Quantitative testing system and method for caving form of overlying strata in goaf of underground coal face

Abstract

The invention discloses an underground coal face goaf overlying strata caving form quantitative testing system and method. The system comprises a static testing device, a dynamic testing device and an operation module. Wherein the monitoring area of the static testing device is a goaf and a to-be-mined area around a roadway, and the static testing device is used for collecting surrounding rock change data and three-dimensional space distribution form data of the surface of the goaf in the mining process of a working face; the dynamic testing device is used for entering a corresponding area of the goaf according to the caving condition of the goaf and collecting three-dimensional space distribution form data of the surface of the corresponding area of the goaf in real time. And the operation module is used for constructing a goaf three-dimensional model in combination with the static and dynamic test data, calculating the volume of the caved rock mass based on inversion operation and performing three-dimensional dynamic reconstruction on the morphological change in the overlying strata caving process. The system can perform full-space real-time measurement on the collapse form of the overlying strata in a mode of combining a static test and a dynamic test.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of safe mining, and in particular to a quantitative testing system and method for overburden collapse form of goaf in underground coal mining face. BACKGROUND

[0002] With the extension of coal resource mining to deep and complex geological conditions, the quantitative testing of overburden collapse form of goaf has become one of the key technologies to ensure safe and efficient production of mines.

[0003] In related technologies, the quantitative testing of overburden collapse form of goaf is generally estimated by empirical formula and observed by point-like manual observation. However, the testing method in the above related technology has the defects of insufficient accuracy of testing results, large error, limited monitoring space, inability to perform dynamic monitoring, and lagging testing results. SUMMARY

[0004] The present application aims to at least solve one of the above technical problems to some extent.

[0005] To this end, the first object of the present application is to provide a quantitative testing system for overburden collapse form of goaf in underground coal mining face. The system can perform real-time measurement of the overburden collapse form in the whole space by combining static testing and dynamic testing, thereby improving the accuracy and comprehensiveness of the overburden collapse quantitative testing.

[0006] The second object of the present application is to provide a quantitative testing method for overburden collapse form of goaf in underground coal mining face.

[0007] The third object of the present application is to provide a non-transitory computer readable storage medium.

[0008] To achieve the above objects, the first aspect of the present application provides a quantitative testing system for overburden collapse form of goaf in underground coal mining face, comprising: a static testing device, a dynamic testing device and an operation module; wherein,

[0009] The static testing device is arranged in the main haulage way and the return airway at both ends of the coal mining face, and the monitoring area of the static testing device is the goaf and the to-be-mined area around the main haulage way and the return airway.

[0010] The static testing device is configured to collect the surrounding rock change data and the three-dimensional spatial distribution form data of the goaf surface during the mining process of the working face by means of three-dimensional laser scanning.

[0011] The monitoring area of the dynamic testing device includes a central area of the goaf, and the dynamic testing device is used for entering a corresponding area of the goaf according to a caving condition of the goaf, and collecting three-dimensional spatial distribution form data of a surface of the corresponding area of the goaf in real time through three-dimensional laser scanning.

[0012] The operation module is used for constructing a three-dimensional model of the goaf in combination with the data collected by the static testing device and the dynamic testing device, and calculating a volume of the caving rock mass and performing three-dimensional dynamic reconstruction on a form change in the caving process of the overburden rock mass based on inversion operation.

[0013] In addition, the quantitative testing system for the caving form of the overburden rock mass of the goaf of the underground coal mining face according to the embodiments of the present application also has the following additional technical features:

[0014] Optionally, in some embodiments, the static testing device comprises a plurality of three-dimensional laser scanning probes, a signal cable and a data acquisition device; the signal cable is laid on a coal pillar side of the main haulage roadway and the air return roadway; each three-dimensional laser scanning probe and the data acquisition device are connected with the signal cable at a corresponding position of the coal pillar side; and the data acquisition device is used for collecting and saving the data collected by the plurality of three-dimensional laser scanning probes.

[0015] Optionally, in some embodiments, the dynamic testing device comprises a control device, a three-dimensional laser scanner and a robot dog; the three-dimensional laser scanner is fixedly connected to a preset position on the robot dog; and the robot dog is wirelessly connected with the control device, and the control device is used for controlling a travel path of the robot dog.

