Method for efficiently monitoring surface movement of coal face in online and manual combination mode

Abstract

The invention discloses a method for efficiently monitoring surface movement of a coal face in an online and manual combined mode. The method comprises the following steps: S1, designing monitoring points; S2, burying the monitoring points; s3, observation and data acquisition; s4, data processing and analysis; s5, a surface subsidence prediction model is predicted through probability integration; s6, predicting subsidence data of each monitoring point and subsidence data between the monitoring points in mining subsidence by a probability integral fusion time model and an interpolation method; and S7, forming a complete set of efficient monitoring system for the surface movement of the coal face in an online and manual combination mode. The coal mine surface movement monitoring system has the outstanding characteristics of monitoring intelligence, data precision, equipment light weight and high construction efficiency, the innovative technical scheme can greatly improve the coal mine surface movement monitoring efficiency and precision, a scientific basis is provided for early warning of geological disasters such as rock burst, meanwhile, the input cost of monitoring equipment is remarkably reduced, and the reuse rate of the equipment is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of mining engineering, and in particular relates to a method for efficiently monitoring surface movement of a coal mining face in a combined online and manual manner. Background Art

[0002] Traditional manual monitoring of surface movement relies primarily on instruments such as total stations and levels for surface settlement monitoring. This involves large working areas and requires manual point-by-point measurement, resulting in a cumbersome and inefficient process. For example, planimetric and elevation measurements must be performed separately, requiring significant manpower for each observation. Weather and terrain constraints make operations difficult in rainy, snowy, nighttime, or complex terrain. Furthermore, traditional methods only capture data at discrete points, with limited coverage, making it prone to missing safety hazards. Errors accumulate over distance, making accuracy difficult to guarantee, especially in complex mining environments. For example, levels have long monitoring cycles, fail to capture dynamic deformation, and provide poor real-time data, making them inadequate for early warning of rapid surface settlement during coal mining. While relying solely on GNSS online monitoring technology allows for multi-point deployment, the acquisition and maintenance costs of the equipment are high, and GNSS satellite reception is severely affected by terrain obstruction.

[0003] GNSS (Global Navigation Satellite System) monitoring stations, as core facilities for high-precision geospatial data collection, are widely used in fields such as coal mine surface subsidence, geological disasters, and bridge deformation. In particular, in coal mine surface subsidence monitoring, a large number of GNSS stations are installed, and they need to be frequently moved according to changes in the location of the coal mining face. As the core structure of the supporting equipment, the GNSS station base must meet stringent requirements such as millimeter-level stability, long-term durability, and environmental adaptability. Traditional base design and construction methods have significant defects. First, traditional reinforced concrete bases weigh hundreds of kilograms and are immovable. They need to be dismantled manually or by blasting and cannot be reused. Second, the construction efficiency is low, and they need to be poured on site and undergo a 3-7 day maintenance cycle. The positioning accuracy of embedded parts is greatly affected by human factors. At the same time, the base needs to be rebuilt for each relocation, which is costly and time-consuming, and the abandoned base generates a lot of solid waste. Summary of the Invention

[0004] In order to solve the problems of low efficiency, data dispersion, insufficient real-time and dynamic deformation capture capabilities caused by traditional manual surveying and mapping relying on total stations, levels and other equipment, as well as large base size, heavy weight, and non-reusability, the present invention provides a method for efficiently monitoring the surface movement of coal mining working faces in a combination of online and manual methods; this method is based on the Beidou high-precision positioning system, proposes an "online monitoring + manual surveying and mapping" collaborative mode, and develops online monitoring equipment integrating Beidou RTK (real-time positioning) technology to achieve real-time acquisition of surface deformation with millimeter-level accuracy, replacing manual point-by-point measurement and breaking through operational limitations. At the same time, the theoretical model and interpolation algorithm are combined to dynamically infer the settlement data of unmeasured artificial points using known online monitoring point data; the processed data is used to generate visual two-dimensional and three-dimensional surface movement graphics, and an in-depth analysis of the overburden movement law is conducted to provide a scientific basis for rock burst warning and safe mining of the working face; at the same time, a GNSS monitoring station base is set up that is small in size, easy to assemble and disassemble, and reusable.

[0005] To solve the above technical problems, the present invention adopts the following technical solution: a method for efficiently monitoring surface movement of a coal mining face using a combination of online and manual methods, comprising the following steps:

[0006] S1. Monitoring point design: Design the coordinates of manual monitoring points and online monitoring points according to surveying and mapping specifications and considering the key points of the working face;

[0007] S2. Burying of monitoring points: Bury artificial monitoring point signs at artificial monitoring points, set up GNSS online monitoring stations at online monitoring points, and use modular bases that are easy to install and disassemble.

[0008] S3. Observation and data collection: Use digital level and RTK to observe manual monitoring points, collect manual observation data, and collect and organize real-time monitoring data from GNSS online monitoring stations;

[0009] S4. Data processing and analysis: Perform unified format conversion and standardization processing on manual measurement data and GNSS online monitoring data;

[0010] S5, Probability integral prediction model for surface subsidence;

[0011] S6. Probability integral fusion time model and interpolation method are used to predict the subsidence data of each monitoring point and the subsidence data between monitoring points in mining subsidence;

[0012] S7. Form a complete and efficient monitoring system for surface movement of coal mining faces using a combination of online and manual methods.

[0013] Step S1 specifically includes the following: Based on relevant surveying and mapping specifications, the mining boundaries of the coal mining face, geological structure changes, buildings, above important infrastructure or other key points are comprehensively considered to design the coordinates of the manual monitoring points and online monitoring points; the manual monitoring points are mainly arranged in areas that are difficult to cover by GNSS online monitoring stations or local areas that require special attention to supplement the online monitoring data; the online monitoring points are evenly distributed in a grid on the working face and its surroundings to ensure that the overall surface movement trend can be grasped; at the same time, combined with the working face mining plan and geological conditions, the spacing and number of monitoring points are reasonably determined so that the distribution of monitoring points can meet the monitoring accuracy requirements and improve the monitoring efficiency.

