The paper aims to identify a reasonable method for mining ultra-thick coal seams in an end-slope in surface mine, With a case study of Heidaigou surface coal mine(HSCM), the paper conducted a comparative research on t...The paper aims to identify a reasonable method for mining ultra-thick coal seams in an end-slope in surface mine, With a case study of Heidaigou surface coal mine(HSCM), the paper conducted a comparative research on three mining methods, namely Underground Mining Method(UMM), Highwall Mining System(HMS) and Local Steep Slope Mining Method(LSSMM). A model was firstly established to simulate the impact that UMM and HMS exert on monitoring points and surface deformation. The way that stripping and excavation amount varies with different slope angle, and the corresponding end slope stability were analyzed in the mode of LSSMM. Then a TOPSIS model was established by taking into account six indicators such as recovery ratio, technical complexity and adaptability, the impact on surface mining production, production safety and economic benefits. Finally, LSSMM was determined as the best mining method for mining ultra-thick coal seams in end slope in HSCM.展开更多
Multi-seam mining often leads to the retention of a significant number of coal pillars for purposes such as protection,safety,or water isolation.However,stress concentration beneath these residual coal pillars can sig...Multi-seam mining often leads to the retention of a significant number of coal pillars for purposes such as protection,safety,or water isolation.However,stress concentration beneath these residual coal pillars can significantly impact their strength and stability when mining below them,potentially leading to hydraulic support failure,surface subsidence,and rock bursting.To address this issue,the linkage between the failure and instability of residual coal pillars and rock strata during multi-seam mining is examined in this study.Key controls include residual pillar spalling,safety factor(f.),local mine stiffness(LMS),and the post-peak stiffness(k)of the residual coal pillar.Limits separating the two forms of failure,progressive versus dynamic,are defined.Progressive failure results at lower stresses when the coal pillar transitions from indefinitely stable(f,>1.5)to failing(f,<1.5)when the coal pillar can no longer remain stable for an extended duration,whereas sud-den(unstable)failure results when the strength of the pillar is further degraded and fails.The transition in mode of failure is defined by the LMS/k ratio.Failure transitions from quiescent to dynamic as LMS/k.<1,which can cause chain pillar instability propagating throughout the mine.This study provides theoretical guidance to define this limit to instability of residual coal pillars for multi-seam mining in similar mines.展开更多
随着人工智能和无人驾驶等相关学科的快速发展,煤矿装备的智能化和无人化成为了新的趋势。智能设备的应用将大幅提高煤矿作业的生产力以及人员安全性。露天煤矿地形复杂,与城市环境相比无明显的几何特征,具有分段相似性,利用现有以激光...随着人工智能和无人驾驶等相关学科的快速发展,煤矿装备的智能化和无人化成为了新的趋势。智能设备的应用将大幅提高煤矿作业的生产力以及人员安全性。露天煤矿地形复杂,与城市环境相比无明显的几何特征,具有分段相似性,利用现有以激光雷达为主的同时定位与建图(Simultaneous Localization and Mapping,SLAM)方案在该环境下易出现定位漂移和建图误差较大等现象。针对上述问题,提出了一种基于激光雷达(Light Detection and Ranging,LiDAR)和惯导(Inertial Measurement Unit,IMU)紧耦合的SLAM算法,该算法使用LiDAR和IMU两种传感器作为数据输入,对数据进行预处理,前端利用迭代扩展卡尔曼滤波器将预处理后的LiDAR特征点与IMU数据相融合,并使用后向传播来矫正雷达运动畸变,后端利用雷达相对位姿因子将LiDAR帧间配准结果作为约束因子与回环因子共同完成全局因子图优化。利用开源数据集和露天煤矿实地数据集验证了算法的鲁棒性和精确性。试验结果表明在城市结构化环境中文中所提算法与当前激光SLAM算法精度保持一致,而针对长达两千多米的露天煤矿实地环境,所提算法较FAST-LIO2、LIO-SAM紧耦合算法在定位精度上分别提高了46.00%和23.15%,且具有更高的鲁棒性。展开更多
