Three-dimensional cooperative control method, device, equipment and system for ore body mining

Abstract

The invention provides a three-dimensional cooperative control method, device, equipment and system for ore body mining. The method comprises the steps that drilling data and micro-seismic monitoring data of an ore body are obtained; constructing a three-dimensional geologic model of the ore body according to the drilling data and the micro-seismic monitoring data; determining a presplitting area and a recovery area of the ore body based on the three-dimensional geologic model; cooperative control is conducted on the pre-splitting area and the recovery area, and target parameters of blasting of the pre-splitting area are obtained; performing support cooperative control on the ore body based on the target parameters to obtain a support response time-varying model of the ore body; the support response time-varying model is used for performing data feedback on the three-dimensional geologic model.

Description

Technical Field

[0001] This invention relates to the field of underground mining technology for metal mines, and in particular to a three-dimensional collaborative control method, device, equipment, and system for ore body mining. Background Technology

[0002] Traditional mining techniques present technical challenges for complex ore bodies with well-developed joints and poor stability (RQD<45%), including high risk of roof collapse, low resource recovery rate, and poor mining efficiency. Summary of the Invention

[0003] This invention provides a three-dimensional collaborative control method, device, equipment, and system for ore body mining, which is used to solve technical problems such as high risk of roof collapse, low resource recovery rate, and poor mining efficiency in traditional mining processes.

[0004] This invention provides a three-dimensional collaborative control method for ore body mining, the method comprising: Obtain borehole data and microseismic monitoring data of the ore body; A three-dimensional geological model of the ore body is constructed based on the borehole data and the microseismic monitoring data. The pre-fracture zone and mining zone of the ore body are determined based on the three-dimensional geological model; By coordinating the control of the pre-splitting zone and the mining zone, the target parameters for blasting in the pre-splitting zone are obtained. Based on the target parameters, the ore body is subjected to coordinated support control to obtain a time-varying support response model of the ore body; the time-varying support response model is used to provide data feedback to the three-dimensional geological model.

[0005] In some embodiments, determining the pre-fracture zone and mining zone of the ore body based on the three-dimensional geological model includes: Based on the three-dimensional geological model, the first parameter of the ore body is obtained by parameter extraction. The pre-fracture zone and the mining zone of the ore body are determined based on the first parameter.

[0006] In some implementations, determining the pre-fracture zone and the mining zone of the ore body based on the first parameter includes: The stability grading index of the ore body is determined based on the first parameter; If the value of the stability grading index is less than or equal to a first preset threshold, the pre-fracture zone of the ore body is determined; If the value of the stability grading index is greater than the first preset threshold, the mining area of ​​the ore body is determined.

[0007] In some embodiments, the coordinated control of the pre-splitting zone and the mining zone to obtain the target parameters for blasting in the pre-splitting zone includes: The blasting parameters of the pre-splitting zone are optimized to obtain the blasting hole mesh parameters of the pre-splitting zone; The blasting control parameters of the pre-fractured zone are obtained by performing time-series coordinated control on the pre-fractured zone and the mining zone. The target parameters for the pre-splitting zone blasting are determined based on the blasting hole network parameters and the blasting control parameters.

[0008] In some embodiments, optimizing the blasting parameters of the pre-splitting zone to obtain the blasting hole network parameters of the pre-splitting zone includes: Obtain the second parameter of the ore body; The rock parameters of the pre-fractured zone are determined based on the second parameter; The axial decoupling coefficient of the charge structure corresponding to the pre-fractured zone is determined based on the rock parameters. The dynamic adjustment model of the charge structure is determined based on the axial decoupling coefficient; The blasting parameters of the pre-splitting zone are optimized according to the dynamic adjustment model to obtain the blasting hole network parameters of the pre-splitting zone.

[0009] In some embodiments, the step of performing time-series coordinated control of the pre-splitting zone and the mining zone to obtain the blasting control parameters of the pre-splitting zone includes: Determine the vibration propagation model of the pre-cracked zone; Based on the vibration propagation model, the mining area is processed in a coordinated manner with the approach mining to obtain the blasting control parameters of the pre-splitting zone.

[0010] In some embodiments, the target parameters include displacement data of the ore body; the step of performing coordinated support control on the ore body based on the target parameters to obtain a time-varying support response model of the ore body includes: The degree of damage to the ore body is determined based on the displacement data; The support strategy for the anchor bolts and steel strips of the ore body is determined based on the degree of damage to the ore body. A time-varying model of the support response of the ore body is established based on the support strategy.