[0014] Step S2 specifically includes the following contents:

[0015] (1) Burying of artificial monitoring points: Bury artificial monitoring point signs at selected locations according to design requirements. Use appropriate burial methods for different geological conditions. On hard ground, drill holes and then pour concrete to fix the signs. On soft ground, deepen the burial depth and install stable protective devices to ensure the stability and long-term availability of the artificial monitoring points.

[0016] (2) The GNSS online monitoring station includes a modular assembly base and a ground monitoring equipment assembly mounted on the modular assembly base. The modular assembly base is made of high-strength aluminum alloy or iron components. The modular assembly base includes several layers of annular seats that are assembled and connected in sequence from bottom to top by bolt connection. The modular assembly base is an overall conical tower structure with a small top and a large bottom. The ground monitoring equipment assembly is mounted on the uppermost annular seat by bolt connection.

[0017] Burial, installation and operation of the GNSS online monitoring station: First, select the burial location, dig a deep foundation pit, and assemble the equipment layer by layer from bottom to top in the foundation pit. Use a precise level adjustment device to ensure that the level of the coal seam installation meets the requirements. After each layer is installed, backfill the soil and dynamically compact it. Finally, install the GNSS online monitoring equipment on the base, connect the power and communication lines, and perform equipment debugging and calibration to ensure its normal operation and the real-time and stable transmission of monitoring data.

[0018] The annular seat is provided with nine layers, and the center lines of the nine layers coincide. From bottom to top, they are the first layer annular seat, the second layer annular seat, the third layer annular seat, the fourth layer annular seat, the fifth layer annular seat, the sixth layer annular seat, the seventh layer annular seat, the eighth layer annular seat and the ninth layer annular seat;

[0019] The first layer annular seat, the second layer annular seat, the third layer annular seat and the fourth layer annular seat are connected by at least three first bolts arranged vertically; the fourth layer annular seat, the fifth layer annular seat and the sixth layer annular seat are connected by at least three second bolts arranged vertically; the sixth layer annular seat, the seventh layer annular seat and the eighth layer annular seat are connected by at least three third bolts arranged vertically; the sixth layer annular seat, the seventh layer annular seat and the eighth layer annular seat are connected by at least three third bolts arranged vertically; the seventh layer annular seat, the eighth layer annular seat and the ninth layer annular seat are connected by at least three fourth bolts arranged vertically;

[0020] The ground monitoring equipment assembly includes a vertically arranged column and co-center line with the modular assembled base, a base plate is fixed at the lower end of the column, a reinforcing rib is provided between the upper surface of the base plate and the column, a monitoring chassis is connected to the column through a clamp, a solar panel located above the monitoring chassis is provided on the column, a high-precision antenna and a lightning rod are provided at the upper end of the column, the base plate is provided on the ninth-layer annular seat, the base plate is fixedly connected to the ninth-layer annular seat by studs and nuts, the lower end of the stud is welded to the ninth-layer annular seat, the upper end of the stud passes through the base plate, the nut is threadedly connected to the stud and crimped to the upper surface of the base plate.

[0021] The specific content of step S3 is:

[0022] (1) Observation of artificial monitoring points: Use a digital level to regularly observe artificial settlement monitoring points according to standardized measurement methods; follow the observation sequence of "back-front-front-back" during measurement, record the elevation data of each monitoring point, and keep records of observation time and weather-related information; at the same time, use RTK equipment to measure the plane coordinates of the artificial monitoring points to obtain accurate location information;

[0023] (2) GNSS online monitoring station data collection: The monitoring data transmitted by the GNSS online monitoring station is collected in real time through the communication network, including the three-dimensional coordinates, displacement changes, and timestamp information of the monitoring points; the collected data is preliminarily sorted and verified, and obvious abnormal data is eliminated to ensure the accuracy and completeness of the data.

[0024] The specific contents of step S4 include:

[0025] (1) Data preprocessing: Perform unified format conversion and standardization on manual measurement data and GNSS online monitoring data, and integrate data from different sources into the same coordinate system; use interpolation or other appropriate data filling methods to supplement missing data; analyze abnormal data in combination with monitoring environment and historical data to determine rationality, and make corrections or elimination when necessary;

[0026] (2) Data analysis: Using statistical analysis methods, calculate the displacement change rate and cumulative displacement parameters of each monitoring point in different time periods, and analyze the spatiotemporal distribution characteristics of surface movement; by comparing manual measurement data and GNSS online monitoring data, verify the consistency and reliability of the data, and evaluate the error range of the two monitoring methods.

[0027] The specific content of step S5 is: based on the basic principle of the probability integral method, combined with the geological conditions of the mining area and the actual mining parameters, a probability integral prediction model is established; using the collected monitoring data, through parameter estimation methods such as the least squares method, the various parameters in the model, such as the main influencing angle tangent and the subsidence coefficient, are determined; using the established model, the final surface settlement of the coal mining working face is predicted to obtain the predicted value of the final settlement of each monitoring point.

[0028] The specific content of step S6 is as follows: on the basis of the probability integral prediction model, the time factor is introduced to construct a probability integral fusion time model to reflect the changing pattern of surface subsidence with mining time; at the same time, interpolation methods such as Kriging interpolation and spline interpolation are used to infer the subsidence data between the unmonitored area and the measuring point based on the subsidence data of known monitoring points, so as to realize continuous and comprehensive prediction of the surface subsidence of the entire coal mining working face; by continuously updating the monitoring data, the model is dynamically corrected and optimized to improve the accuracy and reliability of the prediction.

[0029] The specific content of step S7 is: integrating and organizing the monitoring data, analysis results and prediction models obtained in the above steps to form a complete online and manual combination of efficient monitoring system for surface movement of coal mining working faces; through visualization technology, the processed data is generated into two-dimensional and three-dimensional surface movement graphics to intuitively display the deformation characteristics and development trends of surface movement; at the same time, the monitoring results are integrated with the coal mine safety production management system to provide scientific and timely decision-making basis for mine impact ground pressure warning, working face safe recovery, etc., so as to realize efficient monitoring and dynamic management of surface movement of coal mining working faces.

