Dynamic management and control method and system for geological structure transparency model of coal mine working face

Abstract

The invention belongs to the technical field of coal mine working face simulation, and particularly relates to a dynamic management and control method and system for a geological structure transparency model of a coal mine working face, and the system comprises a geological transparent modeling platform and a geological model driving dynamic management and control platform. In combination with geological acquisition data obtained in real time, a working face fine geological model is generated after modeling processing; the geologic model driving dynamic management and control platform is used for preprocessing a working face fine geologic model, digitalizing the working face fine geologic model to generate a working face fine geologic model digital mirror image by using a CT slicing technology, and receiving equipment operation condition data of the sensing coal mining system in real time through a data interface technology. And dynamically updating the working face digital mining geologic model and performing linkage updating on the mining virtual scene to realize iterative updating of the geologic model. The problem that an existing coal mine working face geologic model lacks a real-time dynamic updating means can be solved.

Description

Technical Field

[0001] The invention belongs to the technical field of coal mine working face simulation, and particularly relates to a dynamic control method and system for a transparent model of geological structures in a coal mine working face. Background Art

[0002] In coal mining operations, the mining of the working face is a key link. It involves a deep understanding of the occurrence conditions of coal seams and geological structures and corresponding measures. Various characteristics of the coal seam itself, such as thickness, dip angle, stability, etc., are intertwined with geological structures such as faults, collapse columns, and folds, jointly affecting the determination of mining methods, the rational use of equipment, and the planning of mining processes. For example, the mining of thick coal seams may require high-power coal mining equipment, while special roof support measures and mining sequence adjustments are needed near faults to ensure operation safety and efficient recovery of coal resources. Therefore, comprehensively and accurately grasping the geological information of the working face is the basis for realizing efficient and safe coal mining.

[0003] In the process of promoting intelligent mining technology, although certain achievements have been made in the mining of coal seams with relatively simple geological conditions, and some automated operations have been applied. However, in many actual coal mine mining scenarios, when fully mechanized automation is introduced into the working face mining, many challenges are faced. Currently, coal mines in China generally have complex geological conditions and frequent geological structure development. Although the existing mining technologies are equipped with some geological exploration and analysis means, there are obvious deficiencies in the acquisition and application of geological and geographical information as a whole.

[0004] One prominent problem is the lack of a real-time dynamic update model. The existing geological models are often constructed based on limited geological exploration data in the early stage. Once the mining work progresses and the geological conditions change, such as encountering new small faults, coal seam thinning or thickening, etc., the model cannot reflect these dynamic changes in a timely manner. Moreover, the update means are poor, mostly relying on manual periodic re-exploration and data entry, which is inefficient and has limited accuracy. This results in the fact that during the mining process, the coal mining equipment relies on static or outdated geological model information and cannot adapt to the real-time changes in geological conditions. For example, when the coal seam thickness suddenly changes and the model is not updated, the cutting height setting of the shearer may be unreasonable, easily causing waste of coal resources or equipment damage; in the face of newly emerged geological structures, due to the model not being able to prompt in time, safety accidents such as roof collapse and gas leakage may occur, seriously hindering the effective application of intelligent mining technology under complex geological conditions and restricting the improvement of coal mining efficiency and safety. Summary of the Invention

[0005] The technical problem solved by the present invention is to provide a dynamic control method and system for a transparent model of geological structures in a coal mine working face to solve the problem of the lack of real-time dynamic update means for the existing geological models of coal mine working faces.

[0006] The basic solution provided by the present invention is a dynamic management and control system for the geological structure transparency model of a coal mine working face, including a geological transparency modeling platform and a geological model-driven dynamic management and control platform. The geological transparency modeling platform generates a fine geological model of the working face after modeling and processing based on the constructed geological database and the geological acquisition data acquired in real time;

[0007] The geological model driven dynamic management and control platform is used to pre-process the fine geological model of the working face, digitize it to generate a digital image of the fine geological model of the working face, and call on CT slicing technology and roaming technology to receive operating condition data transmitted by sensor equipment, and dynamically update the digital image of the fine geological model of the working face in real time.