[0011] This invention also provides a three-dimensional collaborative control device for ore body mining, the device comprising: The acquisition module is used to acquire borehole data and microseismic monitoring data of the ore body; A construction module is used to construct a three-dimensional geological model of the ore body based on the borehole data and the microseismic monitoring data; The determination module is used to determine the pre-fracture zone and mining zone of the ore body based on the three-dimensional geological model; The first control module is used to coordinate the control of the pre-splitting zone and the mining zone to obtain the target parameters for blasting in the pre-splitting zone; The second control module is used to perform support coordination control on the ore body based on the target parameters to obtain a time-varying support response model of the ore body; the time-varying support response model is used to provide data feedback to the three-dimensional geological model.

[0012] This invention provides a three-dimensional collaborative control device for ore body mining. The device includes a processor and a memory for storing a computer program that can run on the processor. When the processor runs the computer program, it executes the steps of any of the methods described above.

[0013] This invention provides a three-dimensional collaborative control system for ore body mining. The system includes: monitoring equipment, control equipment, and support equipment; the control equipment is connected to both the monitoring equipment and the support equipment; wherein, The monitoring equipment is used to acquire borehole data and microseismic monitoring data of the ore body; The control device is used to construct a three-dimensional geological model of the ore body based on the borehole data and the microseismic monitoring data; determine the pre-splitting zone and the mining zone of the ore body based on the three-dimensional geological model; and perform coordinated control of the pre-splitting zone and the mining zone to obtain the target parameters for blasting in the pre-splitting zone. The support equipment is used to perform coordinated support control on the ore body based on the target parameters to obtain a time-varying support response model of the ore body; the time-varying support response model is used to provide data feedback to the three-dimensional geological model.

[0014] This invention provides a three-dimensional collaborative control method for ore body mining. The method includes acquiring borehole data and microseismic monitoring data of the ore body; constructing a three-dimensional geological model of the ore body based on the borehole data and the microseismic monitoring data; determining the pre-splitting zone and the mining zone of the ore body based on the three-dimensional geological model; performing collaborative control on the pre-splitting zone and the mining zone to obtain target parameters for blasting in the pre-splitting zone; and performing collaborative support control on the ore body based on the target parameters to obtain a time-varying support response model of the ore body. The time-varying support response model is used to provide data feedback to the three-dimensional geological model. Using the technical solution of this application, a three-dimensional geological model of the ore body is constructed using the acquired borehole data and microseismic monitoring data; the pre-splitting zone and the mining zone of the ore body are determined based on the three-dimensional geological model; the pre-splitting zone and the mining zone are collaboratively controlled to obtain target parameters for blasting in the pre-splitting zone; and the time-varying support response model of the ore body is obtained based on the target parameters to provide data feedback to the three-dimensional geological model. This involves constructing a three-dimensional geological model of the ore body, followed by dynamic zoning control, pre-splitting blasting optimization, mechanized collaborative mining, and intelligent closed-loop regulation, thereby reducing the risk of roof collapse in the mining process and improving resource recovery rate and mining efficiency. Attached Figure Description

[0015] Figure 1 A flowchart illustrating a three-dimensional collaborative control method for ore body mining provided in an embodiment of the present invention; Figure 2 A schematic diagram illustrating the application scenario of the three-dimensional collaborative control method for ore body mining; Figure 3 This is a schematic diagram of the data flow in the three-dimensional collaborative control method for ore body mining in an embodiment of the present invention; Figure 4 This is a schematic diagram of the data processing process in the three-dimensional collaborative control method for ore body mining in an embodiment of the present invention; Figure 5 This is a flowchart illustrating the control logic in the three-dimensional collaborative control method for ore body mining in this embodiment of the invention. Figure 6 This is a schematic diagram of the pre-splitting blasting control system in the three-dimensional collaborative control method for ore body mining in an embodiment of the present invention; Figure 7 This is a schematic diagram of the charge structure optimization in the three-dimensional collaborative control method for ore body mining in an embodiment of the present invention; Figure 8 This is a schematic diagram of the support coordination control in the three-dimensional coordinated control method for ore body mining in an embodiment of the present invention; Figure 9 This is a schematic diagram of the structure of a three-dimensional collaborative control device for ore body mining provided in an embodiment of the present invention; Figure 10This is a schematic diagram of the hardware structure of a three-dimensional collaborative control device for ore body mining according to an embodiment of the present invention. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0017] The specific technical features described in the various embodiments in the detailed implementation can be combined in various ways without contradiction. For example, different implementation methods can be formed by combining different specific technical features. In order to avoid unnecessary repetition, the various possible combinations of the specific technical features in this invention will not be described separately.

[0018] It should also be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and / or processing steps closely related to the present invention are shown in the accompanying drawings, while other details that are not closely related to the present invention are omitted.

[0019] Additionally, it should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. In the following description, the terms "first," "second," etc., are used merely to distinguish different objects and do not indicate any similarity or connection between them. It should be understood that the directional descriptions such as "above," "below," "inside," and "outside" refer to the orientation under normal use conditions.

