Coal mine working face stoping method and device, storage medium and electronic equipment

Abstract

The invention relates to a coal mine working face stoping method and device, a storage medium and electronic equipment, and relates to the field of coal mining, and the method comprises the following steps: determining a surface elevation information acquisition area on the surface above a coal mining area, and obtaining surface elevation information in the surface elevation information acquisition area, the surface elevation information comprises at least one of surface relative elevation data, surface absolute elevation data and a surface contour map, dividing a surface damage estimation grade based on the surface elevation information, and determining working face recovery parameters corresponding to the surface damage estimation grade, the working face recovery parameters comprise a recovery speed and a recovery height, and the recovery speed is greater than the recovery height. And working face stoping of the coal mine is carried out according to the working face stoping parameters. Through the technical scheme, the mining efficiency can be improved, the mining cost can be reduced, and the influence of coal mining on the surface ecology can be reduced.

Description

Technical Field

[0001] The present disclosure relates to the field of coal mining, and specifically, to a working face coal mining method, device, storage medium and electronic device for a coal mine. Background Art

[0002] Coal mining activities can cause surface subsidence and collapse in the goaf area, thus causing irreversible damage to the landscape and ecological environment of the mining area. Therefore, during the mining process, it is necessary to control and manage surface subsidence. In the prior art, generally, technologies such as filling mining, partial filling mining and strip mining are used for surface subsidence control. However, both the filling mining and strip mining methods have problems such as high mining costs and low mining efficiency. Summary of the Invention

[0003] The purpose of the present disclosure is to provide a working face coal mining method, device, storage medium and electronic device for a coal mine to solve the above technical problems.

[0004] To achieve the above purpose, according to the first aspect of the embodiments of the present disclosure, a working face coal mining method for a coal mine is provided. The method includes: Determine a surface elevation information collection area on the surface above the coal mining area; Obtain the surface elevation information within the surface elevation information collection area; the surface elevation information includes at least one of surface relative elevation data, surface absolute elevation data and surface contour maps; Divide the surface damage prediction level based on the surface elevation information; Determine the working face coal mining parameters corresponding to the surface damage prediction level; wherein, the working face coal mining parameters include coal mining speed and coal mining height; Carry out the working face coal mining of the coal mine according to the working face coal mining parameters.

[0005] Optionally, the determining a surface elevation information collection area on the surface above the coal mining area includes: Analyze the influence range of surface subsidence after mining by combining historical data and simulation data to determine the surface elevation information collection area; the historical data includes historical mining data and historical goaf subsidence information; the simulation data includes simulation data of the mining subsidence model and numerical simulation results.

[0006] Optionally, the obtaining the surface elevation information within the surface elevation information collection area includes: Use unmanned aerial vehicle remote sensing technology to obtain the surface relative elevation data within the surface elevation information collection area; Perform coordinate system data conversion according to the surface relative elevation data to obtain surface absolute elevation data and surface contour maps.

[0007] Optionally, the method includes: Establish a reference coordinate system at the working face of the mining area; the reference coordinate system includes reference coordinate data of the surface above the mining area and reference coordinate data of the mining working face; Establish a detection coordinate system within the surface elevation information acquisition area; Obtain the coordinate data of multiple marked positions in the detection coordinate system and the planar coordinate data in the reference coordinate system; According to the preset flight path of the unmanned aerial vehicle, utilize the unmanned aerial vehicle remote sensing technology to obtain the relative surface elevation data; wherein, the preset flight path of the unmanned aerial vehicle is determined based on multiple flight parameters, and the flight parameters include at least one of flight altitude, overlap rate, flight speed, and flight path spacing; Convert the relative surface elevation data to the reference coordinate system to obtain the absolute surface elevation data and the surface contour map; the surface contour map includes at least one of surface elevation, working face burial depth, coal seam floor contour line, coal seam floor and surface distance isopleth map.

[0008] Optionally, the dividing the surface damage prediction level based on the surface elevation information includes: Obtain the historical data of surface damage under different coal mining conditions; According to the historical data of the surface damage and the surface elevation information, draw a surface damage prediction level map and divide the surface damage prediction level.

