Digital intelligent coal mining method and system based on dynamic three-dimensional geologic model

Abstract

The invention provides a digital intelligent coal mining method and system based on a dynamic three-dimensional geological model, and the method comprises the steps: obtaining a static three-dimensional geological information model of a coal mining working face, the geological real-time data of two roadways of the working face, the real-time data of a coal mining machine, the real-time data of a hydraulic support, and the real-time data of a scraper conveyor, and carrying out the preprocessing; correcting the static three-dimensional geological information model to obtain a working face dynamic three-dimensional geological information model; according to the working face dynamic three-dimensional geological information model, determining the cutting planning height of a coal mining machine roller and the pushing planning distance of a hydraulic support in the coal mining working face; determining a cutting adjustment strategy of the coal face; and adjusting the cutting height of a roller of the coal mining machine and the displacement distance of a hydraulic support according to the cutting adjustment strategy to realize digital intelligent coal mining of the coal mining working face. According to the technical scheme provided by the invention, the cutting height and the propelling distance of the equipment group can be accurately adjusted in real time based on the field requirements of the coal face.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent coal mining, and particularly relates to a digital and intelligent coal mining method and system based on a dynamic three-dimensional geological model. BACKGROUND

[0002] In the process of coal mining, the traditional coal mining method relies on manual experience to judge the geological conditions of the mining face and the running state of the equipment, which has obvious limitations. On the one hand, it is difficult for manual work to accurately perceive the full-time and space geological changes of the mining face in real time, which may lead to deviation of the cutting track due to lagging geological information, affecting the efficiency and safety of coal mining. On the other hand, the running data of the equipment group (coal mining machine, hydraulic support, scraper conveyor, etc.) lack unified integration and analysis, and cannot realize coordinated adjustment, which is difficult to meet the demand for accuracy and timeliness of modern coal mining.

[0003] In the prior art, although some coal mining methods introduce a geological model, the model is mostly static and cannot be dynamically updated according to real-time geological information and equipment state. At the same time, the cutting adjustment strategy lacks data support and relies on manual decision-making, which has low adjustment accuracy and slow response, and is difficult to adapt to complex and changeable mining environments, thereby leading to low accuracy and real-time performance of coal mining operations. Therefore, there is an urgent need for an intelligent coal mining scheme that can realize real-time perception and adjustment to improve the accuracy and real-time performance of coal mining operations. SUMMARY

[0004] The present application provides a digital and intelligent coal mining method and system based on a dynamic three-dimensional geological model to at least solve the technical problem of low accuracy and real-time performance of coal mining operations.

[0005] The first aspect of the present application provides a digital and intelligent coal mining method based on a dynamic three-dimensional geological model, which comprises:

[0006] Obtaining a static three-dimensional geological information model of a coal mining face, real-time geological data of a working face roadway, real-time data of a coal mining machine, real-time data of a hydraulic support, and real-time data of a scraper conveyor, and preprocessing the real-time geological data of the working face roadway, the real-time data of the coal mining machine, the real-time data of the hydraulic support, and the real-time data of the scraper conveyor to obtain preprocessed real-time geological data of the working face roadway, real-time data of the coal mining machine, real-time data of the hydraulic support, and real-time data of the scraper conveyor;

[0007] Based on the preprocessed real-time geological data of the working face roadway, the static three-dimensional geological information model is corrected to obtain a dynamic three-dimensional geological information model of the working face;

[0008] According to the dynamic three-dimensional geological information model of the working face, the planned cutting height of the drum of the coal mining machine and the planned moving distance of the hydraulic support in the coal mining face are determined;

[0009] According to the coal winning machine drum cutting planning height, the hydraulic support pushing planning distance, the pre-processed coal winning machine real-time data, the hydraulic support real-time data, and the scraper conveyor real-time data, a cutting adjustment strategy of the coal mining face is determined.

[0010] According to the cutting adjustment strategy, the drum cutting height of the coal winning machine and the pushing distance of the hydraulic support are adjusted, and the digitalized coal mining of the coal mining face is realized.

[0011] Preferably, the pre-processing of the real-time data of the two-roadway geology of the working face, the coal winning machine, the hydraulic support, and the scraper conveyor includes:

[0012] The real-time data of the two-roadway geology of the working face, the coal winning machine, the hydraulic support, and the scraper conveyor are sequentially subjected to abnormal value processing and missing data processing.

[0013] Further, the acquisition process of the static three-dimensional geological information model of the coal mining face includes:

[0014] The drilling data, the two-roadway geological data of the working face, the fault line, and the fault surface data of the coal mining face are acquired to establish a three-dimensional fault network of the coal mining face.

[0015] Based on the three-dimensional fault network and taking a key layer as a constraint, a three-dimensional stratigraphic framework of the coal mining face is generated by using a columnar grid method.

[0016] The three-dimensional stratigraphic framework is divided into vertical small layers to form a three-dimensional grid unit body that can be used for simulation, and then a three-dimensional structure model of the coal mining face is constructed based on the three-dimensional grid unit body.