[0016] Optionally, in some embodiments, the control device comprises a man-machine interaction interface, and a display area in the man-machine interaction interface is used for displaying a monitoring picture of the robot dog.

[0017] To achieve the above-mentioned purpose, the second aspect of the present application proposes a quantitative testing method for a caving form of an overburden rock mass of a goaf of an underground coal mining face, which is applied to the quantitative testing system for the caving form of the overburden rock mass of the goaf of the underground coal mining face according to the first aspect, and the method comprises the following steps:

[0018] arranging a dynamic testing device, and determining an arrangement scheme of a static testing device according to information of the coal mining face, and arranging the static testing device according to the arrangement scheme;

[0019] collecting surrounding rock change data and three-dimensional spatial distribution form data of a surface of the goaf in a mining process of the working face through the static testing device;

[0020] According to the caving condition of the goaf, the dynamic testing device is controlled to enter a corresponding area in the goaf, and three-dimensional spatial distribution form data of a surface of the corresponding area is collected in real time by the dynamic testing device.

[0021] The data collected by the static testing device and the dynamic testing device are combined to construct a three-dimensional model of the goaf, and based on inversion operation, the volume of the caving rock mass is calculated and the morphological change in the caving process of the overburden rock is reconstructed dynamically in three dimensions.

[0022] Optionally, in some embodiments, the arrangement scheme of the static testing device is determined according to the information of the coal mining face, including: determining the number of three-dimensional laser scanning probes to be arranged according to the length of a single roadway in the coal mining face; determining the position of each three-dimensional laser scanning probe in the main haulage roadway or the return airway according to the length of the main haulage roadway and the return airway at both ends of the coal mining face and the number of three-dimensional laser scanning probes, and determining the length of a signal cable.

[0023] Optionally, in some embodiments, the dynamic testing device is arranged, including: fixing and connecting a three-dimensional laser scanner to a preset position on a robot dog; and wirelessly connecting the robot dog to a control device, and issuing a preset travel path to the robot dog through the control device.

[0024] Optionally, in some embodiments, after the dynamic testing device is controlled to enter the corresponding area in the goaf, the method further includes: displaying a real-time monitoring picture around the robot dog and data collected in real time by the three-dimensional laser scanner through a man-machine interaction interface on the control device; and dynamically adjusting the travel path of the robot dog based on the real-time monitoring picture and the data collected in real time.

[0025] Optionally, in some embodiments, before the three-dimensional model of the goaf is constructed, the method further includes: storing and backing up the data collected by the static testing device on a data receiving terminal of a data collection device in the static testing device; and after the dynamic scanning operation in the goaf is completed, recovering the robot dog and storing and backing up the data collected by the three-dimensional laser scanner.

[0026] To achieve the above object, a non-transitory computer readable storage medium is provided in the third aspect of the present application, which stores a computer program. When the computer program is executed by a processor, the method for quantitatively testing the caving form of overburden rock in a goaf of a coal mining face underground is implemented.

[0027] The technical scheme provided by the embodiments of the present application at least brings the following beneficial effects:

[0028] The application compares and analyzes the static test data and dynamic test data of the overburden rock caving form by combining static test with dynamic test. The static test data can be used to analyze the surrounding rock changes in the whole process of the coal mining face, and the dynamic test data can be used to analyze the surface three-dimensional spatial distribution form of the more comprehensive monitoring area such as the center area of the goaf. Therefore, the application can obtain the static spatial form of the goaf by using the dynamic and static test data, accurately calculate the volume and other parameters of the caving rock mass, and perform three-dimensional dynamic reconstruction on the dynamic change process of the overburden rock caving. Therefore, the application can realize full-space and real-time diagnosis of the caving form with centimeter or even millimeter accuracy by fusing in-situ sensing, three-dimensional dynamic reconstruction and intelligent inversion for quantitative testing of the overburden rock caving form, provide data support for accurate prevention and control of roof disasters, improve the accuracy and comprehensiveness of the quantitative testing of the overburden rock caving, and help to ensure the safe mining of the underground coal mining face.