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the specific technical solutions of the invention will be further described in detail below with reference to the accompanying drawings of the embodiments of the present invention. The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0021] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0022] This invention provides a three-dimensional collaborative control method for ore body mining, such as... Figure 1 As shown, Figure 1 This is a flowchart illustrating a three-dimensional collaborative control method for ore body mining provided in an embodiment of the present invention; the method includes: Step S101: Obtain borehole data and microseismic monitoring data of the ore body.

[0023] Step S102: Construct a three-dimensional geological model of the ore body based on the borehole data and the microseismic monitoring data.

[0024] Step S103: Determine the pre-fracture zone and mining zone of the ore body based on the three-dimensional geological model.

[0025] Step S104: Coordinate the control of the pre-splitting zone and the mining zone to obtain the target parameters for blasting in the pre-splitting zone.

[0026] Step S105: Perform support coordination control on the ore body based on the target parameters to obtain a time-varying support response model of the ore body; the time-varying support response model is used to provide data feedback to the three-dimensional geological model.

[0027] In this embodiment, the ore body can be determined according to the actual situation, and is not limited here. As an example, the ore body can be a broken and thick ore body.

[0028] The three-dimensional collaborative control method for ore body mining can be determined based on actual conditions and is not limited here. As an example, the three-dimensional collaborative control method for ore body mining can be a three-dimensional collaborative control method for mining fractured and thick ore bodies.

[0029] In step S101, the drilling data and microseismic monitoring data can be determined according to the actual situation, and are not limited here.

[0030] The specific acquisition process for obtaining borehole data and microseismic monitoring data of the ore body can be determined according to the actual situation and is not limited here. As an example, the acquisition of borehole data and microseismic monitoring data of the ore body can be achieved through monitoring equipment. In practical applications, the monitoring equipment can also be called a monitoring system.

[0031] In step S102, the three-dimensional geological model of the ore body can be determined according to the actual situation, and is not limited here. As an example, the three-dimensional geological model of the ore body can also be called a three-dimensional distribution model or a three-dimensional geological model database. In practical applications, the three-dimensional distribution model can include a three-dimensional distribution model of the ore body's RQD, UCS, and joint density; the construction of the three-dimensional geological model of the ore body based on the borehole data and the microseismic monitoring data can be a three-dimensional distribution model of the ore body's RQD, UCS, and joint density constructed based on borehole data and microseismic monitoring.

[0032] In step S103, the specific determination process for identifying the pre-fracture zone and mining zone of the ore body based on the three-dimensional geological model can be determined according to the actual situation and is not limited here. As an example, determining the pre-fracture zone and mining zone of the ore body based on the three-dimensional geological model may include extracting parameters from the three-dimensional geological model to obtain the first parameter of the ore body; and determining the pre-fracture zone and mining zone of the ore body based on the first parameter.

[0033] In step S104, the specific control process for coordinating the control of the pre-splitting zone and the mining zone to obtain the target parameters for blasting in the pre-splitting zone can be determined based on actual conditions and is not limited here. As an example, coordinating the control of the pre-splitting zone and the mining zone to obtain the target parameters for blasting in the pre-splitting zone may include optimizing the blasting parameters of the pre-splitting zone to obtain the blasting hole network parameters; performing time-series coordinated control of the pre-splitting zone and the mining zone to obtain the blasting control parameters of the pre-splitting zone; and determining the target parameters for blasting in the pre-splitting zone based on the blasting hole network parameters and the blasting control parameters.

[0034] In step S105, the specific control process in obtaining the time-varying support response model of the ore body based on the target parameters through coordinated support control can be determined according to the actual situation and is not limited here. As an example, the target parameters include the displacement data of the ore body; obtaining the time-varying support response model of the ore body based on the target parameters through coordinated support control may include determining the damage degree of the ore body based on the displacement data; determining the support strategy of the anchor bolts and steel strips of the ore body based on the damage degree of the ore body; and establishing the time-varying support response model of the ore body based on the support strategy.

[0035] This invention provides a three-dimensional collaborative control method for ore body mining. A three-dimensional geological model of the ore body is constructed using borehole data and microseismic monitoring data. Based on the three-dimensional geological model, pre-splitting zones and mining zones are determined. Collaborative control is applied to the pre-splitting zones and mining zones to obtain target parameters for blasting in the pre-splitting zones. Based on these target parameters, collaborative support control is applied to the ore body to obtain a time-varying support response model for data feedback to the three-dimensional geological model. In other words, by constructing a three-dimensional geological model of the ore body, dynamic zoning control, pre-splitting blasting optimization, mechanized collaborative mining, and intelligent closed-loop regulation are implemented, reducing the risk of roof collapse in the mining process and improving resource recovery rate and mining efficiency.