[0017] The three-dimensional structure model is taken as the static three-dimensional geological information model of the coal mining face.

[0018] Further, the real-time data of the two-roadway geology of the working face includes: the real-time elevation of the left roadway of the working face and the real-time elevation of the right roadway of the working face.

[0019] The real-time data of the coal winning machine includes: the real-time height of the left drum and the real-time height of the right drum.

[0020] The real-time data of the hydraulic support includes: the current pushing distance of each hydraulic support.

[0021] The real-time data of the scraper conveyor includes: the real-time straightness of the scraper conveyor.

[0022] Further, the determination of the coal winning machine drum cutting planning height and the hydraulic support pushing planning distance in the coal mining face according to the dynamic three-dimensional geological information model of the working face includes:

[0023] According to the cutting footage depth of the coal mining machine, the working face dynamic three-dimensional geological information model is divided in the working face tendency direction to form a plurality of unit cuboids with equal depth;

[0024] A first curve and a second curve of the unit cuboid are extracted, and the first curve and the second curve are meshed with the center distance of the hydraulic support as the division interval, and the meshed first curve and the second curve are discretized into S support points, wherein S is the number of hydraulic supports arranged in the coal mining face;

[0025] The height of the left drum of the coal mining machine, the height of the right drum of the coal mining machine, and the advancing distance of the hydraulic support at each support point are obtained;

[0026] The height of the left drum of the coal mining machine at each support point is taken as the cutting planning height of the left drum of the coal mining machine, the height of the right drum of the coal mining machine at each support point is taken as the cutting planning height of the right drum of the coal mining machine, and the advancing distance of the hydraulic support is taken as the advancing planning distance of the hydraulic support.

[0027] Further, the cutting adjustment strategy of the coal mining face is determined according to the cutting planning height of the drum of the coal mining machine, the advancing planning distance of the hydraulic support, the preprocessed real-time data of the coal mining machine, the real-time data of the hydraulic support, and the real-time data of the scraper conveyor, and the cutting adjustment strategy comprises:

[0028] The deviation value of the cutting planning height of the left drum of the coal mining machine and the real-time height of the left drum at each support point, the deviation value of the cutting planning height of the right drum of the coal mining machine and the real-time height of the right drum at each support point, and the deviation value of the advancing planning distance of the hydraulic support and the current advancing distance of the hydraulic support at each support point are determined respectively;

[0029] The cutting adjustment strategy of the left drum of the coal mining machine at each support point is determined based on the deviation value of the cutting planning height of the left drum of the coal mining machine and the real-time height of the left drum at each support point;

[0030] The cutting adjustment strategy of the right drum of the coal mining machine at each support point is determined based on the deviation value of the cutting planning height of the right drum of the coal mining machine and the real-time height of the right drum at each support point;

[0031] The advancing distance adjustment strategy of the hydraulic support at each support point is determined based on the real-time straightness of the scraper conveyor and the deviation value of the advancing planning distance of the hydraulic support and the current advancing distance of the hydraulic support at each support point.

[0032] Preferably, the method further comprises:

[0033] The average of the difference degrees of the current working face dynamic three-dimensional geological information model and the working face dynamic three-dimensional geological information model after the previous three corrections is obtained;

[0034] If the difference degree mean is less than or equal to a preset difference degree, it is determined that the working face dynamic three-dimensional geological information model is updated when the cutting drum advances by a preset distance.

[0035] If the difference degree mean is greater than a preset difference degree, it is determined that the working face dynamic three-dimensional geological information model is updated when the cutting drum advances by an adjusted distance.

[0036] The second aspect embodiment of the present application provides a digitalized coal mining system based on a dynamic three-dimensional geological model, comprising:

[0037] The acquisition module is configured to acquire a static three-dimensional geological information model of a coal mining face, real-time geological data of a working face roadway, real-time data of a coal mining machine, real-time data of a hydraulic support, and real-time data of a scraper conveyor, and to preprocess the real-time geological data of the working face roadway, the real-time data of the coal mining machine, the real-time data of the hydraulic support, and the real-time data of the scraper conveyor to obtain preprocessed real-time geological data of the working face roadway, preprocessed real-time data of the coal mining machine, preprocessed real-time data of the hydraulic support, and preprocessed real-time data of the scraper conveyor.

[0038] The correction module is configured to correct the static three-dimensional geological information model based on the preprocessed real-time geological data of the working face roadway to obtain a working face dynamic three-dimensional geological information model.

[0039] The first determination module is configured to determine a coal mining machine drum cutting planning height and a hydraulic support moving planning distance in a coal mining face according to the working face dynamic three-dimensional geological information model.

[0040] The second determination module is configured to determine a cutting adjustment strategy for the coal mining face according to the coal mining machine drum cutting planning height, the hydraulic support moving planning distance, the preprocessed real-time data of the coal mining machine, the preprocessed real-time data of the hydraulic support, and the preprocessed real-time data of the scraper conveyor.