[0029] 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 skilled in the art upon examination of the following and / or can be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0030] 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:

[0031] Figure 1 A structural schematic diagram of a quantitative testing system of overburden rock caving form of goaf of underground coal mining face is proposed for the embodiments of the application;

[0032] Figure 2 A schematic diagram of the arrangement mode of a static testing device is proposed for the embodiments of the application;

[0033] Figure 3 A schematic diagram of the connection mode of a dynamic testing device is proposed for the embodiments of the application;

[0034] Figure 4 A flowchart of a quantitative testing method of overburden rock caving form of goaf of underground coal mining face is proposed for the embodiments of the application. DETAILED DESCRIPTION

[0035] The embodiments of the application are described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar notations 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.

[0036] It should be noted that the gob overburden caving form quantitative test method in the related embodiment has the following three major core defects: first, the precision is insufficient. The empirical formula used in the related embodiment does not consider the influence of lithology combination, mining height change and geological structure, and the actual measurement shows that the prediction error is generally 20% to 40% (such as the caving zone height under hard roof conditions is underestimated by more than 30%); artificial drilling peep can only obtain discrete point data, and it is difficult to capture the three-dimensional non-uniform damage characteristics of the overburden. Second, the dynamic monitoring is missing. The means (such as roof separation instrument, stress meter, etc.) used in the related embodiment mainly concentrate on the monitoring around the roadway, and cannot obtain the dynamic evolution information of the overburden crack development and key layer breakage in the mining process in real time, resulting in lagging of the roof pressure warning. Third, the space coverage is limited. The geophysical methods (such as seismic wave CT, etc.) used in the related embodiment are affected by the underground mechanical and electrical interference, and the resolution is often lower than 5m, which is difficult to identify millimeter-level cracks; the surface subsidence monitoring (InSAR, etc.) of shallow coal seams cannot be applied to mines with a buried depth of more than 800m, and cannot distinguish the boundary between the caving zone and the crack zone.

[0037] Therefore, the application provides a gob overburden caving form quantitative test system and method for an underground coal mining face, which can realize full-space and real-time diagnosis of the caving form with centimeter or even millimeter accuracy by fusing in-situ sensing, three-dimensional dynamic reconstruction and intelligent inversion, and provide data support for accurate prevention and control of roof disasters.

[0038] The underground coal mining face gob overburden caving form quantitative test system and method of the embodiment of the application will be described below with reference to the accompanying drawings.

[0039] Figure 1 A structural schematic diagram of a gob overburden caving form quantitative test system for an underground coal mining face provided by the embodiment of the application is shown in FIG. 1, which comprises a static test device 10, a dynamic test device 20 and an operation module (not shown in the figure). Figure 1 Figure 1

[0040] The static test device 10 is arranged in the main haulage roadway and the return air roadway at both ends of the coal mining face, and the monitoring area of the static test device 10 is the gob and the area to be mined around the main haulage roadway and the return air roadway. The static test device 10 is used to collect the surrounding rock change data and the three-dimensional spatial distribution form data of the gob surface in the mining process of the working face by means of three-dimensional laser scanning.

[0041] The monitoring area of the dynamic test device 20 includes the central area of the gob, and the dynamic test device 20 is used to enter the corresponding area of the gob according to the caving condition of the gob, and collect the three-dimensional spatial distribution form data of the surface of the corresponding area of the gob in real time by means of three-dimensional laser scanning.​​

[0042] Specifically, the testing system of this application includes two parts: a static testing device and a dynamic testing device. This application collects relevant data on overburden collapse in goaf areas through a combination of dynamic and static quantitative testing methods. This facilitates the comparative analysis of static and dynamic test data, enabling precise quantitative measurement of the overburden collapse morphology in goaf areas.

[0043] In one embodiment of this application, such as Figure 1 As shown, the static testing device 10 includes: multiple three-dimensional laser scanning probes 3 ( Figure 1 (1 example is described below) 2 signal cable and 1 data acquisition device.

[0044] Among them, such as Figure 2 As shown, signal cable 2 is laid on the sidewall of the coal pillar in the main haulage roadway and return air roadway; each three-dimensional laser scanning probe 3 and data acquisition device 1 is connected to signal cable 2 at a corresponding position on the sidewall of the coal pillar. Data acquisition device 1 is used to collect and save data collected by multiple three-dimensional laser scanning probes 3.