[0008] Furthermore, the geological model-driven dynamic management and control platform includes a model processing module, a digital twin module, and a working face data acquisition module, wherein:

[0009] The model processing module is used to make CT slices according to the cutting depth of the coal mining machine as the step distance, perform CT slice processing, fixed-distance interpolation processing, grid processing and absolute coordinate conversion processing on the fine geological model of the working face, and splice to form a digital fine geological model of the working face;

[0010] The digital twin module is used to generate a digital image of the fine geological model of the working face according to the digitized fine geological model of the working face, and to generate a digital image of the fully mechanized mining equipment model according to the parameter information and structural data of the fully mechanized mining equipment in the coal mine working face, and to construct a digital image of the coal mining scene of the working face by combining the digital image of the fine geological model of the working face with the digital image of the fully mechanized mining equipment;

[0011] The working face data acquisition module is used to collect coal mine working face equipment monitoring and operation data and transmit it to the digital twin module; the digital twin module is used to drive the digital mirror of the working face coal mining scene to perform roaming and change simulation according to the collected coal mine working face equipment monitoring and operation data.

[0012] Furthermore, the digital twin module includes a platform main scene simulation unit, a model dynamic update unit, a coal mining machine cutting optimization unit, and a geological model iteration unit, wherein:

[0013] The platform's main scene simulation unit is used to display the real-time scene of the working face, the mining height data of the current cutter and the previous and next cutters, the geological slice scene miniature, the planned speed curve of the coal mining machine and the planned coal cutting curve, and to dynamically display the operation and rotation of the left and right drums in real time, and the real-time movement of the coal mining machine according to the position of the coal mining machine and the traction speed, and generate the real-time driving state of the underground coal mining machine coal cutting process;

[0014] The model dynamic update unit is used to perform CT slicing on the coal mine working face from each preset layout of the cutting eye, and automatically update the digital image of the coal mining scene of the working face according to the number of coal cutting knives;

[0015] The shearer cutting optimization unit is used to slice the fine geological model of the working face to be mined according to the preset shearer cutting plan using CT slicing technology, and optimize the shearer cutting path and parameters according to the cutting surface and the preset mining requirements;

[0016] The geological model iterative correction unit is used to slice the digital image of the fine geological model of the working face and iteratively correct the working face scene according to the optimized coal mining machine cutting path and parameters.

[0017] Further, the coal mining machine cutting optimization unit is specifically:

[0018] The grid step size in the length and width direction of the working face is set, and the coal seam is gridded on a two-dimensional plane to generate a two-dimensional plane grid, a roof grid, and a floor grid;

[0019] The cutting route in the preset coal mining machine cutting plan is projected onto the two-dimensional plane grid, the roof grid and the floor grid, and discretized into a finite number of straight line segments. The plane coordinates of the intersections of each straight line segment and the grid line are determined to obtain the projection point sequence of the cutting route on the two-dimensional plane. The expression is:

[0020] Set n straight line segments. For the i-th straight line segment, the coordinates of its two end points are set to (x i ,y i ) and (x i+1 ,y i+1 ), then the equation of the line between the two endpoints is:

[0021] y=k i x+b i

[0022] x∈[min(x i ,x i+1 ),max(x i ,x i+1 )]

[0023]

[0024] Where i = 1, 2, ..., n;

[0025] Calculate the equation of the line y=k i x+b i In the interval x∈[min(x i ,x i+1 ),max(x i ,x i+1) Intersection points with grid lines;

[0026] Perform the above steps on all straight line segments to obtain a sequence of projected points of the cutting route in the preset shearer cutting calculation on the two-dimensional plane;

[0027] For each projected point, search for the grid point in the roof grid and floor grid that is closest to the projected point in the two-dimensional plane respectively, and take the roof and floor elevations of this point as the coal seam roof and floor elevation values at the projected point, to obtain the roof points and floor points. Connect the roof point sequence and floor point sequence in sequence along the cutting direction to obtain the roof and floor interface curves, which characterize the coal seam profile to be cut.

[0028] Furthermore, the digital twin module further includes a scene roaming unit, and the scene roaming unit is used to perform roaming display on the roadway scene, hydraulic support scene, and transportation system scene of the coal mine working face.

[0029] Furthermore, the geological transparent modeling platform includes a database module, a working face initial model construction module, a high-resolution detection module, a working face structure model construction module, and a model fusion module, where:

[0030] The database module is used to digitize the geological achievements of the working face and process them in a preset format to generate a geological database;

[0031] The working face initial model construction module is used to extract the coal seam roof and floor data from the geological database to generate the coal seam roof surface and floor surface, and perform automatic interpolation fitting on the roof surface and floor surface to generate the working face initial model;

[0032] The high-resolution detection module is used to detect geological information based on a preset geological detection process, and perform high-resolution detection operations on the inside of the working face initial model with the geological information to generate a working face geological model;

[0033] The working face structure model construction module is used to extract geological fault data from the geological database, construct an abstract model of the fault geological body, and perform processing and analysis on the abstract model of the fault geological body to generate a working face structure model;

[0034] The model fusion module is used to fuse the working face geological model and the working face structure model to generate a working face fine geological model.