[0041] The adjustment module is configured to adjust the drum cutting height of the coal mining machine and the moving distance of the hydraulic support according to the cutting adjustment strategy to realize digitalized coal mining of the coal mining face.

[0042] The third aspect embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method of the first aspect embodiment.

[0043] The fourth aspect embodiment of the present application provides a computer readable storage medium having a computer program stored thereon, wherein the program is executed by a processor to implement the method of the first aspect embodiment.

[0044] The technical scheme provided by the embodiments of the present application at least brings the following beneficial effects:

[0045] The application provides a digitalized coal mining method and system based on a dynamic three-dimensional geological model. The method comprises the following steps: acquiring static three-dimensional geological information model of a coal mining face, real-time geological data of two roadways of the coal mining face, real-time data of a coal mining machine, real-time data of a hydraulic support, and real-time data of a scraper conveyor, and preprocessing the real-time geological data of two roadways of the coal mining face, the real-time data of the coal mining machine, the real-time data of the hydraulic support, and the real-time data of the scraper conveyor to obtain preprocessed real-time geological data of two roadways of the coal mining face, real-time data of the coal mining machine, real-time data of the hydraulic support, and real-time data of the scraper conveyor; correcting the static three-dimensional geological information model based on the preprocessed real-time geological data of two roadways of the coal mining face to obtain a dynamic three-dimensional geological information model of the coal mining face; determining a roller cutting planning height of the coal mining machine and a pushing planning distance of the hydraulic support in the coal mining face according to the dynamic three-dimensional geological information model of the coal mining face; determining a cutting adjustment strategy of the coal mining face according to the roller cutting planning height of the coal mining machine, the pushing planning distance of the hydraulic support, the preprocessed real-time data of the coal mining machine, the preprocessed real-time data of the hydraulic support, and the preprocessed real-time data of the scraper conveyor; and adjusting the roller cutting height of the coal mining machine and the pushing distance of the hydraulic support according to the cutting adjustment strategy, so as to realize digitalized coal mining of the coal mining face. The technical scheme provided by the application can accurately and timely adjust the cutting height and the pushing distance of the equipment group based on the field demand of the coal mining face.

[0046] Additional aspects and advantages of the application will be set forth in part in the description that follows, and in part will become apparent to those having ordinary skill in the art upon examination of the following or can be learned from practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0047] The above and / or additional aspects and advantages of the application will become apparent and be readily appreciated from the following description, taken in conjunction with the accompanying drawings, in which:

[0048] Figure 1 A flow chart of a digitalized coal mining method based on a dynamic three-dimensional geological model according to an embodiment of the application is provided;

[0049] Figure 2 A structure diagram of a digitalized coal mining system based on a dynamic three-dimensional geological model according to an embodiment of the application is provided. DETAILED DESCRIPTION

[0050] Embodiments of the application are described in detail below with reference to examples illustrated in the accompanying drawings, in which the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below are exemplary and are intended to explain the application, and cannot be understood as a limitation of the application.

[0051] The application provides a digitalized coal mining method and system based on a dynamic three-dimensional geological model. The method comprises the following steps: acquiring static three-dimensional geological information model of a coal mining face, real-time geological data of two roadways of the coal mining face, real-time data of a coal mining machine, real-time data of a hydraulic support and real-time data of a scraper conveyor, and pre-processing the real-time geological data of the two roadways of the coal mining face, the real-time data of the coal mining machine, the real-time data of the hydraulic support and the real-time data of the scraper conveyor to obtain pre-processed real-time geological data of the two roadways of the coal mining face, pre-processed real-time data of the coal mining machine, pre-processed real-time data of the hydraulic support and pre-processed real-time data of the scraper conveyor; correcting the static three-dimensional geological information model based on the pre-processed real-time geological data of the two roadways of the coal mining face to obtain a dynamic three-dimensional geological information model of the coal mining face; determining a cutting planning height of a drum of the coal mining machine and a pushing planning distance of the hydraulic support in the coal mining face according to the dynamic three-dimensional geological information model of the coal mining face; determining a cutting adjustment strategy of the coal mining face according to the cutting planning height of the drum of the coal mining machine, the pushing planning distance of the hydraulic support, the pre-processed real-time data of the coal mining machine, the pre-processed real-time data of the hydraulic support and the pre-processed real-time data of the scraper conveyor; and adjusting the cutting height of the drum of the coal mining machine and the pushing distance of the hydraulic support according to the cutting adjustment strategy, so that the digitalized coal mining of the coal mining face is realized. The technical scheme provided by the application can accurately and timely adjust the cutting height and the pushing distance of the equipment group based on the field demand of the coal mining face.

[0052] A digitalized coal mining method and system based on a dynamic three-dimensional geological model are described below with reference to the accompanying drawings.

