microseismic data from the downhole stress monitoring system; Step 2: Obtain the current stope stress and roof and floor conditions through stress and microseismic data and guide the advancement of the working face; Step 3: Use the coal seam geological information and three-dimensional spatial information of the working face to establish a transparent geological model, and integrate the spatial position information and working status information of the fully mechanized mining equipment into the transparent geological model to obtain a mining data model, and combine the inertial navigation and the coal mining machine cutting curve correction model to control the coal mining machine; Step 4: As the working face advances, new geological information is obtained, steps 1-3 are repeated, and the mining data model is dynamically updated to realize the planned mining of the coal mining machine in the underground fully mechanized mining working face.

[0046] The mining data model in step 3 includes mining technology, coal mining machine cutting curve, hydraulic follow-up curve, follow-up parameters, power supply, fluid supply, transportation system coordination parameters and control content.

[0047] Example 6 The comprehensive mining method based on exploration-while-mining is implemented in the following steps: Step 1: Arrange data monitoring substations and receive stress and microseismic data from the downhole stress monitoring system; Step 2: Obtain the current stope stress and roof and floor conditions through stress and microseismic data and guide the advancement of the working face; Step 3: Use the coal seam geological information and three-dimensional spatial information of the working face to establish a transparent geological model, and integrate the spatial position information and working status information of the fully mechanized mining equipment into the transparent geological model to obtain a mining data model, and combine the inertial navigation and the coal mining machine cutting curve correction model to control the coal mining machine; Step 4: As the working face advances, new geological information is obtained, steps 1-3 are repeated, and the mining data model is dynamically updated to realize the planned mining of the coal mining machine in the underground fully mechanized mining working face.

[0048] Step 3 is implemented as follows: Step 3.1, based on the existing mine geological data, using geophysical exploration and drilling methods, obtain the coal seam geological information of the working face itself and the three-dimensional spatial information of the working face; using Unity3D software, based on the coal seam geographic information of the working face and the three-dimensional spatial information of the working face, establish a transparent geological model; Step 3.2, establish a mining model based on the transparent geological model, obtain the fully mechanized mining face data, use the big data decision platform to update the mining data model, use radar, inertial navigation system and coal mining machine sensor equipment to obtain fully mechanized mining face data in real time; perform noise reduction, clarity and inspection on the obtained fully mechanized mining face data to obtain pre-processed fully mechanized mining face data; perform data format conversion on the pre-processed fully mechanized mining face data, and perform height parameter weighting to obtain weighted data information, use an iterative algorithm, and use the weighted data information to update the mining data model in real time to obtain an updated mining data model; Step 3.3, using the mining data model updated in step 3.2, combined with the real-time data perception of the coal mining machine, monitoring the position and posture of the coal mining machine, calculating the cutting boundary point of the coal mining machine drum, overlaying analysis with the model, determining the drum height adjustment value, sending the obtained drum adjustment value to the coal mining machine controller for storage and issuing corresponding control instructions, realizing automatic adjustment of the coal mining machine drum height and inclination angle, and controlling the coal mining machine to plan cutting; Step 3.4: The inertial navigation system installed on the coal mining machine can reflect the displacement changes of the three directions of inertial navigation x, y, and z in real time, and correct the mining height and slope in the updated mining data model.

[0049] Example 7 The comprehensive mining method based on exploration-while-mining is implemented in the following steps: Step 1: Arrange data monitoring substations and receive stress and microseismic data from the downhole stress monitoring system; Step 2: Obtain the current stope stress and roof and floor conditions through stress and microseismic data and guide the advancement of the working face; Step 3: Use the coal seam geological information and three-dimensional spatial information of the working face to establish a transparent geological model, and integrate the spatial position information and working status information of the fully mechanized mining equipment into the transparent geological model to obtain a mining data model, and combine the inertial navigation and the coal mining machine cutting curve correction model to control the coal mining machine; Step 4: As the working face advances, new geological information is obtained, steps 1-3 are repeated, and the mining data model is dynamically updated to realize the planned mining of the coal mining machine in the underground fully mechanized mining working face.