[0045] Specifically, based on Figure 2 In this embodiment, multiple three-dimensional laser scanning probes 3 are arranged to monitor the goaf and unmined areas near the two roadways of the coal mining face. Since three-dimensional laser scanning probes 3 are also deployed in the unmined unmined areas, continuous monitoring of surrounding rock changes throughout the mining process is possible as the coal mining face advances and the probes gradually approach the unmined areas. The three-dimensional laser scanning probes 3 deployed in the goaf can monitor the three-dimensional spatial distribution morphology of the goaf surface through three-dimensional laser scanning.

[0046] Furthermore, each three-dimensional laser scanning probe 3 can transmit the monitored data to the data acquisition device 1 via the signal cable 2, so that the data can be exported from the data acquisition device 1 for subsequent processing and analysis.

[0047] In one embodiment of this application, such as Figure 1 As shown, the dynamic testing device 20 includes: a control device 4, a three-dimensional laser scanner 5, and a robot dog 6.

[0048] Among them, such as Figure 3 As shown, the 3D laser scanner 5 is fixedly connected to the robot dog 6 at a preset position; the robot dog 6 is wirelessly connected to the control device 4, which is used to control the movement path of the robot dog 6.

[0049] Specifically, based on Figure 3The three-dimensional laser scanner 5 and the robot dog 6 constitute a mobile laser scanner in the arrangement manner, and based on the mobility of the mobile laser scanner, the mobile laser scanner can enter the area which is usually difficult to enter in the goaf to perform three-dimensional laser scanning. That is, the dynamic testing device 20 of the embodiment of the application can carry the three-dimensional laser scanner 5 to the area which is more inclined to the center of the goaf due to the strong maneuverability of the robot dog 6, and therefore, compared with the static testing device 10, the dynamic testing device 20 has a larger monitoring area and can more comprehensively monitor different areas of the goaf. Through the three-dimensional laser scanning of the three-dimensional laser scanner 5, the surface three-dimensional spatial distribution form of different areas in the goaf can be monitored.

[0050] The operation module is configured to combine the data collected by the static testing device and the dynamic testing device to construct a three-dimensional model of the goaf, and based on inversion operation, calculate the volume of the collapsed rock mass and perform three-dimensional dynamic reconstruction on the morphological changes in the caving process of the overburden rock.

[0051] Specifically, the operation module can acquire the above-mentioned data collected by the static testing device 10 and the dynamic testing device 20 through wireless or wired mode. Then, the static testing data and the dynamic testing data are compared and analyzed to complement and verify each other. For example, for the three-dimensional spatial distribution form data of the same position, whether the static testing data and the dynamic testing data are consistent can ensure the accuracy of the collected data. And the missing data which is not monitored in any testing mode can be supplemented by the data monitored in the other testing mode, so as to ensure the comprehensiveness of data collection.

[0052] Further, the operation module uses the three-dimensional spatial distribution form data of the surface of the goaf which is verified and supplemented to construct the current three-dimensional model of the goaf through relevant processing operation. In combination with the surrounding rock change data collected by the static testing device 10, the three-dimensional spatial distribution form data dynamically monitored by the dynamic testing device 20 at different times, and the initial detection data of the coal mining face before mining, etc., the volume of the collapsed rock mass at different positions of the goaf can be calculated through inversion operation. The above-mentioned data can also be used to obtain the dynamic change process of the overburden rock morphology in the caving process of the overburden rock through three-dimensional dynamic reconstruction.

[0053] In summary, the gob overburden collapse form quantitative testing system of the underground coal mining face of the embodiment of the application compares and analyzes the static test data and the dynamic test data of the overburden collapse form by combining the static test and the dynamic test, and verifies each other. The static test data can be used to analyze the surrounding rock changes in the whole process of the coal mining face, and the dynamic test data can be used to analyze the surface three-dimensional spatial distribution form of a more comprehensive monitoring area such as the center area of the gob. Thus, the system can obtain the static spatial form of the gob by using the dynamic and static test data, accurately calculate the volume and other parameters of the collapsed rock mass, and perform three-dimensional dynamic reconstruction on the dynamic change process of the overburden collapse. Therefore, the system can realize full-space and real-time diagnosis of the collapse form with centimeter or even millimeter accuracy by fusing in-situ sensing, three-dimensional dynamic reconstruction and intelligent inversion for quantitative testing of the overburden collapse form, provide data support for accurate prevention and control of roof disasters, improve the accuracy and comprehensiveness of the quantitative testing of the overburden collapse, and help to ensure the safe mining of the underground coal mining face.