[0053] Embodiment one

[0054] Figure 1 A flowchart of a digitalized coal mining method based on a dynamic three-dimensional geological model according to an embodiment of the application is shown in FIG. 1. Figure 1 The method comprises the following steps:

[0055] Step 1: acquiring static three-dimensional geological information model of a coal mining face, real-time geological data of two roadways of the coal mining face, real-time data of a coal mining machine, real-time data of a hydraulic support and real-time data of a scraper conveyor, and pre-processing the real-time geological data of the two roadways of the coal mining face, the real-time data of the coal mining machine, the real-time data of the hydraulic support and the real-time data of the scraper conveyor to obtain pre-processed real-time geological data of the two roadways of the coal mining face, pre-processed real-time data of the coal mining machine, pre-processed real-time data of the hydraulic support and pre-processed real-time data of the scraper conveyor;

[0056] It should be noted that the pre-processing of the real-time geological data of the two roadways of the coal mining face, the real-time data of the coal mining machine, the real-time data of the hydraulic support and the real-time data of the scraper conveyor comprises the following steps:

[0057] The working face two roadway geological real-time data, the shearer real-time data, the hydraulic support real-time data and the scraper conveyor real-time data are sequentially subjected to abnormal value processing and missing data processing.

[0058] In the embodiment of the present disclosure, the acquisition process of the static three-dimensional geological information model of the coal mining face includes:

[0059] The three-dimensional fault network of the coal mining face is established by acquiring the drilling data, the working face two roadway geological data, the fault line and the fault plane data of the coal mining face.

[0060] Based on the three-dimensional fault network and taking the key horizon as a constraint, the three-dimensional stratigraphic framework of the coal mining face is generated by using the columnar gridding method.

[0061] The three-dimensional stratigraphic framework is divided into vertical zones to form a three-dimensional grid cell body that can be used for simulation, and then the three-dimensional structure model of the coal mining face is constructed based on the three-dimensional grid cell body.

[0062] The three-dimensional structure model is taken as the static three-dimensional geological information model of the coal mining face.

[0063] It should be noted that the three-dimensional fault network is established based on the fault line and the fault plane data according to the working face geological data and the working face two roadway geological data. The working face geological data specifically refers to the drilling data, and the working face two roadway geological data specifically refers to the height of the roadway after the roadway is formed.

[0064] The three-dimensional stratigraphic framework is generated by using the “Pillar Gridding—columnar gridding” method with the key horizon (such as the coal seam roof and floor, unconformity surface) as a constraint.

[0065] The strata are divided into vertical zones to form a three-dimensional grid cell body that can be used for simulation, and finally a three-dimensional structure model is constructed.

[0066] It should be noted that the preprocessing includes:

[0067] The data is subjected to abnormal value processing to obtain valid updated data.

[0068] The data is subjected to timestamp correspondence, spatial interpolation is performed on discrete drilling data with minimum time as a reference, and methods such as Kriging and inverse distance weighting are used to fill in missing data.

[0069] It should be noted that the working face two roadway geological real-time data include the real-time elevation of the left roadway of the working face and the real-time elevation of the right roadway of the working face.

[0070] The shearer real-time data include the real-time height of the left drum and the real-time height of the right drum.

[0071] The hydraulic support real-time data includes: current pushing distance of each hydraulic support;

[0072] The scraper conveyor real-time data includes: real-time straightness of the scraper conveyor.

[0073] Step 2: correcting the static three-dimensional geological information model based on the preprocessed real-time geological data of the two roadways of the working face, to obtain a dynamic three-dimensional geological information model of the working face;

[0074] Step 3: determining the cutting planning height of the drum of the coal mining machine and the pushing planning distance of the hydraulic support in the coal mining working face according to the dynamic three-dimensional geological information model of the working face;

[0075] In the embodiment of the present disclosure, the step 3 specifically includes:

[0076] According to the cutting footage depth of the coal mining machine, the dynamic three-dimensional geological information model of the working face is divided in the working face tendency direction to form a plurality of unit cuboids with equal depth;

[0077] The drum cutting depth of the coal mining machine is the footage depth, which is generally 1 m.

[0078] The first curve and the second curve of the unit cuboid are extracted, and the first curve and the second curve are grid divided with the center distance of the hydraulic support as the division interval, and the first curve and the second curve after the grid division are discretized into S support points, wherein S is the number of hydraulic supports configured in the coal mining working face;

[0079] The first curve and the second curve can be lines of the roof and the floor of the working face, which can be obtained after the three-dimensional model of the working face is established.

[0080] The left drum height of the coal mining machine, the right drum height of the coal mining machine and the pushing distance of the hydraulic support at each support point are obtained, wherein the drum height data and the pushing distance can be monitored by a monitoring sensor.

[0081] The left drum height of the coal mining machine at each support point is taken as the left drum cutting planning height of the coal mining machine, the right drum height of the coal mining machine at each support point is taken as the right drum cutting planning height of the coal mining machine, and the pushing distance of the hydraulic support is taken as the pushing planning distance of the hydraulic support.