[0050] Step 3 is implemented as follows: Step 3.1, based on the existing mine geological data, using geophysical exploration and drilling methods, obtain the coal seam geological information of the working face itself and the three-dimensional spatial information of the working face; using Unity3D software, based on the coal seam geographic information of the working face and the three-dimensional spatial information of the working face, establish a transparent geological model; Step 3.2, establish a mining model based on the transparent geological model, obtain the fully mechanized mining face data, use the big data decision platform to update the mining data model, use radar, inertial navigation system and coal mining machine sensor equipment to obtain fully mechanized mining face data in real time; perform noise reduction, clarity and inspection on the obtained fully mechanized mining face data to obtain pre-processed fully mechanized mining face data; perform data format conversion on the pre-processed fully mechanized mining face data, and perform height parameter weighting to obtain weighted data information, use an iterative algorithm, and use the weighted data information to update the mining data model in real time to obtain an updated mining data model; Step 3.3, using the mining data model updated in step 3.2, combined with the real-time data perception of the coal mining machine, monitoring the position and posture of the coal mining machine, calculating the cutting boundary point of the coal mining machine drum, overlaying analysis with the model, determining the drum height adjustment value, sending the obtained drum adjustment value to the coal mining machine controller for storage and issuing corresponding control instructions, realizing automatic adjustment of the coal mining machine drum height and inclination angle, and controlling the coal mining machine to plan cutting; Step 3.4: The inertial navigation system installed on the coal mining machine can reflect the displacement changes of the three directions of inertial navigation x, y, and z in real time, and correct the mining height and slope in the updated mining data model.

[0051] In step 3.3, the specific calculation method of the cutting boundary point of the coal machine drum is: The position of the coal mining machine is represented by three-dimensional coordinates (x, y, z), where x and y are coordinates on the horizontal plane, and z is the coordinate in the vertical direction. According to the diameter (D) and length (L) of the drum, as well as the posture of the coal mining machine, the cutting surface of the drum at the current position is calculated. The cutting surface is a cylindrical surface with the axis of the drum as the rotation axis, and its radius is equal to the radius of the drum (D / 2). 0 ,y 0 , z 0 ) is the coordinate point on the drum axis, which is determined by the position and posture of the coal mining machine; (1) Cut boundary point equation: Assuming that the coal seam surface is an inclined plane, its equation can be expressed as: z = mx + ny + b (2) Among them, m and n are the cosine values ​​of the inclination direction of the coal seam, the inclination angle of the coal seam is θ, and b is the intercept, that is, the ratio of the coal seam thickness H to the z coordinate of the coal mining machine; By solving equations (1) and (2), the coordinates of the cutting boundary point can be obtained, which is the cutting boundary point of the drum at the current position.

[0052] Example 8 The comprehensive mining method based on exploration-while-mining is implemented in the following steps: Step 1: Arrange data monitoring substations and receive stress and microseismic data from the downhole stress monitoring system; Step 2: Obtain the current stope stress and roof and floor conditions through stress and microseismic data and guide the advancement of the working face; Step 3: Use the coal seam geological information and three-dimensional spatial information of the working face to establish a transparent geological model, and integrate the spatial position information and working status information of the fully mechanized mining equipment into the transparent geological model to obtain a mining data model, and combine the inertial navigation and the coal mining machine cutting curve correction model to control the coal mining machine; Step 4: As the working face advances, new geological information is obtained, steps 1-3 are repeated, and the mining data model is dynamically updated to realize the planned mining of the coal mining machine in the underground fully mechanized mining working face.

[0053] Step 3 is implemented as follows: Step 3.1, based on the existing mine geological data, using geophysical exploration and drilling methods, obtain the coal seam geological information of the working face itself and the three-dimensional spatial information of the working face; using Unity3D software, based on the coal seam geographic information of the working face and the three-dimensional spatial information of the working face, establish a transparent geological model; Step 3.2, establish a mining model based on the transparent geological model, obtain the fully mechanized mining face data, use the big data decision platform to update the mining data model, use radar, inertial navigation system and coal mining machine sensor equipment to obtain fully mechanized mining face data in real time; perform noise reduction, clarity and inspection on the obtained fully mechanized mining face data to obtain pre-processed fully mechanized mining face data; perform data format conversion on the pre-processed fully mechanized mining face data, and perform height parameter weighting to obtain weighted data information, use an iterative algorithm, and use the weighted data information to update the mining data model in real time to obtain an updated mining data model; Step 3.3, using the mining data model updated in step 3.2, combined with the real-time data perception of the coal mining machine, monitoring the position and posture of the coal mining machine, calculating the cutting boundary point of the coal mining machine drum, overlaying analysis with the model, determining the drum height adjustment value, sending the obtained drum adjustment value to the coal mining machine controller for storage and issuing corresponding control instructions, realizing automatic adjustment of the coal mining machine drum height and inclination angle, and controlling the coal mining machine to plan cutting; Step 3.4: The inertial navigation system installed on the coal mining machine can reflect the displacement changes of the three directions of inertial navigation x, y, and z in real time, and correct the mining height and slope in the updated mining data model.