[0035] A method for dynamically controlling the transparency model of the geological structure of a coal mine working face, which is applied to the above-mentioned dynamically controlled system for the transparency model of the geological structure of a coal mine working face, includes:

[0036] S1: According to the constructed geological database, combined with the real-time obtained geological acquisition data, generate a working face fine geological model after modeling processing;

[0037] S2: After preprocessing the fine geological model of the working face, digitize it to generate a digital mirror image of the fine geological model of the working face, and call the CT slicing technology and roaming technology to receive the operation condition data transmitted by the sensing device, and perform real-time dynamic update on the digital mirror image of the fine geological model of the working face.

[0038] The principle and advantages of the present invention are as follows: The dynamic control system for the transparent model of the geological structure of the coal mining working face in the present invention includes a geological transparent modeling platform and a geological model-driven dynamic control platform. Among them, a high-precision geological model of the underground working face of the coal mine is constructed through the geological transparent modeling platform. During the model construction process, the geological database, modeling software, and geological exploration technology are used to realize the rapid modeling of the geological module of the underground working face of the coal mine and the high-precision model structure; after the modeling is completed, the model is digitized after preprocessing. For the digitized model, in the geological model-driven dynamic control platform, it is realistically restored according to the underground production environment and equipment to generate a digital mirror image of the coal mining scene of the working face and a digital twin body, and the sensor monitoring data is used to drive the realistically restored digital twin body. During the driving process, the CT slicing technology is used to process the model. The CT slicing technology adjusts the slicing step distance to slice the geological model according to the cutting route of the shearer on the working face, and during the dynamic update of the model, the coal mining working condition of the shearer underground is realistically restored. The model dynamically updated through the digital twin body can represent the real situation after the coal mining working face of the coal mine is cut by the shearer. In this way, the staff can predict and know the coal mining situation of the coal mining working face according to the real-time dynamic change simulation result of the digital twin body, so as to timely adjust and deal with possible safety accidents and improve the coal mining safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a functional block diagram of an embodiment of the present invention;

[0040] Figure 2 It is a schematic diagram of the initial working face model construction of an embodiment of the present invention;

[0041] Figure 3 It is an example diagram of the CT diagram of the energy attenuation of the trough wave of the working face in an embodiment of the present invention;

[0042] Figure 4 It is an example diagram of the schematic diagram of the attenuation of the multi-frequency electromagnetic wave penetration of the working face in an embodiment of the present invention;

[0043] Figure 5 It is a schematic diagram of the fusion processing and analysis of multi-source detection data in an embodiment of the present invention.

[0044] Figure 6 It is a schematic diagram of the fixed-distance CT slicing of the geological model in an embodiment of the present invention DETAILED DESCRIPTION OF THE EMBODIMENTS

[0045] The following is further described in detail through specific implementation methods:

[0046] The embodiment is basically as follows Figure 1 As shown: A dynamic management and control system for geological structure transparency model of coal mine working face, including a geological transparency modeling platform and a geological model driven dynamic management and control platform, including a geological transparency modeling platform and a geological model driven dynamic management and control platform, wherein the geological transparency modeling platform generates a fine geological model of the working face after modeling and processing based on the constructed geological database and the geological acquisition data acquired in real time; specifically, the geological transparency modeling platform includes a database module, a working face initial model construction module, a high-resolution detection module, a working face structure model construction module, and a model fusion module, wherein:

[0047] The database module is used to digitize the geological results of the working face, and process them according to a preset format to generate a geological database. In this embodiment, the geological results of the working face include mining engineering plan, mining geological description, stratum comprehensive columnar diagram, coal thickness contour map, well top and bottom comparison map, mining measurement point data table, coal seam floor contour and reserve estimation map, working face underground drilling map, directional drilling plan, surrounding coal mining working face geological description, surrounding coal mining working face drilling columnar diagram, working face mining plan and other major geological results data, and the geological results data are digitized, and data from different sources are pre-processed and converted according to a unified format to form a basic database, wherein the pre-processing process includes:

[0048] Convert data formats: To convert non-3D data into 3D data, you need to use corresponding conversion tools or algorithms. Different methods can be used for conversion depending on the type and format of the data.