[0054] In order to more clearly illustrate the specific implementation process of the quantitative testing of the gob overburden collapse form quantitative testing system of the underground coal mining face of the application, a gob overburden collapse form quantitative testing method of the underground coal mining face of the embodiment of the application is described in detail below. The method is applied to the quantitative testing system in the above embodiment, that is, the related devices in the system are used to perform related functions to realize the method of the embodiment. The devices involved in the method are described in the above embodiment, and will not be described here.

[0055] Figure 4 A flowchart of a gob overburden collapse form quantitative testing method of the underground coal mining face of the embodiment of the application is shown in FIG. 1, and the method includes the following steps: Figure 4

[0056] Step S101: arranging the dynamic test device, determining the arrangement scheme of the static test device according to the information of the coal mining face, and arranging the static test device according to the arrangement scheme.

[0057] Specifically, the dynamic test device and the static test device are arranged first. For the static test device, the number of three-dimensional laser scanning probes and other arrangement parameters that need to be arranged can be determined according to the actual parameter information of the coal mining face, and an arrangement scheme is designed.

[0058] ​In an embodiment of the present application, the arrangement scheme of the static testing device is determined according to the information of the coal mining face, including: determining the number of three-dimensional laser scanning probes to be arranged according to the length of a single roadway in the coal mining face; determining the position of each three-dimensional laser scanning probe in the main haulage roadway or the air return roadway and the length of the signal cable according to the length of the main haulage roadway and the air return roadway at both ends of the coal mining face and the number of three-dimensional laser scanning probes.

[0059] Specifically, assuming that the scanning radius of a single three-dimensional laser scanning probe 3 is R and the length of a single roadway in the coal mining face is L, the number of three-dimensional laser scanning probes 3 to be arranged in a single roadway should satisfy the following formula: n≥L / 2R. Then, after the number n of probes to be arranged is determined, the arrangement scheme is designed. The interval of each probe is determined according to the length of the main haulage roadway and the air return roadway and the number of three-dimensional laser scanning probes, and the specific position of each three-dimensional laser scanning probe in the main haulage roadway or the air return roadway is determined in combination with the actual situation in the roadway, such as whether there is a working device that needs to be avoided. The length of the signal cable to be laid is determined based on the length of the roadway under the condition that all the laser scanning probes can be actually connected.

[0060] Further, the signal cable 2 is laid along the coal pillar side of the air return roadway and the main haulage roadway. After the signal cable 2 is laid, the three-dimensional laser scanning probe 3 and the data acquisition device 1 are installed at the specified points according to the specific position of each three-dimensional laser scanning probe determined in the above arrangement scheme. The monitoring coverage area of the three-dimensional laser scanning probe includes the goaf near the two roadways.

[0061] In an embodiment of the present application, the dynamic testing device is arranged, including: fixing a three-dimensional laser scanner to a preset position on a robot dog; wirelessly connecting the robot dog and a control device, and issuing a preset travel path to the robot dog through the control device.

[0062] Specifically, the three-dimensional laser scanner 5 is first fixed to a specified position on the robot dog 6. The position is determined in advance according to whether the robot dog 6 can comprehensively scan the environment around it, for example, as shown in FIG. 5, the three-dimensional laser scanner 5 can be fixed above the robot dog 6. Figure 3

[0063] Then, the robot dog 6 is wirelessly connected with the control device 4. The control device 4 can issue a preset travel path to the robot dog 6. The travel path can be determined according to the current caving condition of the goaf and the position of the area to be monitored.

[0064] Step S102: collecting the surrounding rock change data and the three-dimensional spatial distribution form data of the goaf surface in the mining process of the coal mining face through the static testing device.

[0065] ​Specifically, the plurality of three-dimensional laser scanning probes 3 arranged in the previous step can monitor the goaf and the area to be mined near the two roadways of the coal mining face. Since the three-dimensional laser scanning probe 3 is also arranged at the area to be mined in the embodiment, the surrounding rock change data of the whole mining process can be continuously monitored in the process of gradually approaching the probe of the area to be mined in the process of mining the coal mining face. The three-dimensional laser scanning probe 3 arranged at the goaf can monitor the three-dimensional spatial distribution of the surface of the goaf through three-dimensional laser scanning.