[0030] The specific process of burying and installing the modular assembled base of the GNSS online monitoring station in step S2 is as follows: the construction personnel first place the first-layer annular seat into the foundation pit, then install the second-layer annular seat, the threaded holes of the second-layer annular seat correspond to those of the first-layer annular seat, backfill the soil and dynamically compact it, then install the third-layer annular seat and the fourth-layer annular seat, backfill the soil and dynamically compact it, so that the threaded holes of the first-layer annular seat, the second-layer annular seat, the third-layer annular seat and the fourth-layer annular seat correspond to each other, insert the first bolt to connect the first-layer annular seat, the second-layer annular seat, the third-layer annular seat and the fourth-layer annular seat into one, and then follow the above steps. During the operation, the fifth, sixth, seventh, eighth and ninth layers of the annular seat are installed in place layer by layer from bottom to top, and are connected in series through the second bolt, the third bolt and the fourth bolt. After each layer of the annular seat is installed, the earth is backfilled and dynamically compacted to form a self-stabilizing conical tower-shaped gradient structure. Finally, the mounting holes on the base plate are correspondingly inserted into the studs, and the nuts are tightened to firmly fix the base plate and the ninth layer of the annular seat. During dismantling, due to the mechanical characteristics of the conical tower (large bottom area and gradually downward shift of the center of gravity), it can be manually disassembled and transported layer by layer from top to bottom, or it can be pulled out as a whole with the help of light lifting machinery.

[0031] Adopting the above technical scheme, the present invention adopts a surface movement monitoring method that combines the Beidou high-precision positioning system with manual measurement; receives positioning data from the Beidou satellite system and surface deformation data obtained by the synthetic aperture radar interferometry measurement system; based on the positioning data and the surface deformation data, performs data fusion processing, constructs a probability integral and time function coupling dynamic model and a linear interpolation model, and uses the model to infer the surface deformation data according to mining factors and geological conditions, obtains the subsidence data of unmeasured points, generates two-dimensional and three-dimensional surface subsidence graphics, and simultaneously analyzes the overburden occurrence characteristics and overburden movement laws, monitors future surface subsidence, and provides a scientific basis for early warning and prevention of geological disasters.

[0032] This invention achieves an intelligent upgrade in coal mine surface movement monitoring technology. Through a combined monitoring model of "Beidou Online + Manual Measurement," it overcomes the technical bottlenecks of low efficiency and data lag associated with traditional manual measurement. Based on a probability integral model and a three-dimensional interpolation algorithm, it constructs a high-precision dynamic model of surface subsidence, significantly improving the real-time nature of monitoring data and the accuracy of predictions. Furthermore, the modular assembly base developed by this invention utilizes interlayer mechanical transmission within a conical ring and a through-locking structure. This allows for rapid assembly and disassembly, as well as reuse, while maintaining millimeter-level stability. This effectively addresses the issues of traditional concrete foundations, such as their bulkiness, immobility, and poor adaptability.

[0033] The lightweight and fast-deployable modular assembly base utilizes high-strength aluminum alloy or iron components, enabling rapid assembly and disassembly to accommodate frequent mining site relocations. This solves the issues of traditional bases, such as immobility and resource waste, long construction cycles and high labor costs, and stability and durability. It meets the long-term monitoring accuracy requirements of GNSS equipment, is suitable for a variety of geological conditions, and significantly improves construction efficiency and equipment reuse.

[0034] In summary, the present invention features intelligent monitoring, precise data, lightweight equipment, and efficient construction. Its innovative technical solution not only significantly improves the efficiency and accuracy of surface movement monitoring in coal mines, providing a scientific basis for early warning of geological disasters such as rock burst, but also significantly reduces the investment cost of monitoring equipment and increases equipment reuse. This technology can be widely applied in engineering fields such as intelligent mine construction and open-pit mine slope monitoring, with significant economic and social benefits and outstanding value for promotion and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a flow chart of the present invention;

[0036] Figure 2 It is the plan layout of measuring points on the working surface;

[0037] Figure 3 It is the settlement observation curve of the strike line of the working face;

[0038] Figure 4 It is the settlement observation curve of the strike line of the working face;

[0039] Figure 5 It is the coordinate system of the surface subsidence prediction model;

[0040] Figure 6 It is the inferred parameter map of surface subsidence;

[0041] Figure 7 The probability integral fusion time model is used to infer the sedimentation map

[0042] Figure 8 It is the settlement map of artificial measuring points estimated by linear interpolation model;

[0043] Figure 9 It is a three-dimensional model diagram of surface subsidence;

[0044] Figure 10 This is a schematic diagram of the GNSS online monitoring station structure;

[0045] Figure 11 yes Figure 10 A magnified view of the modular assembly base;

[0046] Figure 12 This is an exploded view of the modular assembly base;

[0047] Figure 13 It is an axial cross-sectional view of the modular assembled base buried in the foundation pit. DETAILED DESCRIPTION

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are also within the scope of protection of the present invention.

[0049] like Figure 1 As shown, the method for efficiently monitoring surface movement of a coal mining face using a combination of online and manual methods of the present invention comprises the following steps:

[0050] S1. Monitoring point design: Design the coordinates of manual monitoring points and online monitoring points according to surveying and mapping specifications and considering the key points of the working face;

[0051] S2. Burying of monitoring points: Bury artificial monitoring point signs at artificial monitoring points, set up GNSS online monitoring stations at online monitoring points, and use modular bases that are easy to install and disassemble.

[0052] S3. Observation and data collection: Use digital level and RTK to observe manual monitoring points, collect manual observation data, and collect and organize real-time monitoring data from GNSS online monitoring stations;

[0053] S4. Data processing and analysis: Perform unified format conversion and standardization processing on manual measurement data and GNSS online monitoring data;

[0054] S5, Probability integral prediction model for surface subsidence;

[0055] S6. Probability integral fusion time model and interpolation method are used to predict the subsidence data of each monitoring point and the subsidence data between monitoring points in mining subsidence;

[0056] S7. Form a complete and efficient monitoring system for surface movement of coal mining faces using a combination of online and manual methods.