[0009] Optionally, the determining the working face coal mining parameters corresponding to the surface damage prediction level includes: Obtain the correlation between the working face coal mining parameters and the degree of surface damage; Determine the working face coal mining parameters corresponding to the surface damage prediction level according to the correlation.

[0010] Optionally, the method further includes: Regularly monitor the surface subsidence amount on the surface within the preset coal mining area through the unmanned aerial vehicle remote sensing technology; Determine the surface damage situation according to the surface subsidence amount; Give an alarm when the surface damage situation meets the set warning conditions, and adjust the working face coal mining parameters.

[0011] According to the second aspect of the embodiments of the present disclosure, there is provided a working face coal mining device for a coal mine, the device includes: A first determination module, configured to determine a surface elevation information acquisition area on the surface above the coal mine mining area; An acquisition module for acquiring surface elevation information within the surface elevation information acquisition area; the surface elevation information includes at least one of surface relative elevation data, surface absolute elevation data, and a surface contour map; A grading module for dividing the surface damage prediction grade based on the surface elevation information; A second determination module for determining the working face mining parameters corresponding to the surface damage prediction grade; wherein, the working face mining parameters include the mining speed and the mining height; A mining module for performing the working face mining of the coal mine according to the working face mining parameters.

[0012] According to a third aspect of the embodiments of the present disclosure, there is provided a non-transitory computer-readable storage medium having stored thereon a computer program, which when executed by a processor, implements the steps of the method according to any one of the first aspects of the embodiments of the present disclosure.

[0013] According to a fourth aspect of the embodiments of the present disclosure, there is provided an electronic device, including: A memory having stored thereon a computer program; A processor for executing the computer program in the memory to implement the steps of the method according to any one of the first aspects of the embodiments of the present disclosure.

[0014] In the above technical solution, a surface elevation information acquisition area is determined on the surface above the coal mining area, and the surface elevation information within the surface elevation information acquisition area is acquired. The surface elevation information includes at least one of surface relative elevation data, surface absolute elevation data, and a surface contour map. The surface damage prediction grade is divided based on the surface elevation information, and the working face mining parameters corresponding to the surface damage prediction grade are determined. Among them, the working face mining parameters include the mining speed and the mining height. The working face mining of the coal mine is performed according to the working face mining parameters. Through the above technical solution, the surface damage prediction grade is divided according to the elevation information within the surface range of the mining area, and the working face mining parameters corresponding to the surface damage prediction grade are determined, and the working face mining is performed according to the mining parameters. It can improve the mining efficiency, reduce the mining cost, and can reduce the impact of coal mining on the surface ecology.

[0015] Other features and advantages of the present disclosure will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings are used to provide a further understanding of the present disclosure, and constitute a part of the specification, and are used to explain the present disclosure together with the following specific implementation, but do not constitute a limitation to the present disclosure. In the drawings: Figure 1It is a flowchart of a face mining method for a coal mine shown according to an exemplary embodiment; Figure 2 It is a flowchart of a face mining method for a coal mine shown according to an exemplary embodiment; Figure 3 It is a schematic diagram of surface contour lines shown according to an exemplary embodiment; Figure 4 It is a flowchart of a face mining method for a coal mine shown according to an exemplary embodiment; Figure 5 It is a histogram of the relationship between relative elevation and surface damage shown according to an exemplary embodiment; Figure 6 It is a distribution map of an estimated surface damage level shown according to an exemplary embodiment; Figure 7 It is a flowchart of a face mining method for a coal mine shown according to an exemplary embodiment; Figure 8a It is a statistical relationship diagram between mining speed and surface damage shown according to an exemplary embodiment; Figure 8b It is a statistical relationship diagram between mining height and surface damage shown according to an exemplary embodiment; Figure 9 It is a schematic diagram of the division of face mining parameters shown according to an exemplary embodiment; Figure 10 It is a flowchart of a face mining method for a coal mine shown according to an exemplary embodiment; Figure 11 It is a block diagram of a face mining device for a coal mine shown according to an exemplary embodiment; Figure 12 It is a block diagram of an electronic device 1200 shown according to an exemplary embodiment. Detailed implementation manners

[0017] The following will describe the detailed implementation manners of the present disclosure with reference to the accompanying drawings. It should be understood that the detailed implementation manners described herein are only for explaining and illustrating the present disclosure, and are not used to limit the present disclosure.