[0066] Further, in order to facilitate the use of collected data, in an embodiment of the present application, after the static testing device collects data, it further includes: storing and backing up the data collected by the static testing device on the data receiving terminal of the data collection device in the static testing device.

[0067] Specifically, the data receiving terminal of the data collection device 1 is arranged at the ground information station, and the data collected by the static testing device in the underground is stored and backed up on the data receiving terminal.

[0068] Step S103: According to the caving condition of the goaf, control the dynamic testing device to enter the corresponding area in the goaf, and collect the three-dimensional spatial distribution data of the surface of the corresponding area in real time through the dynamic testing device.

[0069] Specifically, after determining the travel path of the robot dog according to the caving condition of the goaf at different times, the robot dog is controlled to enter the goaf according to the preset travel path, and three-dimensional laser scanning is performed by the three-dimensional laser scanner carried thereon.

[0070] In an embodiment of the present application, after the dynamic testing device is controlled to enter the corresponding area in the goaf, it further includes: displaying the real-time monitoring picture around the robot dog and the data collected in real time by the three-dimensional laser scanner through the man-machine interaction interface on the control device; dynamically adjusting the travel path of the robot dog based on the real-time monitoring picture and the data collected in real time.

[0071] Specifically, the man-machine interaction interface on the control device of the embodiment has a camera carried on the robot dog in advance, and the real-time monitoring picture around the robot dog can be generated by using the video data shot by the camera and the three-dimensional point cloud data collected by the three-dimensional laser scanner. Furthermore, the display area in the man-machine interaction interface can display the real-time monitoring picture around the robot dog and the data collected in real time by the three-dimensional laser scanner.

[0072] Further, the user can learn the current environmental condition of the dynamic testing device according to the real-time monitoring picture, and issue a dynamic path adjustment instruction to the robot dog through the man-machine interactive interface. For example, when it is determined according to the real-time monitoring picture that there is a danger around the robot dog, the path of the robot dog can be adjusted to avoid the dangerous area, and for another example, when the data collected by the real-time displayed three-dimensional laser scanner is missing at a certain position or it is determined that the data at a certain position needs to be collected again, the path of the robot dog can be dynamically adjusted to collect data at the position.

[0073] Further, in order to facilitate the use of the collected data, in an embodiment of the present application, after the dynamic testing device collects data, it further comprises: recovering the robot dog after the dynamic scanning operation of the goaf is completed, and storing and backing up the data collected by the three-dimensional laser scanner.

[0074] Step S104: combining the data collected by the static testing device and the dynamic testing device, constructing a three-dimensional model of the goaf, and calculating the volume of the collapsed rock mass and three-dimensionally dynamically reconstructing the morphological changes in the overburden rock collapse process based on inversion operation.

[0075] Specifically, combining the data collected by the static testing device and the dynamic testing device stored in the above steps, the overburden rock collapse morphology of the underground coal mining face goaf is quantitatively and qualitatively analyzed, including: three-dimensional model establishment of the goaf, volume calculation of the collapsed rock mass, and analysis of the morphological changes in the collapse process, etc.

[0076] As an example, when constructing a three-dimensional model of the goaf according to the three-dimensional laser scanning data of the underground goaf, the following steps can be performed:

[0077] Step S11, data preprocessing.

[0078] Specifically, the RealWorks software is used to splice a plurality of groups of point cloud data to obtain a complete goaf point cloud model file. The spliced point cloud model file is imported into the CloudCompare software to remove errors caused by personnel, equipment and other factors during data collection.

[0079] Step S12, data processing and modeling.

[0080] Specifically, the point cloud data after noise reduction is imported into the Geomagic Studio software, the normal direction is unified, a grid model is generated, and then a goaf entity model is generated. The 3DMine software is used to slice the goaf entity model and extract the cross section contour line. The extracted cross section contour line is imported into the Rhinoceros software to generate a three-dimensional model of the goaf.

[0081] Step S13, model integration and analysis.