[0082] It should be noted that the static three-dimensional geological information model of the working face is corrected according to the actual elevation of the left and right two roadways of the working face on the basis of the established static three-dimensional geological information model of the working face.

[0083] According to the cutting footage depth of the coal mining machine, the dynamic three-dimensional geological information model of the working face is divided in the working face tendency direction to form a plurality of unit cuboids with equal depth;

[0084] The first curve and the second curve of the unit cuboid are divided into multiple grids again with a hydraulic support center distance, discretized to form S points, S being the number of hydraulic supports;

[0085] H1, H2, H3, …, H S are the left roller cutting heights of S shearer, wherein, Similarly, the shearer roller cutting height is obtained;

[0086] L1, L2, L3, …, L S are the moving distances of S hydraulic supports;

[0087] The shearer roller cutting height and the hydraulic support moving distance are combined into a cutting model.

[0088] Step 4: determining a cutting adjustment strategy of the coal mining face according to the shearer roller cutting planning height, the hydraulic support moving planning distance, the preprocessed real-time data of the shearer, the real-time data of the hydraulic support, and the real-time data of the scraper conveyor;

[0089] In the embodiment of the present disclosure, the step 4 specifically includes:

[0090] respectively determining a deviation value of the shearer left roller cutting planning height and the left roller real-time height at each support point, a deviation value of the shearer right roller cutting planning height and the right roller real-time height at each support point, and a deviation value of the hydraulic support moving planning distance and the current moving distance of the hydraulic support at each support point;

[0091] determining a shearer left roller cutting adjustment strategy at each support point based on the deviation value of the shearer left roller cutting planning height and the left roller real-time height at the support point;

[0092] determining a shearer right roller cutting adjustment strategy at each support point based on the deviation value of the shearer right roller cutting planning height and the right roller real-time height at the support point;

[0093] determining a hydraulic support moving distance adjustment strategy at each support point based on the real-time straightness of the scraper conveyor and the deviation value of the hydraulic support moving planning distance and the current moving distance of the hydraulic support at the support point.

[0094] It should be noted that the actual cutting trajectory state is determined according to the shearer roller cutting height data, and the actual cutting trajectory state includes a left roller actual cutting trajectory and a right roller actual cutting trajectory;

[0095] determine a planned cutting trajectory state according to the cutting model, the planned cutting trajectory state including a left drum planned cutting trajectory and a right drum planned cutting trajectory;

[0096] determine whether to formulate a cutting adjustment strategy in combination with a deviation of the left drum actual cutting trajectory and the left drum planned cutting trajectory, a deviation of the right drum actual cutting trajectory and the right drum planned cutting trajectory, wherein,

[0097] if the deviation degree of the left drum actual cutting trajectory and the left drum planned cutting trajectory is greater than 10%, determine to formulate a left drum cutting adjustment strategy;

[0098] if the deviation degree of the right drum actual cutting trajectory and the right drum planned cutting trajectory is greater than 10%, determine to formulate a right drum cutting adjustment strategy.

[0099] determine a deviation of S left drum actual cutting trajectories and left drum planned cutting trajectories a deviation of S right drum actual cutting trajectories and right drum planned cutting trajectories determine a next-cutting-machine left drum and right drum cutting height adjustment value, wherein, on the basis of the obtained deviation, a last-cutting-machine drum cutting height is added to be the next-cutting-machine left drum and right drum cutting height adjustment value;

[0100] determine a next-cutting-machine hydraulic support advancing distance for each hydraulic support by calculating a deviation (ΔL1, ΔL2, … ΔL S ) of S hydraulic support advancing distances, wherein, each time, a target straightness of a whole working face is decomposed into an advancing distance of each support, and then a deviation is calculated in combination with an actually monitored support advancing distance, and then a length (1 m) of an advancing rod of each support is added to be a specific value to be advanced in the next cutting.

[0101] Step 5: adjust a drum cutting height and a hydraulic support advancing distance of the coal mining machine according to the cutting adjustment strategy, and realize digitalized coal mining of a coal mining working face.

[0102] In the embodiment of the present disclosure, the method further includes:

[0103] obtain a difference degree average value of a current working face dynamic three-dimensional geological information model and a working face dynamic three-dimensional geological information model after three previous corrections;

[0104] if the difference degree average value is less than or equal to a preset difference degree, determine to update the working face dynamic three-dimensional geological information model when a cutting drum advances a preset distance;

[0105] if the difference degree average value is greater than the preset difference degree, determine to update the working face dynamic three-dimensional geological information model when a cutting drum advances an adjustment distance.

[0106] It should be noted that if the model difference degree of the current three-dimensional geological model and the previous three-dimensional geological model is less than or equal to the preset difference degree, it is determined that the three-dimensional geological model is updated when the cutting drum advances by the preset distance;

[0107] If the model difference degree of the current three-dimensional geological model and the previous three-dimensional geological model is greater than the preset difference degree, it is determined that the three-dimensional geological model is updated when the cutting drum advances by the adjustment distance;

[0108] The adjustment distance is determined according to the preset distance, the model difference degree and the preset difference degree.