The purpose of this research is to explore the spatial distribution and influence range of the mined-out area of a coal mine in Hebei Province,the advantages of ultra-high density resistivity method,such as large data...The purpose of this research is to explore the spatial distribution and influence range of the mined-out area of a coal mine in Hebei Province,the advantages of ultra-high density resistivity method,such as large data volume,high efficiency and high precision,are brought into full play,the abnormal patterns of dislocation and partial drainage area of shallow continuous aquifer caused by subsidence zone are detected,and then the spatial distribution patterns of subsidence and fractures caused by deep mining subsidence zone are deduced,this method not only extends the exploration range of high-density resistivity method in mining subsidence disaster assessment,but also improves the accuracy of measurement,the distribution and influence range of mined-out area are revealed accurately,and good exploration results have been obtained in this project.How to select reasonable geophysical prospecting methods and give full play to the role of geophysical prospecting methods according to the geological characteristics of the study area,this exploration work is not only a good combination of geophysical prospecting methods and actual geological conditions,it also provides a valuable reference version for the exploration work under the same geological conditions.展开更多
Coal bumps have long been a safety hazard in coal mines, and even after decades of research, the exact mechanics that cause coal bumps are still not well understood. Therefore, coal bumps are still difficult to predic...Coal bumps have long been a safety hazard in coal mines, and even after decades of research, the exact mechanics that cause coal bumps are still not well understood. Therefore, coal bumps are still difficult to predict and control. The LaModel program has a long history of being used to effectively analyze displacements and stresses in coal mines, and with the recent addition of energy release and local mine stiffness calculations, the LaModel program now has greatly increased capabilities for evaluating coal bump potential. This paper presents three recent case histories where coal stress, pillar safety factor, energy release rate and local mine stiffness calculations in LaModel were used to evaluate the pillar plan and cut sequencing that were associated with a number of bumps. The first case history is a longwall mine where a simple stress analysis was used to help determine the limiting depth for safely mining in bump-prone ground. The second case history is a room-and-pillar retreat mine where the LaModel analysis is used to help optimize the pillar extraction sequencing in order to minimize the frequent pillar line bumps. The third case history is the Crandall Canyon mine where an initial bump and then a massive pillar collapse/bump which killed 6 miners is extensively back-analyzed. In these case histories, the calculation tools in LaModel are ultimately shown to be very effective for analyzing various aspects of the bump problem, and in the conclusions, a number of critical insights into the practical calculation of mine failure and stability developed as a result of this research are presented.展开更多
煤矿智能化是煤炭行业高质量发展的技术支撑,关键岗位的机器人替代是实现煤炭少人化、无人化的高效开采的发展趋势。即时定位与地图构建(Simultaneous Localization and Mapping,SLAM)是煤矿机器人自主移动与导航的关键技术之一。煤矿...煤矿智能化是煤炭行业高质量发展的技术支撑,关键岗位的机器人替代是实现煤炭少人化、无人化的高效开采的发展趋势。即时定位与地图构建(Simultaneous Localization and Mapping,SLAM)是煤矿机器人自主移动与导航的关键技术之一。煤矿井下为典型非结构化环境,空间狭长局促,结构复杂多变,照明情况不均匀,对煤矿井下SLAM提出了严峻挑战。总结了煤矿井下地图构建研究现状,针对LeGO-LOAM算法的回环检测仍存在的不足,利用SegMatch算法改进LeGO-LOAM的回环检测模块,且使用ICP算法进行全局图优化,提出了一种融合LeGO-LOAM和SegMatch的改进算法,阐述了该算法的原理和实现步骤;开展了煤矿井下模拟场景试验,对比分析改进前后SLAM算法的建图效果以及精度,试验结果表明改进算法构建的地图回环效果更好,估计轨迹更平滑、精确;结合导航需求研究了二维占据栅格地图的构建方法,试验验证了该方法所构建的栅格地图精度,结果表明有效滤除动态障碍物等离群噪点后的栅格地图具有0.01 m的建图精度,且所需存储空间较点云地图降低了3个数量级。研究成果有助于煤矿井下非结构环境下SLAM和煤矿机器人实时定位和自主移动。展开更多