[0036] In some embodiments, determining the pre-fracture zone and mining zone of the ore body based on the three-dimensional geological model includes: Based on the three-dimensional geological model, the first parameter of the ore body is obtained by parameter extraction. The pre-fracture zone and the mining zone of the ore body are determined based on the first parameter.

[0037] In this embodiment, extracting parameters from the three-dimensional geological model to obtain the first parameter of the ore body can be understood as extracting ore body parameters from the three-dimensional geological model to obtain the first parameter of the ore body. The first parameter can be determined according to actual conditions and is not limited here. As an example, the first parameter may include UCS, RQD, and Jv.

[0038] The specific determination process for identifying the pre-fracture zone and the mining zone of the ore body based on the first parameter can be determined according to actual circumstances and is not limited here. As an example, determining the pre-fracture zone and the mining zone of the ore body based on the first parameter may include determining the stability grading index of the ore body based on the first parameter; determining the pre-fracture zone of the ore body when the value of the stability grading index is less than or equal to a first preset threshold; and determining the mining zone of the ore body when the value of the stability grading index is greater than the first preset threshold.

[0039] In some embodiments, determining the pre-fracture zone and the mining zone of the ore body based on the first parameter includes: The stability grading index of the ore body is determined based on the first parameter; If the value of the stability grading index is less than or equal to a first preset threshold, the pre-fracture zone of the ore body is determined; If the value of the stability grading index is greater than the first preset threshold, the mining area of ​​the ore body is determined.

[0040] In this embodiment, the specific determination process for determining the stability grading index of the ore body based on the first parameter can be determined according to actual circumstances and is not limited here. As an example, determining the stability grading index of the ore body based on the first parameter can be done by determining the stability grading index of the ore body based on the first parameter using a preset algorithm. The preset algorithm can be determined according to actual circumstances and is not limited here. As an example, the preset algorithm can be... .

[0041] The first preset threshold can be determined according to the actual situation and is not limited here. As an example, the first preset threshold can be 1.2. When the value of the stability grading index is less than or equal to the first preset threshold, the pre-fracture zone of the ore body can be determined when the value of the stability grading index is less than or equal to 1.2; when the value of the stability grading index is greater than the first preset threshold, the mining zone of the ore body can be determined when the value of the stability grading index is greater than 1.2.

[0042] In some embodiments, the coordinated control of the pre-fractured zone and the mining zone to obtain the target parameters for blasting in the pre-fractured zone includes: The blasting parameters of the pre-splitting zone are optimized to obtain the blasting hole mesh parameters of the pre-splitting zone; The blasting control parameters of the pre-fractured zone are obtained by performing time-series coordinated control on the pre-fractured zone and the mining zone. The target parameters for the pre-splitting zone blasting are determined based on the blasting hole network parameters and the blasting control parameters.

[0043] In this embodiment, the specific processing steps for optimizing the blasting parameters of the pre-fractured zone to obtain the blasting hole network parameters of the pre-fractured zone can be determined according to actual conditions and are not limited here. As an example, optimizing the blasting parameters of the pre-fractured zone to obtain the blasting hole network parameters of the pre-fractured zone may include obtaining a second parameter of the ore body; determining the rock parameters of the pre-fractured zone based on the second parameter; determining the axial decoupling coefficient of the charge structure corresponding to the pre-fractured zone based on the rock parameters; determining a dynamic adjustment model of the charge structure based on the axial decoupling coefficient; and optimizing the blasting parameters of the pre-fractured zone according to the dynamic adjustment model to obtain the blasting hole network parameters of the pre-fractured zone. 。

[0044] The specific control process for performing time-series coordinated control of the pre-splitting zone and the mining zone to obtain the blasting control parameters of the pre-splitting zone can be determined according to actual conditions and is not limited here. As an example, the time-series coordinated control of the pre-splitting zone and the mining zone to obtain the blasting control parameters of the pre-splitting zone may include determining the vibration propagation model of the pre-splitting zone; and performing route mining coordinated processing on the mining zone based on the vibration propagation model to obtain the blasting control parameters of the pre-splitting zone.

[0045] In some embodiments, optimizing the blasting parameters of the pre-splitting zone to obtain the blasting hole mesh parameters of the pre-splitting zone includes: Obtain the second parameter of the ore body; The rock parameters of the pre-fractured zone are determined based on the second parameter; The axial decoupling coefficient of the charge structure corresponding to the pre-fractured zone is determined based on the rock parameters. The dynamic adjustment model of the charge structure is determined based on the axial decoupling coefficient; The blasting parameters of the pre-splitting zone are optimized according to the dynamic adjustment model to obtain the blasting hole network parameters of the pre-splitting zone.

[0046] In this embodiment, the second parameter can be determined according to the actual situation, and is not limited here. As an example, the second parameter can be a ore body parameter.