[0018] It should be noted that all actions of obtaining signals, information or data in the present disclosure are carried out on the premise of complying with the corresponding data protection regulations and policies of the country where it is located and obtaining the authorization given by the owner of the corresponding device.

[0019] Large-scale and high-intensity coal mining activities will have a negative impact on the mine geological environment, such as surface subsidence and collapse caused by mining activities. In the prior art, techniques such as filling mining, partial filling mining, and strip mining are generally used to control surface subsidence and collapse. However, the applicant has found that the filling mining technique faces problems such as shortage of filling materials, high mining costs, and low mining efficiency, which have greatly reduced the enthusiasm of enterprises for filling mining; strip mining is mainly used to solve the problem of coal seam mining under buildings, but this technique will lead to a reduction in the mine recovery rate, excessive loss of resources, and a significant reduction in production efficiency. In addition, for mines located in hilly and mountainous areas, if filling mining is adopted, the cost will increase significantly; if strip mining is adopted, the recovery rate is low, and a large amount of resources will be wasted. To solve the problems in the prior art, the present disclosure proposes a method for retreating a working face in a coal mine, which can control the retreat of the working face based on the damage degree of the terrain and landform. The following will be described in conjunction with specific embodiments.

[0020] Figure 1 is a flowchart of a method for retreating a working face in a coal mine shown according to an exemplary embodiment, as Figure 1 shown, the method includes the following steps.

[0021] In step S11, a surface elevation information collection area is determined on the surface above the coal mining area.

[0022] Among them, the surface elevation information collection area refers to a specific geographical range where elevation data is collected during coal mining to monitor and evaluate surface subsidence.

[0023] Optionally, the influence range of surface subsidence after mining is analyzed by combining historical data and simulation data to determine the surface elevation information collection area; the historical data includes historical mining data and historical goaf subsidence information; the simulation data includes simulation data of the mining subsidence model and numerical simulation results.

[0024] Exemplarily, the influence range of surface subsidence after mining can be comprehensively analyzed by methods such as underground mining data, past goaf subsidence conditions, mining subsidence models, and numerical simulations, and the detection area above the working face can be delineated. This delineated area can be used as the surface elevation information collection area. Among them, the delineated boundary is the union of the ranges delineated by the zero subsidence isoclines in the theoretical model and the numerical model.

[0025] In step S12, the surface elevation information within the surface elevation information collection area is obtained; the surface elevation information includes at least one of surface relative elevation data, surface absolute elevation data, and surface contour maps.

[0026] Among them, the surface relative elevation data refers to the height data relative to a certain reference point or reference plane. This reference point or reference plane can be arbitrarily selected, usually the starting point during UAV aerial survey or a certain known reference point. The surface relative elevation data can be used to monitor the relative changes of the surface, such as settlement, uplift, etc. For example, assume that in a mining area, the UAV starts flying from a point with a known height of 100 meters, and the elevation data collected is the height relative to this point. If the relative elevation of a certain point is +5 meters, then the actual height of this point is 105 meters. The surface absolute elevation data refers to the height data relative to a fixed reference plane (usually the sea level). The absolute elevation data provides the true height information of the surface points. For example, assume that in the mining area, the elevation data collected by the UAV is the height relative to the sea level. If the absolute elevation of a certain point is 105 meters, then the actual height of this point is 105 meters. The surface contour map is a kind of map in which the points with the same elevation are connected by lines to form contour lines. Each contour line represents a fixed elevation value, and through these contour lines, the undulation and slope of the surface can be visually displayed. On the surface contour map, each contour line represents a fixed elevation value. For example, the interval between each contour line is 10 meters. If a contour line is marked as 100 meters, then the height of all points on this line is 100 meters. By observing the density of the contour lines, the steepness of the terrain can be judged: the denser the contour lines, the steeper the terrain; the sparser the contour lines, the flatter the terrain.