[0049] Benchmark calibration: For data from different sources, benchmark calibration is required, which includes calibrating the three-dimensional coordinates of points, lines, surfaces, volumes and other information to ensure the accuracy and consistency of the data.

[0050] Domain conversion: When processing data, different data domains may need to be converted for better data analysis and processing.

[0051] Data screening: During the data processing process, data screening is required to eliminate invalid, useless or unreliable data, classify and organize the data, and determine the spatial topological relationship. This helps to better organize and understand the data for subsequent data analysis and processing.

[0052] Comprehensive comparative analysis: Conduct comprehensive comparative analysis on the processed data to form a digital spatial information database and establish a basic database. This helps to better understand the characteristics and distribution of the data and provides support for subsequent data applications.

[0053] Subsequently, create a positioning table with information such as project number, opening coordinates X, opening coordinates Y, opening coordinates Z, and maximum hole depth; create an inclinometer table with information such as project number, depth, azimuth, and dip angle; create a lithology table with information such as project number, starting depth, ending depth, formation, and thickness; the table data such as the positioning table, inclinometer table, and lithology table are interrelated through the project number. After digitizing the existing geological data, establish a geological database based on the lithology table, positioning table, and inclinometer table of the borehole data.

[0054] The working face initial model construction module is used to extract the coal seam roof and floor data from the geological database to generate the coal seam roof surface and floor surface, and automatically interpolate and fit the roof surface and floor surface to generate the working face initial model; in this embodiment, the working face initial model is modeled using continuous formation modeling. Specifically, based on the established geological database, according to the lithology field in the data table, select the coal seam and extract the coal seam roof data to automatically generate the coal seam roof surface. Perform spline interpolation based on the vertical distance from the coal seam floor to the initial surface to generate the B-spline surface distance surface. Finally, perform a logical subtraction operation on the initial surface and the B-spline surface to obtain the coal seam floor surface. The automatic interpolation and fitting of the coal seam roof surface and floor surface can be performed using interpolation methods such as spline interpolation and polynomial interpolation to form the working face initial model.

[0055] The biggest challenge in continuous formation modeling is to handle the spatial intersection, local pinch-out and missing phenomena of the coal seam roof and floor. Usually, these situations require manual interpolation and fitting of the roof and floor surfaces of the working face, and the position of the roof and floor is selected by means of surface logic operations. However, this method cannot automatically generate the pinch-out and missing areas, and the generated model data has a large amount of redundancy, and the number of model triangles increases geometrically, resulting in a large amount of calculation and even possible system overload. The working face model generated by this method cannot match the floor contour line, and is significantly higher or lower than the coal seam floor contour line, which is quite different from the actual situation, mainly due to the lack of or few boreholes near the working face; In response to this, this solution adopts the contour line modeling method. First, the coal seam floor contour line and the thickness contour line map are imported into the modeling software, and the initial elevation is assigned to the contour lines. Then, in the elevation processing module of the modeling software, an initial surface model is generated by raising the elevation of the contour lines. By superimposing the processed contour lines and thickness contour lines, a more accurate surface model is generated. In the contour line modeling method, the interpolation size usually adopts the minimum spacing of the discrete points of the floor contour line, and operations such as using the interpolation data source as the vertex of the model surface unit are used, so that the modeling accuracy can be better controlled. The initial model constructed by this method has the same working face floor as the coal seam floor contour line. By mainly using the data of the coal seam floor contour line and the roadway traverse points, and through accurate modeling algorithms, the error accuracy of the undulating shape of the roof and floor is strictly controlled within ±0.5m. The modeling method based on the coal seam floor contour line and the coal seam thickness can truly and accurately present the undulating shape of the coal seam on the working face; As Figure 2 shown, it is a schematic diagram of the initial working face model generated by the contour line modeling method in this solution.