[0054] The real-time data of the coal mining machine in step 3.3 includes the coal mining machine operation control information, the support operation parameters and the coal mining conveyor operation parameters. The coal mining machine operation control information includes the coal mining machine operation status information, the coal mining machine posture sensor data, the actual displacement of the coal mining machine encoder, the coal mining machine mining height and bottom volume data and the coal mining machine video information.

[0055] Example 9 The comprehensive mining method based on exploration-while-mining is implemented in the following steps: Step 1: Arrange data monitoring substations and receive stress and microseismic data from the downhole stress monitoring system; Step 2: Obtain the current stope stress and roof and floor conditions through stress and microseismic data and guide the advancement of the working face; Step 3: Use the coal seam geological information and three-dimensional spatial information of the working face to establish a transparent geological model, and integrate the spatial position information and working status information of the fully mechanized mining equipment into the transparent geological model to obtain a mining data model, and combine the inertial navigation and the coal mining machine cutting curve correction model to control the coal mining machine; Step 4: As the working face advances, new geological information is obtained, steps 1-3 are repeated, and the mining data model is dynamically updated to realize the planned mining of the coal mining machine in the underground fully mechanized mining working face.

[0056] Step 3 is implemented as follows: Step 3.1, based on the existing mine geological data, using geophysical exploration and drilling methods, obtain the coal seam geological information of the working face itself and the three-dimensional spatial information of the working face; using Unity3D software, based on the coal seam geographic information of the working face and the three-dimensional spatial information of the working face, establish a transparent geological model; Step 3.2, establish a mining model based on the transparent geological model, obtain the fully mechanized mining face data, use the big data decision platform to update the mining data model, use radar, inertial navigation system and coal mining machine sensor equipment to obtain fully mechanized mining face data in real time; perform noise reduction, clarity and inspection on the obtained fully mechanized mining face data to obtain pre-processed fully mechanized mining face data; perform data format conversion on the pre-processed fully mechanized mining face data, and perform height parameter weighting to obtain weighted data information, use an iterative algorithm, and use the weighted data information to update the mining data model in real time to obtain an updated mining data model; Step 3.3, using the mining data model updated in step 3.2, combined with the real-time data perception of the coal mining machine, monitoring the position and posture of the coal mining machine, calculating the cutting boundary point of the coal mining machine drum, overlaying analysis with the model, determining the drum height adjustment value, sending the obtained drum adjustment value to the coal mining machine controller for storage and issuing corresponding control instructions, realizing automatic adjustment of the coal mining machine drum height and inclination angle, and controlling the coal mining machine to plan cutting; Step 3.4: The inertial navigation system installed on the coal mining machine can reflect the displacement changes of the three directions of inertial navigation x, y, and z in real time, and correct the mining height and slope in the updated mining data model.

[0057] The three-dimensional posture of the coal mining machine in step 3.4 includes pitch angle, roll angle and heading angle.

Claims

1. A fully mechanized mining face mining method based on exploration while mining, characterized in that: Follow these steps to implement: Step 1: Arrange data monitoring substations and receive stress and microseismic data from the downhole stress monitoring system; Step 2: obtaining the current stope stress and roof and floor conditions through the stress and microseismic data and guiding the advancement of the working face; Step 3: Use the coal seam geological information and three-dimensional spatial information of the working face to establish a transparent geological model, and integrate the spatial position information and working status information of the fully mechanized mining equipment into the transparent geological model to obtain a mining data model, and combine the inertial navigation and the coal mining machine cutting curve correction model to control the coal mining machine; Step 4: As the working face advances, new geological information is obtained, steps 1-3 are repeated, and the mining data model is dynamically updated to realize the planned mining of the coal mining machine in the underground fully mechanized mining working face.

2. The fully mechanized face mining method based on simultaneous mining and exploration according to claim 1 is characterized in that: The data monitoring substations described in step 1 are arranged at the same parallel position in the tunnels on both sides of the advanced fully mechanized mining face within 200m.

3. The fully mechanized face mining method based on simultaneous mining and exploration according to claim 1 is characterized in that: The step 2 is specifically implemented according to the following steps: Step 2.1, when the coal mining machine of the fully mechanized mining face cuts the coal wall, the stress and microseismic data collected by the monitoring substation are used as the seismic source, and a stress plane cloud map is drawn according to the stress data and the real-time position of the working face advancement to obtain the stress distribution law of the working face; Step 2.2, when mining at the fully mechanized working face, obtain the advance support pressure data according to the stress monitoring system, monitor the advance support pressure range and stress peak intensity in real time, and find out the stress concentration degree of the advance support pressure; the advance support pressure data is the drilling stress arranged within 5 to 50 m of the coal wall area of ​​the advance working face; Step 2.3, based on the microseismic probes arranged within the stope range, the probes monitor the source signals, draw the microseismic location and energy distribution characteristic map, and obtain the development range of the overburden fracture; the source signal includes the event generation time, three-dimensional coordinates and energy size; Step 2.4: As the working face advances, real-time monitoring and feedback of data from the data monitoring substation is used to achieve high-precision advance detection of static geological structures within 200m in front of the comprehensive mining working face and real-time dynamic monitoring of dynamic stress changes, thereby guiding the advancement of the working face.