[0109] The scheme provided by the embodiment meets the requirements of accuracy and timeliness of equipment group cutting and advancing in real-time updating and real-time guidance while meeting the requirements of accuracy and timeliness of equipment group cutting and advancing in real-time updating and real-time guidance.

[0110] In summary, the digitalized coal mining method based on a dynamic three-dimensional geological model provided by the embodiment can accurately and in real time adjust the cutting height and advancing distance of the equipment group based on the on-site requirements of the coal mining face.

[0111] Embodiment Two

[0112] Figure 2 The structure diagram of a digitalized coal mining system based on a dynamic three-dimensional geological model according to an embodiment of the present application is shown in FIG. 1. Figure 2 As shown in FIG. 1, the system includes:

[0113] The acquisition module 100 is configured to acquire the static three-dimensional geological information model of the coal mining face, the real-time geological data of the two roadways of the working face, the real-time data of the coal mining machine, the real-time data of the hydraulic support and the real-time data of the scraper conveyor, and to preprocess the real-time geological data of the two roadways of the working face, the real-time data of the coal mining machine, the real-time data of the hydraulic support and the real-time data of the scraper conveyor to obtain the preprocessed real-time geological data of the two roadways of the working face, the real-time data of the coal mining machine, the real-time data of the hydraulic support and the real-time data of the scraper conveyor.

[0114] The real-time geological data of the two roadways of the working face includes the real-time elevation of the left roadway of the working face and the real-time elevation of the right roadway of the working face.

[0115] The real-time data of the coal mining machine includes the real-time height of the left drum and the real-time height of the right drum.

[0116] The real-time data of the hydraulic support includes the current advancing distance of each hydraulic support.

[0117] The real-time data of the scraper conveyor includes the real-time straightness of the scraper conveyor.

[0118] The correction module 200 is configured to correct the static three-dimensional geological information model based on the preprocessed real-time geological data of the two-roadway of the working face, to obtain a dynamic three-dimensional geological information model of the working face.

[0119] The first determination module 300 is configured to determine a cutting planning height of a drum of a coal mining machine and a moving planning distance of a hydraulic support in the coal mining working face according to the dynamic three-dimensional geological information model of the working face.

[0120] The second determination module 400 is configured to determine a cutting adjustment strategy of the coal mining working face according to the cutting planning height of the drum of the coal mining machine, the moving planning distance of the hydraulic support, the preprocessed real-time data of the coal mining machine, the real-time data of the hydraulic support and the real-time data of the scraper conveyor.

[0121] The adjustment module 500 is configured to adjust the cutting height of the drum of the coal mining machine and the moving distance of the hydraulic support according to the cutting adjustment strategy, to realize digitalized coal mining of the coal mining working face.

[0122] In the embodiment of the present disclosure, the acquisition module 100 is further configured to:

[0123] The real-time geological data of the two-roadway of the working face, the real-time data of the coal mining machine, the real-time data of the hydraulic support and the real-time data of the scraper conveyor are sequentially subjected to outlier processing and missing data processing.

[0124] In the embodiment of the present disclosure, the acquisition module 100 is further configured to:

[0125] The three-dimensional fault network of the coal mining working face is established by acquiring drilling data, working face two-roadway geological data, fault line data and fault plane data of the coal mining working face.

[0126] The three-dimensional stratigraphic framework of the coal mining working face is generated by using a columnar grid method based on the three-dimensional fault network and taking key horizons as constraints.

[0127] The three-dimensional stratigraphic framework is divided into vertical small layers to form three-dimensional grid unit bodies that can be used for simulation, and then a three-dimensional structural model of the coal mining working face is constructed based on the three-dimensional grid unit bodies.

[0128] The three-dimensional structural model is taken as a static three-dimensional geological information model of the coal mining working face.

[0129] In the embodiment of the present disclosure, the first determination module 300 is further configured to:

[0130] The dynamic three-dimensional geological information model of the working face is divided in the working face tendency direction according to the cutting footage depth of the coal mining machine, to form a plurality of unit cuboids with equal depths.

[0131] extracting a first curve and a second curve of the unit cuboid, and discretizing the first curve and the second curve into S support points with the hydraulic support center distance as the division interval, where S is the number of the hydraulic supports arranged in the coal mining face;

[0132] obtaining the left drum height of the coal mining machine, the right drum height of the coal mining machine, and the pushing distance of the hydraulic support at each support point;

[0133] taking the left drum height of the coal mining machine at each support point as the left drum cutting planning height of the coal mining machine, taking the right drum height of the coal mining machine at each support point as the right drum cutting planning height of the coal mining machine, and taking the pushing distance of the hydraulic support as the pushing planning distance of the hydraulic support.