[0027] In step S13, based on the surface elevation information, the surface damage prediction level is divided.

[0028] For example, the degree of surface damage can be characterized by the ratio of the surface subsidence amount statistically obtained from past working faces to the mining height of the working face. Thus, the surface damage prediction level can be divided into three levels: mild damage, moderate damage, and severe damage.

[0029] In step S14, the working face mining parameters corresponding to the surface damage prediction level are determined; among them, the working face mining parameters include the mining speed and the mining height.

[0030] In step S15, the working face of the coal mine is mined according to the working face mining parameters.

[0031] Among them, during the working face mining process, the mining speed refers to the amount of coal mined from the coal seam per unit time. If the mining speed is too fast, it may lead to an increase in surface subsidence, while if it is too slow, it will affect the production efficiency and economic benefits. The mining height refers to the thickness of the coal seam excavated in each mining operation. The determination of the mining height needs to consider factors such as the actual thickness of the coal seam, the stability of the roof and floor, and the capabilities of the equipment.

[0032] In the above technical solution, a surface elevation information collection area is determined on the surface above the coal mining area, and the surface elevation information within the surface elevation information collection area is obtained. The surface elevation information includes at least one of surface relative elevation data, surface absolute elevation data, and a surface contour map. Based on the surface elevation information, a surface damage prediction level is divided, and the working face mining parameters corresponding to the surface damage prediction level are determined. Among them, the working face mining parameters include the mining speed and the mining height. According to the working face mining parameters, the working face of the coal mine is mined. Through the above technical solution, the surface damage prediction level is divided according to the elevation information within the surface range of the mining area, and the working face mining parameters corresponding to the surface damage prediction level are determined. The working face is mined according to the mining parameters. It can improve the mining efficiency, reduce the mining cost, and reduce the impact of coal mining on the surface ecology.

[0033] Figure 2 is a block diagram of a working face mining method for a coal mine shown according to an exemplary embodiment, as Figure 2 shown. The step of obtaining the surface elevation information within the surface elevation information collection area described in step S12 may include the following steps: Step S121, using unmanned aerial vehicle (UAV) remote sensing technology to obtain the surface relative elevation data within the surface elevation information collection area; Step S122, performing coordinate system data conversion according to the surface relative elevation data to obtain the surface absolute elevation data and the surface contour map.

[0034] Exemplarily, before the working face is mined, the method for obtaining the surface elevation information within the surface elevation information collection area may include the following steps: (1) Establish a reference coordinate system in the mining area working face; the reference coordinate system includes the reference coordinate data of the surface above the mining area and the reference coordinate data of the mining working face; (2) Establish a detection coordinate system within the surface elevation information collection area; Obtain the coordinate data of multiple marked positions in the detection coordinate system and the plane coordinate data in the reference coordinate system; (3) According to the preset UAV flight route, use UAV remote sensing technology to obtain the surface relative elevation data; wherein, the preset UAV flight route is determined based on multiple flight parameters, and the flight parameters include at least one of flight altitude, overlap rate, flight speed, and flight line spacing; (4) Convert the surface relative elevation data to the reference coordinate system to obtain the surface absolute elevation data and the surface contour map; the surface contour map includes at least one of surface elevation, working face burial depth, coal seam floor contour line, coal seam floor, and surface distance isoline map.

[0035] It can be understood that through the above steps, the relative positions of the working face and the ground surface in the plane and elevation can be determined. Figure 3 is a schematic diagram of ground surface contour lines shown according to an exemplary embodiment, as Figure 3 shown. In this embodiment, the ground surface contour lines include 50 m, 100 m, 110 m, 120 m, 150 m, 200 m, 250 m, and 300 m, and the working face is Figure 3 at the position of the solid-line rectangular frame in, and the buried depth of the working face is 300 m.

[0036] Figure 4 is a flowchart of a working face mining method for a coal mine shown according to an exemplary embodiment, as Figure 4 shown. The dividing of the ground surface damage prediction level based on the ground surface elevation information in step S13 may include the following steps: Step S131: Obtain historical data of ground surface damage under different mining conditions; Step S132: Draw a ground surface damage prediction level map and divide the ground surface damage prediction level according to the historical data of the ground surface damage and the ground surface elevation information.