[0056] The high-resolution detection module is used to detect the geological information based on the preset geological detection technology, and perform high-resolution detection operations on the inside of the initial working face model to generate a working face geological model; In this embodiment, after the initial working face model is constructed, it is necessary to carry out high-resolution detection on its internal structure. In this application, the slot wave and multi-frequency electromagnetic wave perspective detection technologies are used to detect the coal mine working face to obtain slot wave detection data. The slot wave detection data is preprocessed, geometric diffusion corrected, dispersion and wave field velocity analyzed, and finally transmission and reflection imaging are performed to obtain the CT interpretation map of slot wave energy attenuation and the envelope superposition interpretation map of slot wave reflection method. Based on the slot wave energy CT map and the reflection and transmission slot wave imaging result map as the main basis, and referring to the information such as the working face roadway, the mining situation of the adjacent working face and the information revealed by the rock roadway for comparative comprehensive interpretation. As Figure 3The figure shows an example of the interpretation diagram of the trough wave exploration of the working face. Anomalies are divided according to the seismic wave energy attenuation coefficient, and 6 anomaly areas (MC1 - MC6) are delimited. MC1 and MC2 are presumably areas with small faults developed; it is speculated that the coal seam in MC3 is crushed by extrusion; MC4 is presumably a zone with small faults developed; MC5 is a small fault and fault fracture zone; MC6 is a small fault and fault fracture zone.

[0057] As for the multi - frequency electromagnetic wave perspective CT data of the working face, after data transmission function, data editing, observation system setting, and tomographic imaging processing, the obtained Figure 4 figure shows an example of the radio wave perspective result diagram of the working face. Anomalies are divided according to the relative attenuation coefficient greater than 0.33, and a total of 4 radio wave perspective anomaly areas are delineated, numbered E1 - E4 in sequence. It is speculated that the anomaly in area E1 is caused by the comprehensive influence of the faults exposed in the auxiliary haulage roadway and the cut - through extending towards the working face; the anomaly in area E2 is speculated to be caused by the comprehensive influence of the faults exposed in the auxiliary haulage roadway and the belt roadway extending towards the working face; the anomaly in area E3 is speculated to be caused by the influence of the broken coal seam or parting in the working face; the anomaly in area E4 is speculated to be caused by the extension of the exposed fault.

[0058] Subsequently, analyze the data characteristics of trough wave seismic and radio wave perspective. Based on the format requirements of the geophysical exploration modeling data for the modeling system, complete the format conversion of the geophysical exploration result data. After unifying the coordinate system, construct three - dimensional discrete points carrying attribute data; then analyze the geometric and attribute characteristics of multi - source geophysical exploration data. Establish a multi - source geophysical exploration database according to the X - coordinate, Y - coordinate, Z - coordinate, and attribute values (such as trough wave energy attenuation coefficient, radio wave perspective attenuation coefficient, etc.). Conduct spatial matching and attribute normalization on the multi - source geophysical exploration data, and integrate all other information such as geological and borehole information together for cross - verification and fusion processing analysis, and finally obtain a unified interpretation result.

[0059] After fusion processing and comprehensive analysis in combination with the situation of the faults exposed in the roadway, no collapse column with a major axis greater than 10m is found in this exploration. There are 3 sections of anomaly areas delimited in this working face, as shown in Figure 5 the figure. Combining with the geological data, section I of the anomaly area is interpreted as being caused by the comprehensive influence of the development of multiple small faults and fracture zones such as CH - F1 - CH - F5; in section II of the anomaly area, the coal floor bulges, and it is interpreted as being caused by the influence of the crushed coal seam by extrusion or parting; section III of the anomaly area is interpreted as being caused by the comprehensive influence of faults and fracture zones.

[0060] Finally, according to the above - mentioned exploration results, process the interior of the initial model of the working face, fuse the comprehensive geophysical exploration results, construct a three - dimensional model of the geological structure inside the working face, realize the transparency of the geological structure inside the working face, visually display the spatial distribution of the structure, facilitate geological and production personnel to refer to and formulate safety measures, provide geological guarantee for the safe production of the coal mine, and provide a model data source for the construction of the mining data model.

[0061] The working face structure model construction module is used to extract geological fault data from the geological database, construct an abstract model of the fault geological body, process and analyze the abstract model of the fault geological body to generate a working face structure model; in this embodiment, the main manifestation form of the structure model is the fault model. The fault plane modeling is mainly based on the fault information contained in the geological section. Taking the formation mechanism of the geological fault structure as the theoretical basis, it analyzes the operation objects and operators required by the structural fault expression, constructs the expression rules, and formally describes the expression rules using context-free grammar. It extracts the operation object set and operator set for constructing the fault expression from it to form a fault expression; finally, it calculates the fault expression to form an abstract model of the fault geological body, and then performs a series of texture mapping and attribute assignment processes on the abstract model of the fault geological body to obtain a working face structure model.

[0062] The model fusion module is used to fuse the working face geological model and the working face structure model to generate a fine working face geological model.