[0134] In the embodiment of the present disclosure, the second determination module 400 is further configured to:

[0135] determine the deviation value of the left drum cutting planning height of the coal mining machine and the real-time height of the left drum at each support point, the deviation value of the right drum cutting planning height of the coal mining machine and the real-time height of the right drum at each support point, and the deviation value of the pushing planning distance of the hydraulic support and the current pushing distance of the hydraulic support at each support point;

[0136] determine the left drum cutting adjustment strategy of the coal mining machine at each support point based on the deviation value of the left drum cutting planning height of the coal mining machine and the real-time height of the left drum at each support point;

[0137] determine the right drum cutting adjustment strategy of the coal mining machine at each support point based on the deviation value of the right drum cutting planning height of the coal mining machine and the real-time height of the right drum at each support point;

[0138] determine the pushing distance adjustment strategy of the hydraulic support at each support point based on the real-time straightness of the scraper conveyor, the deviation value of the pushing planning distance of the hydraulic support and the current pushing distance of the hydraulic support at each support point.

[0139] In the embodiment of the present disclosure, the adjustment module 500 is further configured to:

[0140] obtain the average value of the difference degree between the current working face dynamic three-dimensional geological information model and the working face dynamic three-dimensional geological information model after the previous three corrections;

[0141] if the average value of the difference degree is less than or equal to the preset difference degree, it is determined that the working face dynamic three-dimensional geological information model is updated when the cutting drum advances by the preset distance;

[0142] if the average value of the difference degree is greater than the preset difference degree, it is determined that the working face dynamic three-dimensional geological information model is updated when the cutting drum advances by the adjusted distance.

[0143] In summary, the digital mining system based on the dynamic three-dimensional geological model can accurately and timely adjust the cutting height and advancing distance of the equipment group based on the on-site requirements of the coal mining face.

[0144] Embodiment three

[0145] In order to realize the above-mentioned embodiments, the present disclosure further proposes an electronic device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to realize the method as described in embodiment one.

[0146] Embodiment four

[0147] In order to realize the above-mentioned embodiments, the present disclosure further proposes a computer readable storage medium having a computer program stored thereon, wherein the program is executed by a processor to realize the method as described in embodiment one.

[0148] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example" or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0149] Any process or method descriptions in flow charts or described elsewhere herein can be understood as representing code modules, segments, or portions of code which include one or more executable instructions for implementing specific logic functions (or steps) in the process, and that the various embodiments of preferred implementations of the application can include other implementations with additional or fewer steps, in different orders, including use of parallel, distributed, or other computing methods, and that the various embodiments of the application can not be limited to the specific order or hierarchy presented.

[0150] Although the embodiments of the present application have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-mentioned embodiments within the scope of the present application.

Claims

1. A digitalized coal mining method based on a dynamic three-dimensional geological model, characterized in that, The method comprises: obtaining static three-dimensional geological information model of the coal mining face, real-time geological data of the two roadways of the coal mining face, real-time data of the coal mining machine, real-time data of the hydraulic support and real-time data of the scraper conveyor, and preprocessing the real-time geological data of the two roadways of the coal mining face, the real-time data of the coal mining machine, the real-time data of the hydraulic support and the real-time data of the scraper conveyor to obtain preprocessed real-time geological data of the two roadways of the coal mining face, real-time data of the coal mining machine, real-time data of the hydraulic support and real-time data of the scraper conveyor; correcting the static three-dimensional geological information model based on the preprocessed real-time geological data of the two roadways of the coal mining face to obtain a dynamic three-dimensional geological information model of the coal mining face; determining the cutting planning height of the drum of the coal mining machine and the planning distance of the hydraulic support in the coal mining face according to the dynamic three-dimensional geological information model of the coal mining face; determining the cutting adjustment strategy of the coal mining face according to the cutting planning height of the drum of the coal mining machine, the planning distance of the hydraulic support, the preprocessed real-time data of the coal mining machine, the real-time data of the hydraulic support and the real-time data of the scraper conveyor; adjusting the cutting height of the drum of the coal mining machine and the distance of the hydraulic support according to the cutting adjustment strategy to realize the digitalized coal mining of the coal mining face.

2. The method of claim 1, wherein, The preprocessing of the real-time geological data of the two roadways of the coal mining face, the real-time data of the coal mining machine, the real-time data of the hydraulic support and the real-time data of the scraper conveyor comprises: sequentially performing outlier processing and missing data processing on the real-time geological data of the two roadways of the coal mining face, the real-time data of the coal mining machine, the real-time data of the hydraulic support and the real-time data of the scraper conveyor.

3. The method of claim 2, wherein, The obtaining process of the static three-dimensional geological information model of the coal mining face comprises: obtaining drilling data, roadway geological data, fault line and fault surface data of the coal mining face to establish a three-dimensional fault network of the coal mining face; generating a three-dimensional stratigraphic framework of the coal mining face by using a columnar grid method based on the three-dimensional fault network and taking key horizons as constraints; dividing the three-dimensional stratigraphic framework into vertical small layers to form three-dimensional grid unit bodies that can be used for simulation, and then constructing a three-dimensional structure model of the coal mining face based on the three-dimensional grid unit bodies; taking the three-dimensional structure model as the static three-dimensional geological information model of the coal mining face.