4. The fully mechanized face mining method based on simultaneous mining and exploration according to claim 3 is characterized in that: The guidance method of step 2.4 is to follow the stress distribution law of the working surface, that is, the peak value of the advance support pressure, the change of stress concentration degree, or the microseismic energy greater than 10 5 J, when the working face advances to this area, adjust the coal cutting speed of the coal mining machine, the working face advancement speed, the support strength of the hydraulic support and the advance support strength of the drift.

5. The fully mechanized face mining method based on simultaneous mining and exploration according to claim 1 is characterized in that: The mining data model described in step 3 includes mining technology, coal mining machine cutting curve, hydraulic follow-up curve, follow-up parameters, power supply, fluid supply, transportation system coordination parameters and control content.

6. The fully mechanized face mining method based on simultaneous mining and exploration according to claim 1 is characterized in that: The step 3 is specifically implemented according to the following steps: Step 3.1, based on the existing mine geological data, using geophysical exploration and drilling methods, obtain the coal seam geological information of the working face itself and the three-dimensional spatial information of the working face; using Unity3D software, based on the coal seam geographic information of the working face and the three-dimensional spatial information of the working face, establish a transparent geological model; Step 3.2, establish a mining model based on the transparent geological model, obtain the fully mechanized mining face data, use the big data decision platform to update the mining data model, use radar, inertial navigation system and coal mining machine sensor equipment to obtain fully mechanized mining face data in real time; perform noise reduction, clarity and inspection on the obtained fully mechanized mining face data to obtain pre-processed fully mechanized mining face data; perform data format conversion on the pre-processed fully mechanized mining face data, and perform height parameter weighting to obtain weighted data information, use an iterative algorithm, and use the weighted data information to update the mining data model in real time to obtain an updated mining data model; Step 3.3, using the mining data model updated in step 3.2, combined with the real-time data perception of the coal mining machine, monitoring the position and posture of the coal mining machine, calculating the cutting boundary point of the coal mining machine drum, overlaying analysis with the model, determining the drum height adjustment value, sending the obtained drum adjustment value to the coal mining machine controller for storage and issuing corresponding control instructions, realizing automatic adjustment of the coal mining machine drum height and inclination angle, and controlling the coal mining machine to plan cutting; Step 3.4: The inertial navigation system installed on the coal mining machine can reflect the displacement changes of the three directions of inertial navigation x, y, and z in real time, and correct the mining height and slope in the updated mining data model.

7. The fully mechanized face mining method based on simultaneous mining and exploration according to claim 6 is characterized in that: In step 3.3, the specific calculation method of the cutting boundary point of the coal machine drum is: The position of the coal mining machine is represented by three-dimensional coordinates (x, y, z), where x and y are coordinates on the horizontal plane, and z is the coordinate in the vertical direction. According to the diameter (D) and length (L) of the drum, and the posture of the coal mining machine, the cutting surface of the drum at the current position is calculated. The cutting surface is a cylindrical surface with the axis of the drum as the rotation axis, and its radius is equal to the radius of the drum (D / 2). Among them, (x0, y0, z0) is the coordinate point on the axis of the drum, which is determined by the position and posture of the coal mining machine; （1） Cut boundary point equation: Assuming that the coal seam surface is an inclined plane, its equation can be expressed as: z = mx + ny + b (2) Among them, m and n are the cosine values ​​of the inclination direction of the coal seam, the inclination angle of the coal seam is θ, and b is the intercept, that is, the ratio of the coal seam thickness H to the z coordinate of the coal mining machine; By solving equations (1) and (2), the coordinates of the cutting boundary point can be obtained, which is the cutting boundary point of the drum at the current position.

8. The fully mechanized face mining method based on simultaneous mining and exploration according to claim 6 is characterized in that: The real-time data of the coal mining machine in step 3.3 includes coal mining machine operation control information, support operation parameters and coal mining conveyor operation parameters. The coal mining machine operation control information includes coal mining machine operation status information, coal mining machine posture sensor data, actual displacement of coal mining machine encoder, coal mining machine mining height and bottom volume data and coal mining machine video information.

9. The fully mechanized face mining method based on simultaneous mining and exploration according to claim 6 is characterized in that: The three-dimensional posture of the coal mining machine described in step 3.4 includes pitch angle, roll angle and heading angle.

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