[0037] Optionally, statistical analysis can be performed based on relevant data of past working faces, a histogram of relative elevation and damage degree can be drawn, and the ground surface damage prediction level can be divided. Figure 5 is a histogram of the relationship between relative elevation and ground surface damage shown according to an exemplary embodiment, as Figure 5 shown. The relationship between ground surface damage and relative elevation is that as the relative elevation increases, the degree of ground surface damage decreases. Exemplarily, the ratio of the ground surface subsidence amount and the coal seam thickness of the working face statistically obtained from past working faces characterizes the degree of ground surface damage :

[0038] In the formula, is the maximum ground surface subsidence value above the working face; is the average coal seam thickness of the working face. In a possible level division method, when takes values in the range of [0, 0.3), it is mild damage; when takes values in the range of [0.3, 0.6), it is moderate damage; when takes values in the range of [0.6, 1), it is severe damage.

[0039] It can be understood that according to the relationship between the above relative elevation and the degree of ground surface damage, as well as the value range of, a ground surface damage prediction level map can be drawn to delimit the distribution map of the ground surface damage prediction level within the working face. Exemplarily, Figure 6 is a distribution map of a ground surface damage prediction level shown according to an exemplary embodiment, asFigure 6 As shown, in Figure 6 the mild damage area, moderate damage area, and severe damage area are distinguished by different grid representation methods.

[0040] Figure 7 is a flowchart of a working face coal mining method of a coal mine shown according to an exemplary embodiment. As Figure 7 shown, the determination of the working face coal mining parameters corresponding to the estimated surface damage level described in step S14 may include the following steps: Step S141, obtain the correlation between the working face coal mining parameters and the surface damage degree; Step S142, determine the working face coal mining parameters corresponding to the estimated surface damage level according to the correlation.

[0041] Exemplarily, the coal mining parameters include the working face coal mining speed and the mining height (cutting height). The correlations between the working face coal mining speed and the cutting height and the surface damage degree (subsidence amount) are respectively established. For example, Figure 8a is a statistical relationship diagram between the coal mining speed and the surface damage shown according to an exemplary embodiment. As Figure 8a shown, the surface damage degree is related to the coal mining speed. As the coal mining speed increases, the surface damage degree decreases (as the coal mining speed increases, the surface dynamic deformation value decreases); Figure 8b is a statistical relationship diagram between the cutting height and the surface damage shown according to an exemplary embodiment. As Figure 8b shown, the surface damage degree is related to the cutting height. As the cutting height increases, the surface damage degree increases (as the cutting height increases, the surface subsidence amount is large and the subsidence speed is fast).

[0042] It can be understood that the working face coal mining parameters corresponding to the estimated surface damage level can be determined according to the above correlations between the working face coal mining speed and the cutting height and the surface damage degree. Figure 9 is a schematic diagram of the division of working face coal mining parameters shown according to an exemplary embodiment. As Figure 9 shown, the rectangular working face is divided into three small areas by the spatial boundary (short dashed line in the figure) of the distribution of the working face coal mining parameters. The coal mining speed in the left small area is 2 m / d and the cutting height is 2.5 m; the coal mining speed in the middle small area is 3 m / d and the cutting height is 2 m; the coal mining speed in the right small area is 1 m / d and the cutting height is 3 m. Among them, the coal mining speed and the mining height should be determined within a reasonable range to ensure the coal mine production efficiency. If the values of the coal mining speed and the mining height exceed the reasonable range, they can be selected nearby within the range to ensure the lowest surface damage degree.

[0043] Figure 10 is a flowchart of a working face coal mining method of a coal mine shown according to an exemplary embodiment. As Figure 10As shown in the figure, the method may further include the following steps: Step S16: Regularly monitor the surface subsidence amount on the surface within the preset mining area through unmanned aerial vehicle (UAV) remote sensing technology; Step S17: Determine the surface damage condition based on the surface subsidence amount; Step S18: Issue a warning when the surface damage condition meets the set warning conditions, and adjust the mining parameters of the working face.