[0057] Step S1 specifically includes the following: Based on relevant surveying and mapping specifications, the mining boundaries of the coal mining face, geological structure changes, buildings, above important infrastructure or other key points are comprehensively considered to design the coordinates of the manual monitoring points and online monitoring points; the manual monitoring points are mainly arranged in areas that are difficult to cover by GNSS online monitoring stations or local areas that require special attention to supplement the online monitoring data; the online monitoring points are evenly distributed in a grid on the working face and its surroundings to ensure that the overall surface movement trend can be grasped; at the same time, combined with the working face mining plan and geological conditions, the spacing and number of monitoring points are reasonably determined so that the distribution of monitoring points can meet the monitoring accuracy requirements and improve the monitoring efficiency.

[0058] Step S2 specifically includes the following contents:

[0059] (1) Burying of artificial monitoring points: Bury artificial monitoring point signs at selected locations according to design requirements. Use appropriate burial methods for different geological conditions. On hard ground, drill holes and then pour concrete to fix the signs. On soft ground, deepen the burial depth and install stable protective devices to ensure the stability and long-term availability of the artificial monitoring points.

[0060] (2) The GNSS online monitoring station includes a modular assembly base and a ground monitoring equipment component mounted on the modular assembly base 2. The modular assembly base 2 is made of high-strength aluminum alloy or iron components. The modular assembly base 2 includes several layers of annular seats that are assembled and connected in sequence from bottom to top by bolt connection. The modular assembly base 2 is a conical tower structure with a small top and a large bottom. The ground monitoring equipment component is mounted on the uppermost annular seat by bolt connection. Figure 10 shown.

[0061] Burial, installation and operation of the GNSS online monitoring station: First, select the burial location, dig a deep foundation pit, and assemble the equipment layer by layer from bottom to top in the foundation pit. Use a precise level adjustment device to ensure that the level of the coal seam installation meets the requirements. After each layer is installed, backfill the soil and dynamically compact it. Finally, install the GNSS online monitoring equipment on the base, connect the power and communication lines, and perform equipment debugging and calibration to ensure its normal operation and the real-time and stable transmission of monitoring data.

[0062] like Figure 11-13 As shown, the annular seat is provided with nine layers, and the center lines of the nine layers of annular seats coincide, and from bottom to top are the first layer annular seat 3, the second layer annular seat 4, the third layer annular seat 5, the fourth layer annular seat 6, the fifth layer annular seat 7, the sixth layer annular seat 8, the seventh layer annular seat 9, the eighth layer annular seat 10 and the ninth layer annular seat 11;

[0063] The outer diameter of the first layer annular seat 3 and the second layer annular seat 4 are both 800mm, the inner diameter is 600mm, and the height is 75mm;

[0064] The outer diameter of the third-layer annular seat 5 and the fourth-layer annular seat 6 are both 700 mm, the inner diameter are both 500 mm, and the height are both 75 mm;

[0065] The outer diameter of the fifth-layer annular seat 7 and the sixth-layer annular seat 8 are both 600 mm, the inner diameter are both 400 mm, and the height are both 100 mm;

[0066] The outer diameter of the seventh-layer annular seat 9 and the eighth-layer annular seat 10 are both 500 mm, the inner diameter are both 250 mm, and the height are both 100 mm;

[0067] The outer diameter of the ninth layer annular seat 11 is 350 mm, the inner diameter is 150 mm, and the height is 100 mm.

[0068] The first-layer annular seat 3, the second-layer annular seat 4, the third-layer annular seat 5 and the fourth-layer annular seat 6 are connected by at least three first bolts 12 arranged vertically; the fourth-layer annular seat 6, the fifth-layer annular seat 7 and the sixth-layer annular seat 8 are connected by at least three second bolts 13 arranged vertically; the sixth-layer annular seat 8, the seventh-layer annular seat 9 and the eighth-layer annular seat 10 are connected by at least three third bolts 14 arranged vertically; the sixth-layer annular seat 8, the seventh-layer annular seat 9 and the eighth-layer annular seat 10 are connected by at least three third bolts 14 arranged vertically; the seventh-layer annular seat 9, the eighth-layer annular seat 10 and the ninth-layer annular seat 11 are connected by at least three fourth bolts 15 arranged vertically.

[0069] The ground monitoring equipment assembly includes a column 16 which is vertically arranged and co-center line with the modular assembled base 2. A base plate 17 is fixed to the lower end of the column 16. A reinforcing rib 18 is provided between the upper surface of the base plate 17 and the column 16. A monitoring chassis 19 is connected to the column 16 through a clamp. A solar panel 20 is provided on the column 16 and is located above the monitoring chassis 19. A high-precision antenna 21 and a lightning rod 22 are provided at the upper end of the column 16. The base plate 17 is provided on the ninth-layer annular seat 11. The base plate 17 is fixedly connected to the ninth-layer annular seat 11 through a stud 23 and a nut 24. The lower end of the stud 23 is welded to the ninth-layer annular seat 11, and the upper end of the stud 23 passes through the base plate 17. The nut 24 is threadedly connected to the stud 23 and is crimped to the upper surface of the base plate 17.

[0070] The specific content of step S3 is:

[0071] (1) Observation of artificial monitoring points: Use a digital level to regularly observe artificial settlement monitoring points according to standardized measurement methods; follow the observation sequence of "back-front-front-back" during measurement, record the elevation data of each monitoring point, and keep records of observation time and weather-related information; at the same time, use RTK equipment to measure the plane coordinates of the artificial monitoring points to obtain accurate location information;

[0072] (2) GNSS online monitoring station data collection: The monitoring data transmitted by the GNSS online monitoring station is collected in real time through the communication network, including the three-dimensional coordinates, displacement changes, and timestamp information of the monitoring points; the collected data is preliminarily sorted and verified, and obvious abnormal data is eliminated to ensure the accuracy and completeness of the data.