[0047] Determining the rock parameters of the pre-fractured zone based on the second parameter can be achieved by calculating the rock parameters of the pre-fractured zone based on the second parameter. The rock parameters can be determined according to actual conditions and are not limited here. As an example, the rock parameters may include rock mass density and explosive density; wherein, the rock mass density can be denoted as... The density of the explosive can be denoted as: .

[0048] The specific determination process for determining the axial decoupling coefficient of the charge structure corresponding to the pre-fractured zone based on the rock parameters can be determined according to actual conditions and is not limited here. As an example, determining the axial decoupling coefficient of the charge structure corresponding to the pre-fractured zone based on the rock parameters can be done by determining the axial decoupling coefficient of the charge structure corresponding to the pre-fractured zone based on the rock parameters using a preset algorithm; wherein, the preset algorithm can be determined according to actual conditions and is not limited here. As an example, the preset algorithm can be... ;in, Rock mass density; : Explosive density.

[0049] The specific determination process in the dynamic adjustment model of the charge structure based on the axial decoupling coefficient can be determined according to actual conditions and is not limited here. As an example, the dynamic adjustment model of the charge structure based on the axial decoupling coefficient can be a dynamic adjustment model of the charge structure determined by a preset algorithm based on the axial decoupling coefficient. The dynamic adjustment model of the charge structure can also be called a dynamic adjustment model of the charge quantity; the preset algorithm can be determined according to actual conditions and is not limited here. As an example, the preset algorithm can be... .

[0050] The optimization of the blasting parameters of the pre-splitting zone according to the dynamic adjustment model to obtain the blasting hole network parameters of the pre-splitting zone can be achieved by feedback adjustment of the blasting parameters of the pre-splitting zone according to the dynamic adjustment model.

[0051] In some embodiments, the step of performing time-series coordinated control of the pre-fractured zone and the mining zone to obtain the blasting control parameters of the pre-fractured zone includes: Determine the vibration propagation model of the pre-cracked zone; Based on the vibration propagation model, the mining area is processed in a coordinated manner with the approach mining to obtain the blasting control parameters of the pre-splitting zone.

[0052] In this embodiment, the specific determination process for determining the vibration propagation model of the pre-splitting zone can be determined according to actual conditions and is not limited here. As an example, the vibration propagation model of the pre-splitting zone can be determined using a preset algorithm. The vibration propagation model may include a blasting vibration propagation attenuation formula, which can be denoted as PPV; the preset algorithm can be determined according to actual conditions and is not limited here. As an example, the preset algorithm may be... Where: Q is the amount of explosive per section (kg), R is the distance between the blast centers (m), and α = 1.68 (correction coefficient for broken ore body).

[0053] The specific processing steps for obtaining the blasting control parameters of the pre-splitting zone through the coordinated processing of the mining area based on the vibration propagation model can be determined according to actual conditions and are not limited here. As an example, the blasting control parameters of the pre-splitting zone may include axial air gap parameters, low-power explosive section parameters, and waveguide parameters; both the axial air gap parameters and the low-power explosive section parameters include pre-splitting blasting hole parameters; the pre-splitting blasting hole parameters may include hole diameter, hole depth, and charge structure.

[0054] In some embodiments, the target parameter includes displacement data of the ore body; the step of performing coordinated support control on the ore body based on the target parameter to obtain a time-varying support response model of the ore body includes: The degree of damage to the ore body is determined based on the displacement data; The support strategy for the anchor bolts and steel strips of the ore body is determined based on the degree of damage to the ore body. A time-varying model of the support response of the ore body is established based on the support strategy.

[0055] In this embodiment, the target parameter includes the displacement data of the ore body; wherein, the displacement data can be understood as real-time displacement data.

[0056] Determining the damage degree of the ore body based on the displacement data can be achieved by calculating the damage degree of the ore body based on the displacement data; wherein, the damage degree can be denoted as D(t).

[0057] The specific process for determining the anchor bolt and steel strip support strategy for the ore body based on its damage level can be determined according to the actual situation and is not limited here. As an example, the anchor bolt and steel strip support strategy for the ore body can be to trigger an emergency support command, which can initiate W-shaped steel strip and long anchor cable support, and then execute standard support procedures, such as installing anchor bolts and metal mesh.

[0058] The specific process for establishing the time-varying support response model of the ore body based on the aforementioned support strategy can be determined according to actual conditions and is not limited here. As an example, the time-varying support response model of the ore body may include a decision equation for the timing of bolt support, steel strip support density, etc. The decision equation for the timing of bolt support may be... ; =50mm is the critical displacement; the steel strip support density can be... Where: W: access width; A: cross-sectional area of ​​steel strip.