[0082] Specifically, according to the actual ground contour lines and geological exploration lines of the mine, a mine ground and underground entity model is generated in the Rhino software. The goaf three-dimensional model is combined with the mine stratum topography three-dimensional entity model using Boolean operation to generate a mine three-dimensional entity model containing the goaf. The generated three-dimensional model is finely divided into a grid to generate a grid file. The grid file is exported to a file format recognizable by the FLAC3D software using the Griddle plug-in to analyze the stability of the goaf and the overburden caving.

[0083] As another example, data collected in combination with static testing devices and dynamic testing devices, and initial detection data of the coal mining face before mining, such as the geometric size of the goaf and the rock mass properties, etc., can be used to calculate the volume of the caved rock mass at different positions in the goaf through inversion operation. For example, a joint inversion algorithm is used to estimate the volume of the caved rock mass through a related volume calculation formula.

[0084] As another example, when performing three-dimensional dynamic reconstruction of the dynamic changes in the shape of the overburden during caving, first, a dynamic model is constructed. The volume and shape information of the caved rock mass obtained by inversion is combined with the initial model to construct a dynamic three-dimensional model. The lattice Boltzmann method (LBM) can be used to simulate the caving process to achieve dynamic reconstruction by calculating the displacement and deformation of the rock mass at different time steps. Then, the shape change is analyzed. By comparing the three-dimensional models at different time points, the shape change during caving is analyzed. Boolean operation and other techniques can be used to edit and analyze the model to comprehensively analyze the caving process.

[0085] In summary, the quantitative testing method for the caving shape of the overburden in the goaf of the underground coal mining face according to the embodiments of the present application combines static testing with dynamic testing to compare and analyze the static testing data and the dynamic testing data of the caving shape of the overburden, which complement and verify each other. The static testing data can be used to analyze the changes in the surrounding rock during the entire mining process of the coal mining face, and the dynamic testing data can be used to analyze the surface three-dimensional spatial distribution shape of a more comprehensive monitoring area in the central region of the goaf. Thus, the method uses dynamic and static testing data to obtain the static spatial shape of the goaf through inversion calculation, accurately calculates the volume of the caved rock mass and other parameters, and performs three-dimensional dynamic reconstruction of the dynamic changes in the caving of the overburden. Therefore, the method fuses in-situ sensing, three-dimensional dynamic reconstruction, and intelligent inversion to quantitatively test the caving shape of the overburden, which can achieve real-time diagnosis of the caving shape in the entire space at a centimeter or even millimeter level of precision, provides data support for accurate prevention and control of roof disasters, improves the accuracy and comprehensiveness of the quantitative testing of the caving of the overburden, and is conducive to ensuring the safe mining of the underground coal mining face.

[0086] In order to achieve the above-mentioned embodiments, the application further provides a non-transitory computer-readable storage medium storing a computer program, the computer program being executed by a processor to implement the quantitative testing method for the caving shape of the overburden strata of the goaf of the underground coal mining face.

[0087] It should be noted that it should be understood that various parts of the application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, and as in another embodiment, it can be implemented by any one or a combination of the following technologies known in the art: discrete logic circuit with logic gate circuit for implementing logic function on data signal, application specific integrated circuit with suitable combination logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA) and the like.

[0088] In addition, in the description of the application, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application.

[0089] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0090] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances.

[0091] In the description of the specification, the description using the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the particular feature, structure, material or characteristic being described is included in at least one embodiment or example of the application. The illustrative appearances of the above-mentioned terms in various places in the specification are not necessarily referred to the same embodiment or example. Moreover, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples. Furthermore, the application can be combined with other embodiments or examples that are described in the specification, which are not necessarily mutually exclusive, without departing from the scope of the present application.

[0092] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be interpreted as limiting the present application, and that variations, modifications, substitutions and changes can be made by those skilled in the art without departing from the scope of the present application.