[0073] The specific contents of step S4 include:

[0074] (1) Data preprocessing: Perform unified format conversion and standardization on manual measurement data and GNSS online monitoring data, and integrate data from different sources into the same coordinate system; use interpolation or other appropriate data filling methods to supplement missing data; analyze abnormal data in combination with monitoring environment and historical data to determine rationality, and make corrections or elimination when necessary;

[0075] (2) Data analysis: Using statistical analysis methods, calculate the displacement change rate and cumulative displacement parameters of each monitoring point in different time periods, and analyze the spatiotemporal distribution characteristics of surface movement; by comparing manual measurement data and GNSS online monitoring data, verify the consistency and reliability of the data, and evaluate the error range of the two monitoring methods.

[0076] The specific content of step S5 is: based on the basic principle of the probability integral method, combined with the geological conditions of the mining area and the actual mining parameters, a probability integral prediction model is established; using the collected monitoring data, through parameter estimation methods such as the least squares method, the various parameters in the model, such as the main influencing angle tangent and the subsidence coefficient, are determined; using the established model, the final surface settlement of the coal mining working face is predicted to obtain the predicted value of the final settlement of each monitoring point.

[0077] The specific content of step S6 is as follows: on the basis of the probability integral prediction model, the time factor is introduced to construct a probability integral fusion time model to reflect the changing pattern of surface subsidence with mining time; at the same time, interpolation methods such as Kriging interpolation and spline interpolation are used to infer the subsidence data between the unmonitored area and the measuring point based on the subsidence data of known monitoring points, so as to realize continuous and comprehensive prediction of the surface subsidence of the entire coal mining working face; by continuously updating the monitoring data, the model is dynamically corrected and optimized to improve the accuracy and reliability of the prediction.

[0078] The specific content of step S7 is: integrating and organizing the monitoring data, analysis results and prediction models obtained in the above steps to form a complete online and manual combination of efficient monitoring system for surface movement of coal mining working faces; through visualization technology, the processed data is generated into two-dimensional and three-dimensional surface movement graphics to intuitively display the deformation characteristics and development trends of surface movement; at the same time, the monitoring results are integrated with the coal mine safety production management system to provide scientific and timely decision-making basis for mine impact ground pressure warning, working face safe recovery, etc., so as to realize efficient monitoring and dynamic management of surface movement of coal mining working faces.

[0079] The specific process of burying and installing the modular assembled base 2 of the GNSS online monitoring station in step S2 is as follows: the construction personnel first place the first-layer annular seat 3 into the foundation pit, then install the second-layer annular seat 4, the second-layer annular seat 4 corresponds to the threaded hole of the first-layer annular seat 3, backfill the earth and dynamically compact it, then install the third-layer annular seat 5 and the fourth-layer annular seat 6, backfill the earth 25 and dynamically compact it, so that the threaded holes of the first-layer annular seat 3, the second-layer annular seat 4, the third-layer annular seat 5 and the fourth-layer annular seat 6 correspond to each other, insert the first bolt 12 to tighten the first-layer annular seat 3, the second-layer annular seat 4, the third-layer annular seat 5 and the fourth-layer annular seat 6. The third-layer annular seat 5 and the fourth-layer annular seat 6 are connected as one. Then, according to the above working process, the fifth-layer annular seat 7, the sixth-layer annular seat 8, the seventh-layer annular seat 9, the eighth-layer annular seat 10, and the ninth-layer annular seat 11 are installed in place layer by layer from bottom to top. They are connected in series by the second bolt 13, the third bolt 14, and the fourth bolt 15. After each layer of annular seat is installed, the earth 25 is backfilled and dynamically compacted to form a self-stabilizing conical tower-shaped gradient structure. Finally, the mounting holes on the bottom plate 17 are correspondingly inserted into the studs 23, and the nuts 24 are tightened to firmly fix the bottom plate 17 and the ninth-layer annular seat 11. During dismantling, due to the mechanical characteristics of the conical tower (large bottom area and gradually downward center of gravity), it can be disassembled and transported manually from top to bottom layer by layer, or it can be pulled out as a whole with the help of light lifting machinery.

[0080] The assembled underground base 1 adopts a modular, truncated cone-shaped stacked structure, with an overall shape of a truncated cone that is smaller at the top and larger at the bottom. It is composed of multiple layers of circular ring-shaped components (ring seats) stacked together, resembling a tower. The diameter of the ring seats decreases from bottom to top, forming a stable gravity transmission path. The upper and lower ring seats use staggered screw holes to achieve multi-directional shear force dispersion. Vertical longitudinal bolts are inserted into the threaded holes to prevent relative movement between the upper and lower layers, ensuring the rigidity of the overall structure. This modular and lightweight design concept is suitable for scenarios requiring rapid assembly and disassembly and reuse.

[0081] The present invention adopts a multi-layer annular assembly (modular assembled base 2) to replace the traditional reinforced concrete foundation (stability check: Wi+Ws>Wc), for example: the weight of the currently commonly used 800mm square concrete foundation is Wc=1228.8kg. The present invention comprises nine layers of concentric annular seats arranged from bottom to top (outer diameter range 350-800mm, single layer height 50-100mm), and the total weight Wi of the overall steel structure is 1019.84kg. During construction, after the assembly is laid out in the foundation pit, by filling the compacted earth 25 (the Ws is calculated to be 589.53kg by deducting the component volume from the excavation volume, and the weight is calculated to be 1500kg / m 3 The resulting modular, frustoconical, stacked composite foundation has a total weight of Wi + Ws = 1609.37 kg, exceeding the weight of a traditional concrete foundation (Wc = 1228.8 kg). This analysis demonstrates that the present invention effectively enhances the foundation's anti-settlement and wind load resistance through the coordinated load-bearing of modular metal components and backfill soil.