[0059] As an example, the three-dimensional collaborative control method for ore body mining can specifically be a three-dimensional collaborative control method for mining fractured and thick ore bodies. It is particularly suitable for complex ore bodies with well-developed joints and poor stability (RQD < 45%). Through a systematic approach involving three-dimensional geological modeling, dynamic zoning control, pre-splitting blasting optimization, mechanized collaborative mining, and intelligent closed-loop control, it solves technical challenges in traditional mining processes such as high risk of roof collapse, low resource recovery rate, and poor mining efficiency.

[0060] The technical system of "geological perception → dynamic zoning → pre-fracture control → collaborative mining → closed-loop optimization" can be understood in conjunction with Figure 2. Figure 2 This is a schematic diagram illustrating the application scenario of the three-dimensional collaborative control method for ore body mining in this embodiment of the invention, achieving the following objectives: Three-dimensional collaboration: spatially dividing the pre-splitting zone and the mining zone, and staggering operations in time; Intelligent decision-making: dynamically adjusting blasting parameters and support strategies based on real-time data; Safe and efficient: ore recovery rate ≥85%, dilution rate ≤8%, and roof fall accident rate reduced to less than 20% of traditional methods.

[0061] The specific plan can be combined with Figures 3, 4, and 5. Figure 6 Figure 7 Figure 8 To understand, Figure 3 This is a schematic diagram of the data flow in the three-dimensional collaborative control method for ore body mining in an embodiment of the present invention; Figure 4 This is a schematic diagram of the data processing process in the three-dimensional collaborative control method for ore body mining in an embodiment of the present invention; Figure 5 This is a flowchart illustrating the control logic in the three-dimensional collaborative control method for ore body mining in this embodiment of the invention. Figure 6 This is a schematic diagram of the pre-splitting blasting control system in the three-dimensional collaborative control method for ore body mining in an embodiment of the present invention; Figure 7 This is a schematic diagram of the charge structure optimization in the three-dimensional collaborative control method for ore body mining in an embodiment of the present invention; Figure 8 This is a schematic diagram of the support coordination control in the three-dimensional coordinated control method for ore body mining in an embodiment of the present invention; the specific steps are as follows: S1: Three-dimensional dynamic partitioning model.

[0062] A three-dimensional distribution model of orebody RQD, UCS, and joint density was constructed based on borehole data and microseismic monitoring.

[0063] Stability rating index: .

[0064] Calculation of perforated mesh parameters: .

[0065] S2: Timing Cooperative Control Algorithm.

[0066] S3: Pre-splitting blasting control system.

[0067] Optimization algorithm for charge structure: Calculation of axial decoupling coefficient: ; Rock mass density; : Explosive density; Dynamic adjustment model for charge quantity: ; S4: Support and Coordination Control.

[0068] Support response time-varying model: Decision equation for timing of anchor bolt support: .

[0069] =50mm is the critical displacement.

[0070] Calculation of steel strip support density: .

[0071] in: W: Road width.

[0072] A: Cross-sectional area of ​​the steel strip.

[0073] This invention establishes a dynamic coupling model of "blast damage - support time-varying": ;in: Long-term strength of rock mass; This invention proposes a spatiotemporal effect equation for the collaborative mining of fractured ore bodies: The "pre-splitting-mining" phase control technology of this invention: the blasting vibration wave and the support structure form an anti-phase superposition, improving the energy dissipation efficiency by 62% (compared to traditional methods). Specifically, it involves the blasting vibration propagation attenuation formula: Where: Q is the amount of explosive per section (kg), R is the distance between the blast centers (m), and α = 1.68 (correction coefficient for broken ore body).

[0074] Based on the same inventive concept as described above Figure 9 This is a schematic diagram of the structure of a three-dimensional collaborative control device for ore body mining provided in an embodiment of the present invention, as shown below. Figure 9 As shown, the device 900 includes: Module 901 is used to acquire borehole data and microseismic monitoring data of the ore body; Construction module 902 is used to construct a three-dimensional geological model of the ore body based on the borehole data and the microseismic monitoring data; Module 903 is used to determine the pre-fracture zone and mining zone of the ore body based on the three-dimensional geological model. The first control module 904 is used to coordinate the control of the pre-splitting zone and the mining zone to obtain the target parameters for blasting in the pre-splitting zone; The second control module 905 is used to perform support coordination control on the ore body based on the target parameters to obtain a time-varying support response model of the ore body; the time-varying support response model is used to provide data feedback to the three-dimensional geological model.

[0075] In some embodiments, the determining module 903 is further configured to extract parameters based on the three-dimensional geological model to obtain the first parameters of the ore body; and to determine the pre-fracture zone and the mining zone of the ore body based on the first parameters.

[0076] In some embodiments, the determining module 903 is further configured to determine the stability grading index of the ore body based on the first parameter; determine the pre-fracture zone of the ore body when the value of the stability grading index is less than or equal to a first preset threshold; and determine the mining zone of the ore body when the value of the stability grading index is greater than the first preset threshold.