[0063] Therefore, after the above-mentioned geological transparent modeling platform generates a fine working face geological model, it is transmitted to the geological model-driven dynamic control platform to generate a digital twin of the working face geological model. Specifically, in the geological model-driven dynamic control platform, it includes a model processing module, a digital twin module, and a working face data acquisition module, where:

[0064] The model processing module is used to make CT slices with the shearer cutting depth as the step, perform CT slice processing, fixed-distance interpolation processing, meshing processing, and absolute coordinate conversion processing on the fine working face geological model, and splice them to form a digitalized fine working face geological model; in this embodiment, the fine working face geological model makes CT slices with the shearer cutting depth as the step. According to the operation parameters of the coal mining machine in the coal mine, the step is set to 0.8m in this solution. The schematic diagram is shown in Figure 6 ;

[0065] Subsequently, according to the geological model after CT slice processing, it is meshed. Specifically, the coordinates of the boreholes passing through the coal seam in the coal mine working face roadway are used as the absolute coordinate reference points, and absolute coordinate conversion is performed. After the absolute coordinate conversion of the reference points is completed, fixed-distance interpolation of the top and bottom plate curves is performed, and the step is 0.8m.

[0066] The digital twin module is used to generate a digital mirror image of the fine working face geological model according to the digitalized fine working face geological model, and generate a digital mirror image of the fully-mechanized mining equipment model according to the fully-mechanized mining equipment parameter information and structural data in the coal mine working face, and construct a digital mirror image of the working face coal mining scene by combining the digital mirror image of the fine working face geological model and the digital mirror image of the fully-mechanized mining equipment.

[0067] The working face data acquisition module is used to collect coal mine working face equipment monitoring and operation data and transmit it to the digital twin module; the digital twin module is used to drive the digital mirror of the working face coal mining scene to perform roaming and change simulation according to the collected coal mine working face equipment monitoring and operation data.

[0068] In this embodiment, the digital twin module includes a platform main scene simulation unit, a model dynamic update unit, a coal mining machine cutting optimization unit, and a geological model iteration unit, wherein:

[0069] The platform's main scene simulation unit is used to display the real-time scene of the working face, the mining height data of the current cutter and the previous and next cutters, the geological slice scene miniature, the planned speed curve of the coal mining machine and the planned coal cutting curve, and to dynamically display the operation and rotation of the left and right drums in real time, and the real-time movement of the coal mining machine according to the position of the coal mining machine and the traction speed, and generate the real-time driving state of the underground coal mining machine coal cutting process;

[0070] The model dynamic update unit is used to perform CT slicing on the coal mine working face from each preset layout of the cutting eye, and automatically update the digital image of the coal mining scene of the working face according to the number of coal cutting knives;

[0071] The shearer cutting optimization unit is used to slice the fine geological model of the working face to be mined according to the preset shearer cutting plan using CT slicing technology, and optimize the shearer cutting path and parameters according to the cutting surface and the preset mining requirements; specifically:

[0072] The grid step size in the length and width direction of the working face is set, and the coal seam is gridded on a two-dimensional plane to generate a two-dimensional plane grid, a roof grid, and a floor grid;

[0073] The cutting route in the preset coal mining machine cutting plan is projected onto the two-dimensional plane grid, the roof grid and the floor grid, and discretized into a finite number of straight line segments. The plane coordinates of the intersections of each straight line segment and the grid line are determined to obtain the projection point sequence of the cutting route on the two-dimensional plane. The expression is:

[0074] Set n straight line segments. For the i-th straight line segment, the coordinates of its two end points are set to (x i ,y i ) and (x i+1 ,y i+1 ), then the equation of the line between the two endpoints is:

[0075] y=k i x+b i

[0076] x∈[min(x i ,x i+1 ),max(x i ,xi+1 )]

[0077]

[0078] Where i = 1, 2, ..., n;

[0079] Calculate the equation of the line y=k i x+b i In the interval x∈[min(x i ,x i+1 ),max(x i ,x i+1 )] and the intersection of the grid lines;

[0080] The above steps are performed on all straight line segments to obtain a projection point sequence of the cutting route in the preset coal mining machine cutting calculation on the two-dimensional plane;

[0081] For each projection point, the grid point closest to the projection point in the two-dimensional plane is searched in the roof grid and the bottom grid, and the roof and bottom elevations of the point are taken as the roof and bottom elevations of the coal seam at the projection point to obtain the roof point and the bottom point. The roof point sequence and the bottom point sequence are connected sequentially along the cutting direction to obtain the roof and bottom interface curves to characterize the coal seam profile to be cut.