[0082] The following is an example of a working face in the Northwest Mining Area. The working face is about 3000m long and 300m wide. Two observation lines are arranged for the strike and dip and are actually buried. Figure 2 The black ones are ordinary artificial monitoring points, which are designed, arranged and buried in accordance with the "Specifications for Coal Pillar Retention and Coal Mining in Buildings, Water Bodies, Railways and Major Shafts and Tunnelings". The red ones are online monitoring points (GNSS online monitoring stations), and the rose-red line is the current working face advancement position.

[0083] The site selection for GNSS online monitoring stations generally follows the following key points for optimal deployment of monitoring stations:

[0084] ① Opening eye location: a monitoring station is set up at the intersection of the strike observation line and the opening eye. This is the starting point of the working face mining. The surface movement changes are often early and more obvious, which is crucial for monitoring the impact of the initial mining.

[0085] ② Construction location: This area can monitor the dynamic evolution of surface movement during the mining process, such as sinking velocity, horizontal deformation curvature, etc., and combine the probability integral model to invert the mining parameters.

[0086] ③ Center of the goaf: Considering that the center of the goaf is likely one of the areas with the largest subsidence and is representative in the strike direction, a monitoring station is placed at the point where the center of the goaf is offset downward from the mountain (assuming this point is located on the strike observation line about 10 meters from the cut hole, which can be determined based on actual precise measurements). This can better reflect the surface movement in the center of the goaf.

[0087] ④ Stop mining line location: a monitoring station is set up at the intersection of the strike observation line and the stop mining line. Here, the impact of the working face mining on the ground surface at the end of the mining, as well as the subsequent change trend of the ground surface after the mining is stopped, can be monitored.

[0088] According to GNSS monitoring, receiving satellite signals and construction requirements, the following layout requirements must be met:

[0089] ①The site must be stable, with annual settlement and displacement less than 2mm.

[0090] ② Try to choose a place with a wide field of view and an elevation angle of 30° without obvious obstruction, so that the GNSS can receive sufficient satellite signals simultaneously.

[0091] ③ Keep away from high-power radio emission sources (such as telecommunications base stations, etc.), the distance should be no less than 100m; keep away from high-voltage transmission lines and microwave radio transmission channels, the distance should be no less than 50m.

[0092] ④The base station is set up in a place to avoid human touch and interference.

[0093] ⑤The base station is far away from the vibration source.

[0094] ⑥ The monitoring points ensure coverage and uniform distribution of the monitoring area, and the principle of the base station being closest to the measuring station is also followed.

[0095] like Figure 3 and Figure 4 As shown in Figure 1, based on the current progress of the working face, a two-dimensional displacement distribution curve reflecting the dynamic surface settlement characteristics is constructed through the weekly periodic measured data of the strike and dip observation lines. Taking the last set of settlement data as an example, since the GNSS online monitoring station uploads elevation settlement and other data in real time, the probability integral method and the time function fusion model are used to infer the settlement of the dynamic monitoring point. The specific theoretical model is as follows: Figure 5 shown.

[0096] The principle of the probability integral method is that in a two-dimensional case, if the abscissa of the mining unit is s and the abscissa of any point A on the ground is x, then the subsidence value of point A caused by the mining of this unit is:

[0097]

[0098] Extending to the three-dimensional case, Figure 5 In the coordinate system, if the coal seam is horizontal, the horizontal projection of the coal seam coordinate system tos and the surface coordinate system xoy coincide, then the subsidence of any point A (coordinates (x, y)) on the surface caused by the mining of unit B (coordinates (s, t)) is:

[0099]

[0100] Where: r—main influence radius, r=H0 / tgβ;

[0101] H0—average mining depth;

[0102] tgβ—is the tangent of the main influencing angle β;

[0103] l = H·Ctgθ, where H is the depth of the computational unit;

[0104] θ—maximum sinking angle;

[0105] (s, t)—plane coordinates of the unit center point;

[0106] (x, y)—The coordinates of any point on the Earth's surface.

[0107] If the roof subsidence of the coal seam is W0 = mqcosα, the mining range is CDE, and the dip level length is DLS, then the subsidence W(x, y) of point A caused by the entire mining can be calculated using the following formula:

[0108] W(x,y)=W0×[W(x)-W(x-D3)]×[W(y)-W(yD 1s )]

[0109] Taking into account the calculation formula of limited mining, the above formula can be written as:

[0110]

[0111] Where W0 is still the maximum surface subsidence value when both the strike and dip directions are fully mined, W0(x) is the subsidence value of the point with the horizontal coordinate x on the strike main section when the dip direction is fully mined, and W0(y) is the subsidence value of the point with the horizontal coordinate y on the dip main section when the strike direction is fully mined. ls is the horizontal length of the dip, and D3 is the left boundary of the dip direction.

[0112] Dynamic prediction requires the combination of time functions to reflect the evolution of settlement over time. The commonly used optimized piecewise Knothe time function is:

[0113]

[0114] Where τ is the moment of maximum sinking velocity, c is the time coefficient, and T is the total time period. This function processes the dynamic characteristics of the active and decaying periods by segmenting.

[0115] Combining the static prediction results with the time function to achieve dynamic prediction, we get the integral superposition formula:

[0116]

[0117] The static subsidence W of each mining unit ii i (x,y)W i (x,y) multiplied by the corresponding time function Φ i (t)Φ i (t), and the dynamic settlement is obtained by accumulation.

[0118] Taking this working face as an example, the probability integral prediction parameters and the current mining time parameters are obtained according to the geological conditions of the coal mine. Figure 6 As shown:

[0119] Bring the prediction parameters and time into the probability integral fusion time model, Figure 7 It can be seen that taking the latest week's monitoring data as an example, we can obtain a comparison between the actual observed subsidence value this week and the estimated subsidence value of the measuring point next week, and then compare and calibrate the estimated result with the actual result of measurement next week. If the error between the predicted value and the measured value is within the allowable range, it indicates that the model has a high reliability and can provide a decision-making basis for mine safety production; if the predicted value next week exceeds the safety threshold, it is necessary to adjust the mining progress or take reinforcement measures in time. By comparing multiple consecutive predictions with actual measurements, the long-term stability of the model can be evaluated, and parameter experience values ​​can be provided for similar mining areas.