[0077] In some embodiments, the first control module 904 is further configured to optimize the blasting parameters of the pre-splitting zone to obtain the blasting hole network parameters of the pre-splitting zone; perform time-series coordinated control on the pre-splitting zone and the mining zone to obtain the blasting control parameters of the pre-splitting zone; and determine the target parameters for blasting the pre-splitting zone based on the blasting hole network parameters and the blasting control parameters.

[0078] In some embodiments, the first control module 904 is further configured to acquire a second parameter of the ore body; determine the rock parameters of the pre-splitting zone based on the second parameter; determine the axial decoupling coefficient of the charge structure corresponding to the pre-splitting zone according to the rock parameters; determine the dynamic adjustment model of the charge structure based on the axial decoupling coefficient; and optimize the blasting parameters of the pre-splitting zone according to the dynamic adjustment model to obtain the blasting hole mesh parameters of the pre-splitting zone.

[0079] In some embodiments, the first control module 904 is further configured to determine the vibration propagation model of the pre-splitting zone; and to perform advance and retreat coordinated processing on the mining area based on the vibration propagation model to obtain the blasting control parameters of the pre-splitting zone.

[0080] In some embodiments, the target parameters include displacement data of the ore body; the second control module 905 is further configured to determine the damage degree of the ore body based on the displacement data; determine the support strategy of the ore body's anchor bolts and steel strips based on the damage degree of the ore body; and establish a time-varying model of the ore body's support response based on the support strategy.

[0081] It should be noted that the three-dimensional collaborative control device for ore body mining provided in the embodiments of the present invention and the configuration method provided in the aforementioned embodiments of the present invention belong to the same inventive concept. The meanings of the terms appearing here have been explained in detail above and will not be repeated here.

[0082] This invention also provides a storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements the steps of the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0083] This invention also provides a three-dimensional collaborative control system for ore body mining, the system comprising: monitoring equipment, control equipment, and support equipment; the control equipment is connected to both the monitoring equipment and the support equipment; wherein, The monitoring equipment is used to acquire borehole data and microseismic monitoring data of the ore body; The control device is used to construct a three-dimensional geological model of the ore body based on the borehole data and the microseismic monitoring data; determine the pre-splitting zone and the mining zone of the ore body based on the three-dimensional geological model; and perform coordinated control of the pre-splitting zone and the mining zone to obtain the target parameters for blasting in the pre-splitting zone. The support equipment is used to perform coordinated support control on the ore body based on the target parameters to obtain a time-varying support response model of the ore body; the time-varying support response model is used to provide data feedback to the three-dimensional geological model.

[0084] This invention also provides a three-dimensional collaborative control device for ore body mining, the three-dimensional collaborative control device for ore body mining includes: a processor and a memory for storing a computer program that can run on the processor, wherein when the processor runs the computer program, it executes the steps of the above-described method embodiments stored in the memory.

[0085] Figure 10 This is a schematic diagram of a hardware structure for a three-dimensional collaborative control device for ore body mining according to an embodiment of the present invention. The three-dimensional collaborative control device 1000 for ore body mining includes: at least one processor 1001 and a memory 1002. Optionally, the three-dimensional collaborative control device 1000 for ore body mining may further include at least one communication interface 1003. The various components in the three-dimensional collaborative control device 1000 for ore body mining are coupled together through a bus system 1004. It can be understood that the bus system 1004 is used to realize the connection and communication between these components. In addition to a data bus, the bus system 1004 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 10 The general labeled all buses as Bus System 1004.

[0086] It is understood that memory 1002 can be volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or magnetic tape storage. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Sync Link Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memory 1002 described in this embodiment of the invention is intended to include, but is not limited to, these and any other suitable types of memory.

[0087] In this embodiment of the invention, the memory 1002 is used to store various types of data to support the operation of the three-dimensional collaborative control device 1000 for ore body mining. Examples of such data include any computer program for operating on the three-dimensional collaborative control device 1000 for ore body mining, and programs implementing the methods of this embodiment of the invention may be included in the memory 1002.

[0088] The methods disclosed in the above embodiments of the present invention can be applied to or implemented by processor 1001. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The processor may be a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. A general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the methods disclosed in the embodiments of the present invention can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium, which is located in a memory. The processor reads information from the memory and, in conjunction with its hardware, completes the steps of the aforementioned method.

[0089] In an exemplary embodiment, the three-dimensional collaborative control device 1000 for ore body mining may be implemented by one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers (MCUs), microprocessors, or other electronic components to perform the above-described method.

[0090] In the several embodiments provided by this invention, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms. The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units; some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs. In addition, all functional units in the various embodiments of this invention can be integrated into one processing module, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated units can be implemented in hardware or in the form of hardware plus software functional units.

[0091] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention.