[0044] It can be understood that during the mining process, it is necessary to regularly monitor the surface subsidence amount through UAV remote sensing technology to dynamically monitor the surface damage condition. For example, when the working face is mined to the estimated moderately damaged area, the estimated severely damaged area, or other key protection areas, the surface can be monitored by UAV remote sensing every two to three days to measure the surface subsidence amount and determine the surface damage degree in this area. The UAV works according to the established route, compares the collected data with the initial data, and issues a warning when the surface damage condition reaches the set warning conditions. Among them, the warning conditions can set the surface damage degree threshold according to the surface conditions.

[0045] For the areas where the surface damage degree has been warned, according to the above-mentioned correlation between the mining speed, mining height and surface damage, the mining speed and mining height are adjusted in a timely manner. For example, when the surface damage exceeds the warning, the mining speed is appropriately increased or the mining height is decreased. For example, for the area where the distance from the target warning value is less than 0.3, the mining speed is increased by 0.5 m / d; for the area where the distance from the target warning value is less than 0.6, the mining speed is increased by 0.5 m / d and the mining height is decreased by 1 m; for the area where the distance from the target warning value is less than 1, the mining speed is increased by 1 m / d and the mining height is decreased by 1 m. If it is still within the warning range and the surface damage degree remains almost unchanged (this stage is temporarily called the damage stable stage), considering the coal mine production efficiency, the maximum mining height and the minimum mining speed in the damage stable stage can be selected for mining.

[0046] In the above technical solution, a surface elevation information collection area is determined on the surface above the coal mine mining area, and the surface elevation information within the surface elevation information collection area is obtained. The surface elevation information includes at least one of surface relative elevation data, surface absolute elevation data, and surface contour maps. Based on the surface elevation information, the surface damage prediction level is divided, and the working face mining parameters corresponding to the surface damage prediction level are determined. Among them, the working face mining parameters include mining speed and mining height. The working face of the coal mine is mined according to the working face mining parameters. Through the above technical solution, the surface damage prediction level is divided according to the elevation information within the surface range of the mining area, and the working face mining parameters corresponding to the surface damage prediction level are determined, and the working face is mined according to the mining parameters. It can improve the mining efficiency, reduce the mining cost, and reduce the impact of coal mine mining on the surface ecology.

[0047] Figure 11 is a block diagram of a coal face mining device shown according to an exemplary embodiment, as Figure 11 shown. The device 1100 includes a first determination module 1110, an acquisition module 1120, a level division module 1130, a second determination module 1140, and a mining module 1150.

[0048] The first determination module 1110 is configured to determine a surface elevation information acquisition area above the coal mining area on the ground surface; The acquisition module 1120 is configured to acquire surface elevation information within the surface elevation information acquisition area; the surface elevation information includes at least one of surface relative elevation data, surface absolute elevation data, and a surface contour map; The level division module 1130 is configured to divide a surface damage prediction level based on the surface elevation information; The second determination module 1140 is configured to determine coal face mining parameters corresponding to the surface damage prediction level; wherein, the coal face mining parameters include a mining speed and a mining height; The mining module 1150 is configured to perform coal face mining of the coal mine according to the coal face mining parameters.

[0049] Optionally, the acquisition module 1120 is further configured to: Analyze the influence range of surface subsidence after mining by combining historical data and simulation data, and determine the surface elevation information acquisition area; the historical data includes historical mining data and historical goaf subsidence information; the simulation data includes simulation data of a mining subsidence model and numerical simulation results.

[0050] Optionally, the acquisition module 1120 is further configured to: Use unmanned aerial vehicle remote sensing technology to acquire surface relative elevation data within the surface elevation information acquisition area; Perform coordinate system data conversion according to the surface relative elevation data to acquire surface absolute elevation data and a surface contour map.