[0120] The linear interpolation model is a method for estimating intermediate values ​​based on the linear relationship between two points. Its core principle is to construct a straight line through two known points and use the distance ratio to assign weights to the two points to calculate the settlement value of the unknown point. In settlement monitoring, this method is suitable for conditions with uniform geology, small distance between measurement points, and stable settlement trends. The specific formula is:

[0121]

[0122] Z A 、Z B : Known settlement values ​​of measuring points A and B

[0123] d AB : The horizontal distance between measuring points A and B

[0124] d AP : The horizontal distance from the point P to the measuring point A

[0125] By bringing the geological parameters of the working face and the online monitoring points Z4 and Z5 into the interpolation model, it can be inferred that the current subsidence of the A27-A35 manual measuring points is as follows: Figure 8 shown.

[0126] A dynamic settlement prediction model based on the probability integral method, which integrates time-influencing parameters, and the processed data from the linear interpolation model were used. Through multi-step fitting and calibration, a three-dimensional visualization model of working face settlement was ultimately constructed. During the three-dimensional modeling process, missing or sparse monitoring data was converted into a continuous spatial distribution using three-dimensional grid interpolation. Gradient correction was performed, especially for the settlement edge areas. The calibrated data was superimposed with geological structures (such as faults and coal seam inclination) to generate a composite deformation model that includes residual settlement, horizontal displacement, and axial torsion trends. The model displays the settlement data of the measuring points on the survey line and the maximum settlement point in the form of contour maps, providing spatial positioning and mechanism analysis for analyzing high-risk areas for overburden migration and deformation. It also provides a scientific basis for the entire chain from data to decision-making for safe mining.

[0127] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the same. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solutions of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. An efficient method for monitoring surface movement in a coal mining face using a combination of online and manual methods, characterized by: The following steps are involved: S1. Monitoring point design: Design the coordinates of manual monitoring points and online monitoring points according to surveying and mapping specifications and considering the key points of the working face; S2. Burying of monitoring points: Bury artificial monitoring point signs at artificial monitoring points, set up GNSS online monitoring stations at online monitoring points, and use modular bases that are easy to install and disassemble. S3. Observation and data collection: Use digital level and RTK to observe manual monitoring points, collect manual observation data, and collect and organize real-time monitoring data from GNSS online monitoring stations; S4. Data processing and analysis: Perform unified format conversion and standardization processing on manual measurement data and GNSS online monitoring data; S5, Probability integral prediction model for surface subsidence; S6. Probability integral fusion time model and interpolation method are used to predict the subsidence data of each monitoring point and the subsidence data between monitoring points in mining subsidence; S7. Form a complete and efficient monitoring system for surface movement of coal mining faces using a combination of online and manual methods.

2. The method for efficiently monitoring ground movement in a coal mining face using a combination of online and manual methods according to claim 1 is characterized in that: Step S1 specifically includes the following contents: According to relevant surveying and mapping specifications, the mining boundaries of the coal face, geological structure changes, buildings, important infrastructure or other key points are comprehensively considered to design the location of the coordinates of manual monitoring points and online monitoring points; Manual monitoring points are mainly arranged in areas that are difficult to cover by GNSS online monitoring stations or local areas that need special attention to supplement online monitoring data; online monitoring points are evenly distributed in a grid on the working face and its surroundings to ensure that the overall surface movement trend can be grasped; at the same time, combined with the working face mining plan and geological conditions, the spacing and number of monitoring points are reasonably determined so that the distribution of monitoring points can not only meet the monitoring accuracy requirements but also improve monitoring efficiency.

3. The method for efficiently monitoring ground movement in a coal mining face using a combination of online and manual methods according to claim 1 is characterized in that: Step S2 specifically includes the following contents: (1) Burying of artificial monitoring points: Bury artificial monitoring point signs at selected locations according to design requirements; adopt appropriate burial methods for different geological conditions. On hard ground, drill holes and then pour concrete to fix the signs; on soft ground, deepen the burial depth and install stable protective devices to ensure the stability and long-term availability of the artificial monitoring points; (2) The GNSS online monitoring station includes a modular assembly base and a ground monitoring equipment component mounted on the modular assembly base. The modular assembly base is made of high-strength aluminum alloy or iron components. The modular assembly base includes several layers of annular seats that are assembled and connected in sequence from bottom to top by bolt connection. The modular assembly base is an overall conical tower structure with a small top and a large bottom. The ground monitoring equipment component is mounted on the uppermost annular seat by bolt connection. Burial, installation and operation of the GNSS online monitoring station: First, select the burial location, dig a deep foundation pit, and assemble the equipment layer by layer from bottom to top in the foundation pit. Use a precise level adjustment device to ensure that the level of the coal seam installation meets the requirements. After each layer is installed, backfill the soil and dynamically compact it. Finally, install the GNSS online monitoring equipment on the base, connect the power and communication lines, and perform equipment debugging and calibration to ensure its normal operation and the real-time and stable transmission of monitoring data.