Claims

1. A method for three-dimensional coordinated control of mining of a mineral body, characterized in that, The method comprises: obtaining drilling data and microseismic monitoring data of a mineral body; constructing a three-dimensional geological model of the mineral body according to the drilling data and the microseismic monitoring data; determining a pre-splitting area and a mining area of the mineral body based on the three-dimensional geological model; performing cooperative control on the pre-splitting area and the mining area to obtain target parameters of pre-splitting blasting of the pre-splitting area; performing support cooperative control on the mineral body based on the target parameters to obtain a support response time-varying model of the mineral body; the support response time-varying model is used for data feedback on the three-dimensional geological model.

2. The method of claim 1, wherein, The determination of the pre-splitting area and the mining area of the mineral body based on the three-dimensional geological model comprises: extracting parameters from the three-dimensional geological model to obtain first parameters of the mineral body; determining the pre-splitting area and the mining area of the mineral body based on the first parameters.

3. The method of claim 2, wherein, The determination of the pre-splitting area and the mining area of the mineral body based on the first parameters comprises: determining a stability classification index of the mineral body based on the first parameters; in a case where the value of the stability classification index is less than or equal to a first preset threshold, determining the pre-splitting area of the mineral body; in a case where the value of the stability classification index is greater than the first preset threshold, determining the mining area of the mineral body.

4. The method of claim 1, wherein, The cooperative control on the pre-splitting area and the mining area to obtain the target parameters of pre-splitting blasting of the pre-splitting area comprises: optimizing the blasting parameters of the pre-splitting area to obtain blasting hole network parameters of the pre-splitting area; performing time sequence cooperative control on the pre-splitting area and the mining area to obtain blasting control parameters of the pre-splitting area; determining the target parameters of pre-splitting blasting of the pre-splitting area based on the blasting hole network parameters and the blasting control parameters.

5. The method of claim 4, wherein, The optimization of the blasting parameters of the pre-splitting area to obtain the blasting hole network parameters of the pre-splitting area comprises: obtaining second parameters of the mineral body; determining rock parameters of the pre-splitting area based on the second parameters; determining an axial decoupling coefficient of a corresponding charge structure of the pre-splitting area according to the rock parameters; determining a dynamic adjustment model of the charge structure based on the axial decoupling coefficient; optimizing the blasting parameters of the pre-splitting area according to the dynamic adjustment model to obtain the blasting hole network parameters of the pre-splitting area.

6. The method of claim 4, wherein, The time sequence cooperative control on the pre-splitting area and the mining area to obtain the blasting control parameters of the pre-splitting area comprises: determining a vibration propagation model of the pre-splitting area; performing route mining cooperative processing on the mining area based on the vibration propagation model to obtain the blasting control parameters of the pre-splitting area.

7. The method of claim 1, wherein, The target parameters include displacement data of the mineral body; the support cooperative control on the mineral body based on the target parameters to obtain the support response time-varying model of the mineral body comprises: determining a damage degree of the mineral body according to the displacement data; determining a support strategy of anchor rods and steel belts of the mineral body based on the damage degree of the mineral body; establishing the support response time-varying model of the mineral body according to the support strategy.

8. A three-dimensional coordinated control device for mining a mineral body, characterized in that, The device comprises: an obtaining module configured to obtain drilling data and microseismic monitoring data of a mineral body; The construction module is configured to construct a three-dimensional geological model of the ore body according to the drilling data and the microseismic monitoring data; The determination module is configured to determine a pre-splitting area and a stoping area of the ore body based on the three-dimensional geological model; The first control module is configured to cooperatively control the pre-splitting area and the stoping area to obtain target parameters of pre-splitting area blasting; The second control module is configured to cooperatively control support of the ore body based on the target parameters to obtain a support response time-varying model of the ore body; and the support response time-varying model is configured to feed back data to the three-dimensional geological model.

9. A three-dimensional coordinated control device for mining a body, characterized in that, The device comprises a processor and a memory for storing a computer program capable of running on the processor, wherein the processor is configured to execute the steps of the method of any one of claims 1 to 7 when running the computer program.

10. A three-dimensional coordinated control system for the extraction of a mineral body, characterised in that, The system comprises a monitoring device, a control device and a support device; the control device is connected with the monitoring device and the support device respectively; wherein, The monitoring device is configured to acquire drilling data and microseismic monitoring data of the ore body; The control device is configured to construct a three-dimensional geological model of the ore body according to the drilling data and the microseismic monitoring data; determine a pre-splitting area and a stoping area of the ore body based on the three-dimensional geological model; cooperatively control the pre-splitting area and the stoping area to obtain target parameters of pre-splitting area blasting; The support device is configured to cooperatively control support of the ore body based on the target parameters to obtain a support response time-varying model of the ore body; and the support response time-varying model is configured to feed back data to the three-dimensional geological model.

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