[0051] Optionally, the acquisition module 1120 includes a coordinate establishment sub-module and an acquisition sub-module; The coordinate establishment sub-module is configured to: Establish a reference coordinate system in the mining area coal face; the reference coordinate system includes reference coordinate data of the ground surface above the mining area and reference coordinate data of the mining working face; Establish a detection coordinate system within the surface elevation information acquisition area; The acquisition sub-module is configured to: Acquire coordinate data of multiple marked positions in the detection coordinate system and planar coordinate data in the reference coordinate system; According to the preset route of the unmanned aerial vehicle (UAV), it is beneficial to obtain the relative elevation data of the ground surface by using UAV remote sensing technology. Among them, the preset route of the UAV is determined based on multiple flight parameters, and the flight parameters include at least one of flight altitude, overlap rate, flight speed, and route spacing. Convert the relative elevation data of the ground surface to the reference coordinate system to obtain the absolute elevation data of the ground surface and the ground surface contour map. The ground surface contour map includes at least one of ground surface elevation, working face burial depth, coal seam floor contour line, coal seam floor, and ground surface distance contour line map.

[0052] Optionally, the grading module 1130 includes a data acquisition sub-module and a division sub-module. The data acquisition sub-module is used to obtain historical data of ground surface damage under different mining conditions. The division sub-module is used to draw a predicted ground surface damage grading map and divide the predicted ground surface damage grades according to the historical data of the ground surface damage and the ground surface elevation information.

[0053] Optionally, the second determination module 1140 includes a correlation acquisition sub-module and a determination sub-module. The correlation acquisition sub-module is used to obtain the correlation between the working face mining parameters and the degree of ground surface damage. The determination sub-module is used to determine the working face mining parameters corresponding to the predicted ground surface damage grade according to the correlation.

[0054] Optionally, the device 1100 further includes an early warning module, and the early warning module is used for: Regularly monitor the ground surface subsidence amount on the ground surface within the preset mining area by using UAV remote sensing technology. Determine the ground surface damage situation according to the ground surface subsidence amount. Give an early warning when the ground surface damage situation meets the set early warning conditions, and adjust the working face mining parameters.

[0055] Regarding the device in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0056] Figure 12 It is a block diagram of an electronic device 1200 shown according to an exemplary embodiment. As Figure 12 shown, the electronic device 1200 may include: a processor 1201, a memory 1202. The electronic device 1200 may further include one or more of a multimedia component 1203, an input / output (I / O) interface 1204, and a communication component 1205.

[0057] Among them, the processor 1201 is used to control the overall operation of the electronic device 1200 to complete all or part of the steps in the above-mentioned coal mining face retreat mining method. The memory 1202 is used to store various types of data to support the operation of the electronic device 1200. These data may include, for example, instructions for any application or method operating on the electronic device 1200, as well as application-related data, such as contact data, sent and received messages, pictures, audio, video, and so on. The memory 1202 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic memory, flash memory, a magnetic disk, or an optical disc. The multimedia component 1203 may include a screen and an audio component. The screen can be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal can be further stored in the memory 1202 or sent through the communication component 1205. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 1204 provides an interface between the processor 1201 and other interface modules, and the above-mentioned other interface modules can be a keyboard, a mouse, buttons, etc. These buttons can be virtual buttons or physical buttons. The communication component 1205 is used for wired or wireless communication between the electronic device 1200 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IoT, eMTC, or other 5G, etc., or a combination of one or more of them is not limited here. Therefore, the corresponding communication component 1205 may include: a Wi-Fi module, a Bluetooth module, an NFC module, and so on.

[0058] In an exemplary embodiment, the electronic device 1200 can be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components, and is used to execute the above-mentioned coal mining face retreating method.

[0059] In another exemplary embodiment, a computer-readable storage medium including program instructions is further provided. When the program instructions are executed by a processor, the steps of the above-mentioned coal mining face retreating method are implemented. For example, the computer-readable storage medium can be the above-mentioned memory 1202 including program instructions, and the above program instructions can be executed by the processor 1201 of the electronic device 1200 to complete the above-mentioned coal mining face retreating method.

[0060] In another exemplary embodiment, a computer program product is further provided. The computer program product includes a computer program capable of being executed by a programmable device, and the computer program has a code part for executing the above-mentioned coal mining face retreating method when executed by the programmable device.

[0061] The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. However, the present disclosure is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0062] In addition, it should be noted that, in the above specific embodiments, the various specific technical features described can be combined in any suitable manner without conflict. To avoid unnecessary repetition, the present disclosure will not separately describe various possible combination methods.