4. The method for efficiently monitoring ground movement in a coal mining face using a combination of online and manual methods according to claim 3 is characterized by: The annular seat is provided with nine layers, and the center lines of the nine layers coincide. From bottom to top, they are the first layer annular seat, the second layer annular seat, the third layer annular seat, the fourth layer annular seat, the fifth layer annular seat, the sixth layer annular seat, the seventh layer annular seat, the eighth layer annular seat and the ninth layer annular seat; The first layer annular seat, the second layer annular seat, the third layer annular seat and the fourth layer annular seat are connected by at least three first bolts arranged vertically; the fourth layer annular seat, the fifth layer annular seat and the sixth layer annular seat are connected by at least three second bolts arranged vertically; the sixth layer annular seat, the seventh layer annular seat and the eighth layer annular seat are connected by at least three third bolts arranged vertically; the sixth layer annular seat, the seventh layer annular seat and the eighth layer annular seat are connected by at least three third bolts arranged vertically; the seventh layer annular seat, the eighth layer annular seat and the ninth layer annular seat are connected by at least three fourth bolts arranged vertically; The ground monitoring equipment assembly includes a vertically arranged column and co-center line with the modular assembled base, a base plate is fixed at the lower end of the column, a reinforcing rib is provided between the upper surface of the base plate and the column, a monitoring chassis is connected to the column through a clamp, a solar panel located above the monitoring chassis is provided on the column, a high-precision antenna and a lightning rod are provided at the upper end of the column, the base plate is provided on the ninth-layer annular seat, the base plate is fixedly connected to the ninth-layer annular seat by studs and nuts, the lower end of the stud is welded to the ninth-layer annular seat, the upper end of the stud passes through the base plate, the nut is threadedly connected to the stud and crimped to the upper surface of the base plate.

5. The method for efficiently monitoring ground movement in a coal mining face using a combination of online and manual methods according to claim 4 is characterized in that: The specific content of step S3 is: (1) Observation of artificial monitoring points: Use a digital level to regularly observe artificial settlement monitoring points according to standardized measurement methods; follow the "back-front-front-back" observation sequence during measurement, record the elevation data of each monitoring point, and keep records of observation time and weather-related information; at the same time, use RTK equipment to measure the plane coordinates of the artificial monitoring points to obtain accurate location information; (2) GNSS online monitoring station data collection: The monitoring data transmitted by the GNSS online monitoring station is collected in real time through the communication network, including the three-dimensional coordinates of the monitoring points, displacement changes, and timestamp information; the collected data is preliminarily sorted and verified, and obvious abnormal data is eliminated to ensure the accuracy and completeness of the data.

6. The method for efficiently monitoring ground movement in a coal mining face using a combination of online and manual methods according to claim 5 is characterized in that: The specific contents of step S4 include: (1) Data preprocessing: Perform unified format conversion and standardization on manual measurement data and GNSS online monitoring data, and integrate data from different sources into the same coordinate system; use interpolation or other appropriate data filling methods to supplement missing data; analyze abnormal data in combination with monitoring environment and historical data to determine its rationality, and make corrections or elimination when necessary; (2) Data analysis: Statistical analysis methods were used to calculate the displacement change rate and cumulative displacement parameters of each monitoring point in different time periods, and to analyze the spatiotemporal distribution characteristics of surface movement. By comparing manual measurement data and GNSS online monitoring data, the consistency and reliability of the data were verified, and the error range of the two monitoring methods was evaluated.

7. The method for efficiently monitoring ground movement in a coal mining face using a combination of online and manual methods according to claim 6 is characterized in that: The specific content of step S5 is: based on the basic principle of the probability integral method, combined with the geological conditions of the mining area and the actual mining parameters, a probability integral prediction model is established; using the collected monitoring data, through parameter estimation methods such as the least squares method, the various parameters in the model, such as the main influencing angle tangent and the subsidence coefficient, are determined; using the established model, the final surface settlement of the coal mining working face is predicted to obtain the predicted value of the final settlement of each monitoring point.

8. The method for efficiently monitoring ground movement in a coal mining face using a combination of online and manual methods according to claim 7 is characterized in that: The specific content of step S6 is as follows: on the basis of the probability integral prediction model, the time factor is introduced to construct a probability integral fusion time model to reflect the changing pattern of surface subsidence with mining time; at the same time, interpolation methods such as Kriging interpolation and spline interpolation are used to infer the subsidence data between the unmonitored area and the measuring point based on the subsidence data of known monitoring points, so as to realize continuous and comprehensive prediction of the surface subsidence of the entire coal mining working face; by continuously updating the monitoring data, the model is dynamically corrected and optimized to improve the accuracy and reliability of the prediction.

9. The method for efficiently monitoring ground movement in a coal mining face using a combination of online and manual methods according to claim 8, characterized in that: The specific content of step S7 is: integrating and organizing the monitoring data, analysis results and prediction models obtained in the above steps to form a complete online and manual combination of efficient monitoring system for surface movement of coal mining working faces; through visualization technology, the processed data is generated into two-dimensional and three-dimensional surface movement graphics to intuitively display the deformation characteristics and development trends of surface movement; at the same time, the monitoring results are integrated with the coal mine safety production management system to provide scientific and timely decision-making basis for mine impact ground pressure warning, working face safe recovery, etc., so as to realize efficient monitoring and dynamic management of surface movement of coal mining working faces.

10. The method for efficiently monitoring ground movement in a coal mining face using a combination of online and manual methods according to any one of claims 3 to 9, characterized in that: The specific process of burying and installing the modular assembled base of the GNSS online monitoring station in step S2 is as follows: the construction personnel first place the first-layer annular seat into the foundation pit, then install the second-layer annular seat, the threaded holes of the second-layer annular seat correspond to those of the first-layer annular seat, backfill the soil and dynamically compact it, then install the third-layer annular seat and the fourth-layer annular seat, backfill the soil and dynamically compact it, so that the threaded holes of the first-layer annular seat, the second-layer annular seat, the third-layer annular seat and the fourth-layer annular seat correspond to each other, insert the first bolt to connect the first-layer annular seat, the second-layer annular seat, the third-layer annular seat and the fourth-layer annular seat into one, and then follow the above steps. During the operation, the fifth, sixth, seventh, eighth and ninth annular seats are installed layer by layer from bottom to top, and connected in series through the second, third and fourth bolts. After each annular seat is installed, backfill the soil and dynamically compact it to form a self-stabilizing conical tower-shaped gradient structure. Finally, the mounting holes on the base plate are inserted into the studs, and the nuts are tightened to firmly fix the base plate and the ninth annular seat. During dismantling, due to the mechanical characteristics of the conical tower (large bottom area and gradually downward shift of the center of gravity), it can be disassembled and transported layer by layer from top to bottom manually, or it can be pulled out as a whole with the help of light lifting machinery.

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