4. The method of claim 3, wherein, The real-time geological data of the two roadways of the coal mining face comprise real-time elevations of the left roadway and the right roadway of the coal mining face; The real-time data of the coal mining machine comprise real-time heights of the left drum and the right drum; The real-time data of the hydraulic support comprise current moving distances of the hydraulic supports; The real-time data of the scraper conveyor comprise real-time straightness of the scraper conveyor.

5. The method of claim 4, wherein, The determination of the cutting planning height of the drum of the coal mining machine and the planning distance of the hydraulic support in the coal mining face according to the dynamic three-dimensional geological information model of the coal mining face comprises: dividing the dynamic three-dimensional geological information model of the coal mining face in the direction of the inclination of the coal mining face according to the cutting footage depth of the coal mining machine to form a plurality of unit cuboids with equal depths; extracting a first curve and a second curve of the unit cuboid, and discretizing the first curve and the second curve into S support points with the hydraulic support center distance as a division interval, wherein S is the number of the hydraulic supports arranged in the coal mining face; obtaining a left drum height of the coal mining machine, a right drum height of the coal mining machine, and a pushing distance of the hydraulic support at each support point; taking the left drum height of the coal mining machine at each support point as a left drum cutting planning height, taking the right drum height of the coal mining machine at each support point as a right drum cutting planning height, and taking the pushing distance of the hydraulic support as a hydraulic support pushing planning distance.

6. The method of claim 5, wherein, The cutting adjustment strategy of the coal mining face is determined according to the drum cutting planning height of the coal mining machine, the hydraulic support pushing planning distance, the preprocessed real-time data of the coal mining machine, the real-time data of the hydraulic support, and the real-time data of the scraper conveyor, and includes: determining a deviation value of the left drum cutting planning height and the real-time height of the left drum at each support point, a deviation value of the right drum cutting planning height and the real-time height of the right drum at each support point, and a deviation value of the hydraulic support pushing planning distance and the current pushing distance of the hydraulic support at each support point; determining the left drum cutting adjustment strategy at each support point based on the deviation value of the left drum cutting planning height and the real-time height of the left drum at each support point; determining the right drum cutting adjustment strategy at each support point based on the deviation value of the right drum cutting planning height and the real-time height of the right drum at each support point; determining the hydraulic support pushing distance adjustment strategy at each support point based on the real-time straightness of the scraper conveyor, the deviation value of the hydraulic support pushing planning distance and the current pushing distance of the hydraulic support at each support point.

7. The method of claim 1, wherein, The method further includes: obtaining an average difference degree between the current dynamic three-dimensional geological information model of the coal mining face and the dynamic three-dimensional geological information model of the coal mining face after three previous corrections; if the average difference degree is less than or equal to a preset difference degree, determining to update the dynamic three-dimensional geological information model of the coal mining face when the cutting drum advances by a preset distance; if the average difference degree is greater than the preset difference degree, determining to update the dynamic three-dimensional geological information model of the coal mining face when the cutting drum advances by an adjusted distance.

8. A digitalized coal mining system based on a dynamic three-dimensional geological model, characterized in that, The system includes: an obtaining module configured to obtain a static three-dimensional geological information model of a coal mining face, real-time geological data of a two-roadway face, real-time data of a coal mining machine, real-time data of a hydraulic support, and real-time data of a scraper conveyor, and to preprocess the real-time geological data of the two-roadway face, the real-time data of the coal mining machine, the real-time data of the hydraulic support, and the real-time data of the scraper conveyor to obtain preprocessed real-time geological data of the two-roadway face, preprocessed real-time data of the coal mining machine, preprocessed real-time data of the hydraulic support, and preprocessed real-time data of the scraper conveyor; a correction module configured to correct the static three-dimensional geological information model based on the preprocessed real-time geological data of the two-roadway face to obtain a dynamic three-dimensional geological information model of the coal mining face; and The first determining module is configured to determine a shearer drum cutting planning height and a hydraulic support pushing planning distance in the coal mining face according to the dynamic three-dimensional geological information model of the coal mining face. The second determining module is configured to determine a cutting adjustment strategy of the coal mining face according to the shearer drum cutting planning height, the hydraulic support pushing planning distance, the preprocessed real-time data of the shearer, the real-time data of the hydraulic support and the real-time data of the scraper conveyor. The adjusting module is configured to adjust the shearer drum cutting height and the hydraulic support pushing distance according to the cutting adjustment strategy, so as to realize the digitalized coal mining of the coal mining face.

9. An electronic device, comprising: The computer program is stored in the memory and executable on the processor, and when the processor executes the program, the method of any one of claims 1-7 is implemented. The program is executed by the processor to implement the method of any one of claims 1-7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, ​

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