[0063] In addition, any combination can be made between various different embodiments of the present disclosure as long as it does not violate the idea of the present disclosure, and it should also be regarded as the content disclosed by the present disclosure.

Claims

1. A method for recovering coal from a working face, characterized in that: The method comprises: Determine the surface elevation information collection area on the surface above the coal mining area; Acquire the surface elevation information in the surface elevation information collection area; the surface elevation information includes at least one of surface relative elevation data, surface absolute elevation data and surface contour map; classifying the estimated level of surface damage based on the surface elevation information; Determine the working face mining parameters corresponding to the estimated surface damage level; wherein the working face mining parameters include mining speed and mining height; The working face mining of the coal mine is carried out according to the working face mining parameters.

2. The method for recovering coal from the working face of a coal mine according to claim 1, characterized in that: Determining the surface elevation information collection area on the surface above the coal mining area includes: The scope of the impact of surface subsidence after mining is analyzed by combining historical data and simulation data to determine the surface elevation information collection area; the historical data includes historical mining data and historical goaf subsidence information; the simulation data includes simulation data and numerical simulation results of the mining subsidence model.

3. The method for recovering coal from the working face of a coal mine according to claim 1, characterized in that: The step of acquiring the surface elevation information in the surface elevation information collection area includes: Using UAV remote sensing technology to obtain relative surface elevation data within the surface elevation information collection area; Coordinate system data conversion is performed based on the surface relative elevation data to obtain surface absolute elevation data and a surface contour map.

4. The method for recovering coal from the working face of a coal mine according to claim 3, characterized in that: The method comprises: Establishing a reference coordinate system at the working face of the mining area; the reference coordinate system includes reference coordinate data of the surface above the mining area and reference coordinate data of the mining working face; Establishing a detection coordinate system in the surface elevation information collection area; Acquire coordinate data of a plurality of marking positions in the detection coordinate system and plane coordinate data in the reference coordinate system; According to the preset route of the drone, the drone remote sensing technology is used to obtain the relative elevation data of the surface; wherein the preset route of the drone is determined based on multiple flight parameters, and the flight parameters include at least one of the altitude, overlap rate, flight speed and route spacing; The surface relative elevation data is converted to the reference coordinate system to obtain the surface absolute elevation data and the surface contour map; the surface contour map includes at least one of the surface elevation, working face burial depth, coal seam floor contour, and coal seam floor and surface distance contour map.

5. The coal face recovery method according to claim 1, characterized in that: The step of classifying the estimated level of surface damage based on the surface elevation information includes: Obtain historical data on surface damage under different mining conditions; Based on the historical data of the surface damage and the surface elevation information, a surface damage estimation level map is drawn, and the surface damage estimation levels are divided.

6. The method for recovering coal from a working face in a coal mine according to claim 1, characterized in that: The determining of the working face mining parameters corresponding to the estimated surface damage level includes: Obtain the correlation between the mining parameters of the working face and the degree of surface damage; The working face mining parameters corresponding to the estimated surface damage level are determined according to the correlation.

7. The method for recovering coal from a coal face according to claim 1, characterized in that: The method further comprises: On the surface of the preset mining area, the amount of surface subsidence is regularly monitored through drone remote sensing technology; determining the surface damage according to the surface subsidence; When the surface damage condition meets the set warning conditions, an early warning is issued and the mining parameters of the working face are adjusted.

8. A coal mine working face recovery device, characterized in that: The device comprises: The first determination module is used to determine the surface elevation information collection area on the surface above the coal mining area; An acquisition module, used to acquire the surface elevation information in the surface elevation information acquisition area; the surface elevation information includes at least one of surface relative elevation data, surface absolute elevation data and surface contour map; A level classification module, used for classifying the estimated level of surface damage based on the surface elevation information; The second determination module is used to determine the working face mining parameters corresponding to the estimated surface damage level; wherein the working face mining parameters include mining speed and mining height; The mining module is used to carry out mining of the working face of the coal mine according to the mining parameters of the working face.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

10. An electronic device, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1 to 7.

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