Claims

1. A quantitative testing system for the caving morphology of overlying strata in the goaf of an underground coal mining face, characterized in that, include: Static testing device, dynamic testing device, and computing module; among which, The static testing device is arranged in the main haulage roadway and return air roadway at both ends of the coal mining face. The monitoring area of ​​the static testing device is the goaf and the area to be mined around the main haulage roadway and the return air roadway. The static testing device is used to collect data on changes in the surrounding rock and the three-dimensional spatial distribution morphology of the goaf surface during the mining process using three-dimensional laser scanning. The monitoring area of ​​the dynamic testing device includes the central area of ​​the goaf. The dynamic testing device is used to enter the corresponding area of ​​the goaf according to the collapse situation of the goaf, and to collect the three-dimensional spatial distribution morphology data of the surface of the corresponding area of ​​the goaf in real time through three-dimensional laser scanning. The computing module is used to combine the data collected by the static testing device and the dynamic testing device to construct a three-dimensional model of the goaf, and to calculate the volume of the collapsed rock mass based on the inversion calculation and to perform three-dimensional dynamic reconstruction of the morphological changes during the collapse of the overburden.

2. The system according to claim 1, characterized in that, The static testing device includes: multiple three-dimensional laser scanning probes, signal cables, and a data acquisition device; wherein, The signal cable is laid on the coal pillar sidewall of the main haulage roadway and the return air roadway; Each of the three-dimensional laser scanning probes and the data acquisition device is connected to the signal cable at a corresponding position on the side of the coal pillar; The data acquisition device is used to collect and save the data collected by the multiple three-dimensional laser scanning probes.

3. The system according to claim 1, characterized in that, The dynamic testing device includes: a control device, a 3D laser scanner, and a robot dog; wherein, The 3D laser scanner is fixedly connected to a preset position on the robot dog; The robot dog is wirelessly connected to the control device, which is used to control the robot dog's movement path.

4. The system according to claim 3, characterized in that, The control device includes: The human-computer interaction interface, wherein the display area of ​​the human-computer interaction interface is used to display the monitoring screen of the robot dog.

5. A quantitative testing method for the caving morphology of overlying strata in the goaf of an underground coal mining face, characterized in that, The method for quantitative testing of overburden collapse morphology in the goaf of an underground coal mining face as described in any one of claims 1-4 includes the following steps: Deploy dynamic testing devices and determine the layout scheme of static testing devices based on information from the coal mining face, and deploy the static testing devices according to the layout scheme. The static testing device is used to collect data on changes in the surrounding rock and the three-dimensional spatial distribution of the goaf surface during the mining process. The dynamic testing device is controlled to enter the corresponding area of ​​the goaf according to the collapse situation of the goaf, and the three-dimensional spatial distribution morphology data of the surface of the corresponding area is collected in real time through the dynamic testing device. By combining the data collected by the static testing device and the dynamic testing device, a three-dimensional model of the goaf is constructed, and based on the inversion operation, the volume of the collapsed rock mass is calculated and the morphological changes during the collapse of the overlying rock are dynamically reconstructed in three dimensions.

6. The method according to claim 5, characterized in that, The process of determining the layout scheme of the static testing device based on information from the coal mining face includes: The number of three-dimensional laser scanning probes to be deployed is determined based on the length of the individual roadway in the coal mining face. Based on the lengths of the main haulage roadway and the return air roadway at both ends of the coal mining face, and the number of the three-dimensional laser scanning probes, the position of each three-dimensional laser scanning probe in the main haulage roadway or the return air roadway is determined, and the length of the signal cable is determined.

7. The method according to claim 5, characterized in that, The dynamic testing device includes: The 3D laser scanner is fixedly connected to the robot dog at a preset position; The robot dog is wirelessly connected to the control device, and the control device sends a preset travel path to the robot dog.

8. The method according to claim 7, characterized in that, After controlling the dynamic testing device to enter the corresponding area in the goaf, the method further includes: The human-machine interface on the control device displays real-time monitoring footage of the robot dog's surroundings and real-time data collected by the 3D laser scanner. Based on the real-time monitoring footage and the real-time collected data, the robot dog's travel path is dynamically adjusted.

9. The method according to claim 7, characterized in that, Before constructing the three-dimensional model of the goaf, the following steps are also included: The data acquired by the static testing device is stored and backed up on the data receiving terminal of the data acquisition device in the static testing device. After the dynamic scanning operation in the goaf is completed, the robot dog is retrieved, and the data collected by the 3D laser scanner is stored and backed up.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the quantitative testing method for the erosion morphology of the goaf in the underground coal mining face as described in any one of claims 5-9.

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