[0082] The geological model iterative correction unit is used to slice the digital image of the fine geological model of the working face and iteratively correct the working face scene according to the optimized coal mining machine cutting path and parameters. Specifically, the iterative correction content includes:

[0083] 1. The current slicing position of the coal mining machine; 2. The real-time speed, position meter, position frame, and real-time height data of the left and right drums of the coal mining machine; 3. The current advancement mileage of the working face, the current position of the coal mining machine and other information. The coal mining machine model advances according to the advancement mileage; 4. The environmental monitoring data of the current working face, including dust content, methane content, ambient temperature, carbon monoxide concentration, etc.; 5. The height change trend of the top and bottom plates of the current working face, with the horizontal axis being the position frame and the vertical axis being the height.

[0084] In addition, the digital twin module also includes a scene roaming unit, which is used to roam and display the tunnel scene, hydraulic support scene, and transportation system scene of the coal mine working face.

[0085] In another embodiment of the present embodiment, a method for dynamically controlling a geological structure transparency model of a coal mine working face is also included, which is applied to the above-mentioned dynamic control system for a geological structure transparency model of a coal mine working face, including:

[0086] S1: Based on the constructed geological database and the real-time acquired geological data, a detailed geological model of the working face is generated after modeling and processing;

[0087] S2: After preprocessing the fine geological model of the working face, digitize it to generate a digital mirror image of the fine geological model of the working face, and call the CT slicing technology and roaming technology to receive the operation condition data transmitted by the sensing device, and perform real-time dynamic update on the digital mirror image of the fine geological model of the working face.

[0088] The above are only embodiments of the present invention. Specific structures and common knowledge such as characteristics that are well-known in the solution are not described in detail here. Those of ordinary skill in the art know all the common general technical knowledge in the technical field to which the invention belongs before the filing date or the priority date, are able to know all the existing technologies in this field, and have the ability to apply the conventional experimental means before this date. Those of ordinary skill in the art can, under the inspiration given in this application, combine their own abilities to improve and implement this solution. Some typical well-known structures or well-known methods should not become an obstacle for those of ordinary skill in the art to implement this application. It should be noted that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can be made, and these should also be regarded as the protection scope of the present invention, and these will not affect the implementation effect of the present invention and the practicality of the patent. The protection scope required by this application should be based on the content of its claims, and the specific implementation manners and the like recorded in the specification can be used to interpret the content of the claims.

Claims

1. A dynamic management and control system for a transparent model of geological structures in a coal mining face, characterized in that: It includes a geological transparent modeling platform and a geological model-driven dynamic management and control platform. The geological transparent modeling platform generates a fine geological model of the working face after modeling and processing based on the constructed geological database and the geological acquisition data acquired in real time; The geological model driven dynamic management and control platform is used to pre-process the fine geological model of the working face, digitize it to generate a digital image of the fine geological model of the working face, and call on CT slicing technology and roaming technology to receive operating condition data transmitted by sensor equipment, and dynamically update the digital image of the fine geological model of the working face in real time.

2. The dynamic control system for the transparent model of the geological structure of a coal mining face according to claim 1, characterized in that: The geological model-driven dynamic management and control platform includes a model processing module, a digital twin module, and a working face data acquisition module, wherein: The model processing module is used to make CT slices according to the cutting depth of the coal mining machine as the step distance, perform CT slice processing, fixed-distance interpolation processing, grid processing and absolute coordinate conversion processing on the fine geological model of the working face, and splice to form a digital fine geological model of the working face; The digital twin module is used to generate a digital image of the fine geological model of the working face according to the digital fine geological model of the working face, and to generate a digital image of the fully mechanized mining equipment model according to the parameter information and structural data of the fully mechanized mining equipment in the coal mine working face, and to construct a digital image of the coal mining scene of the working face by combining the digital image of the fine geological model of the working face with the digital image of the fully mechanized mining equipment; The working face data acquisition module is used to collect coal mine working face equipment monitoring and operation data and transmit it to the digital twin module; the digital twin module is used to drive the digital mirror of the working face coal mining scene to perform roaming and change simulation according to the collected coal mine working face equipment monitoring and operation data.

3. A dynamic management and control system for a transparent geological structure model of a coal mining face according to claim 2, characterized in that: The digital twin module includes a platform main scene simulation unit, a model dynamic update unit, a coal mining machine cutting optimization unit, and a geological model iteration unit, wherein: The platform's main scene simulation unit is used to display the real-time scene of the working face, the mining height data of the current cutter and the previous and next cutters, the geological slice scene miniature, the planned speed curve of the coal mining machine and the planned coal cutting curve, and to dynamically display the operation and rotation of the left and right drums in real time, and the real-time movement of the coal mining machine according to the position of the coal mining machine and the traction speed, and generate the real-time driving state of the underground coal mining machine coal cutting process; The model dynamic update unit is used to perform CT slicing on the coal mine working face from each preset layout of the cutting eye, and automatically update the digital image of the coal mining scene of the working face according to the number of coal cutting knives; The shearer cutting optimization unit is used to slice the fine geological model of the working face to be mined according to the preset shearer cutting plan using CT slicing technology, and optimize the shearer cutting path and parameters according to the cutting surface and the preset mining requirements; The geological model iterative correction unit is used to slice the digital image of the fine geological model of the working face and iteratively correct the working face scene according to the optimized coal mining machine cutting path and parameters.

4. The dynamic control system for the transparent model of the geological structure of a coal mining face according to claim 3, characterized in that: The coal mining machine cutting optimization unit is specifically: The grid step size in the length and width direction of the working face is set, and the coal seam is gridded on a two-dimensional plane to generate a two-dimensional plane grid, a roof grid, and a floor grid; Project the cutting route in the preset shearer cutting plan onto the two-dimensional plane grid, roof grid, and floor grid, and discretize it into a finite number of straight line segments. Determine the plane coordinates of the intersection points of each straight line segment and the grid lines to obtain the projection point sequence of the cutting route on the two-dimensional plane. The expression is as follows: Set \(n\) straight line segments. For the \(i\)-th straight line segment, the coordinates of its two endpoints are set as \((x i , y i )\) and \((x i+1 , y i+1 )\). Then the straight line equation between the two endpoints is: y = k i x + b i x ∈ [min(x i , x i+1 ), max(x i , x i+1 )] where i = 1, 2, …, n; Calculate the straight line equation y = k i x + b i in the interval x ∈ [min(x i , x i+1 ), max(x i , x i+1 )] and the intersection points with the grid lines; Execute the above steps for all straight line segments to obtain the projection point sequence of the cutting route on the two-dimensional plane in the preset shearer cutting calculation; For each projection point, search for the grid point with the closest two-dimensional plane distance to this projection point in the roof grid and floor grid respectively, and take the roof and floor elevations of this point as the coal seam roof and floor elevation values at the projection point to obtain the roof points and floor points. Connect the roof point sequence and the floor point sequence in sequence along the cutting direction to obtain the roof and floor interface curves, which characterize the coal seam profile to be cut.

5. The dynamic control system for the transparent model of the geological structure of a coal mining face according to claim 4, characterized in that: The digital twin module also includes a scene roaming unit, which is used to perform roaming display on the roadway scene, hydraulic support scene, and transportation system scene of the coal mine working face.

6. The dynamic control system for the transparent model of the geological structure of a coal mining face according to claim 5, characterized in that: The geological transparent modeling platform includes a database module, a working face initial model construction module, a high-resolution detection module, a working face structure model construction module, and a model fusion module, where: The database module is used to digitize the geological results of the working face and process them in a preset format to generate a geological database; The working face initial model construction module is used to extract the coal seam roof and floor data from the geological database to generate the coal seam roof surface and floor surface, and perform automatic interpolation fitting on the roof surface and floor surface to generate the working face initial model; The high-resolution detection module is used to detect geological information based on a preset geological detection process, and perform high-resolution detection operations on the inside of the working face initial model with the geological information to generate the working face geological model; The working face structure model construction module is used to extract geological fault data from the geological database, construct an abstract model of the fault geological body, and perform processing and analysis on the abstract model of the fault geological body to generate the working face structure model; The model fusion module is used to fuse the working face geological model and the working face structure model to generate the working face fine geological model.

7. A dynamic control method for the transparent model of the geological structure of a coal mining face, which is applied to the dynamic control system of the transparent model of the geological structure of a coal mining face described in any one of the above claims 1-6, and is characterized in that: Including: S1: Generate the working face fine geological model through modeling processing by combining the constructed geological database with the real-time obtained geological collection data; S2: After preprocessing the working face fine geological model, digitize it to generate a digital mirror image of the working face fine geological model, and call the CT slicing technology and roaming technology to receive the operating condition data transmitted by the sensing device, and perform real-time dynamic update on the digital mirror image of the working face fine geological model.

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