基金provided by the National Natural Science Foundation of China(No.90510002)the Science and Technology Research of the Ministry of Education of China(No.306008)
文摘The paper aims to identify a reasonable method for mining ultra-thick coal seams in an end-slope in surface mine, With a case study of Heidaigou surface coal mine(HSCM), the paper conducted a comparative research on three mining methods, namely Underground Mining Method(UMM), Highwall Mining System(HMS) and Local Steep Slope Mining Method(LSSMM). A model was firstly established to simulate the impact that UMM and HMS exert on monitoring points and surface deformation. The way that stripping and excavation amount varies with different slope angle, and the corresponding end slope stability were analyzed in the mode of LSSMM. Then a TOPSIS model was established by taking into account six indicators such as recovery ratio, technical complexity and adaptability, the impact on surface mining production, production safety and economic benefits. Finally, LSSMM was determined as the best mining method for mining ultra-thick coal seams in end slope in HSCM.
基金supported by the Climbling Project of Taishan Scholar in Shandong Province (No.tspd20210313)National Natural Science Foundation of China (Grant No.51874190,52079068,41941019,52090081 and 52074168)+3 种基金Taishan Scholar in Shandong Province (No.tsqn202211150)Outstanding Youth Fund Project in Shandong Province (No.ZQ2022YQ49)the State Key Laboratory of Hydroscience and Engineering,China (No.2021-KY-04)support from the G.Albert Shoemaker endowment.
文摘Multi-seam mining often leads to the retention of a significant number of coal pillars for purposes such as protection,safety,or water isolation.However,stress concentration beneath these residual coal pillars can significantly impact their strength and stability when mining below them,potentially leading to hydraulic support failure,surface subsidence,and rock bursting.To address this issue,the linkage between the failure and instability of residual coal pillars and rock strata during multi-seam mining is examined in this study.Key controls include residual pillar spalling,safety factor(f.),local mine stiffness(LMS),and the post-peak stiffness(k)of the residual coal pillar.Limits separating the two forms of failure,progressive versus dynamic,are defined.Progressive failure results at lower stresses when the coal pillar transitions from indefinitely stable(f,>1.5)to failing(f,<1.5)when the coal pillar can no longer remain stable for an extended duration,whereas sud-den(unstable)failure results when the strength of the pillar is further degraded and fails.The transition in mode of failure is defined by the LMS/k ratio.Failure transitions from quiescent to dynamic as LMS/k.<1,which can cause chain pillar instability propagating throughout the mine.This study provides theoretical guidance to define this limit to instability of residual coal pillars for multi-seam mining in similar mines.
文摘随着人工智能和无人驾驶等相关学科的快速发展,煤矿装备的智能化和无人化成为了新的趋势。智能设备的应用将大幅提高煤矿作业的生产力以及人员安全性。露天煤矿地形复杂,与城市环境相比无明显的几何特征,具有分段相似性,利用现有以激光雷达为主的同时定位与建图(Simultaneous Localization and Mapping,SLAM)方案在该环境下易出现定位漂移和建图误差较大等现象。针对上述问题,提出了一种基于激光雷达(Light Detection and Ranging,LiDAR)和惯导(Inertial Measurement Unit,IMU)紧耦合的SLAM算法,该算法使用LiDAR和IMU两种传感器作为数据输入,对数据进行预处理,前端利用迭代扩展卡尔曼滤波器将预处理后的LiDAR特征点与IMU数据相融合,并使用后向传播来矫正雷达运动畸变,后端利用雷达相对位姿因子将LiDAR帧间配准结果作为约束因子与回环因子共同完成全局因子图优化。利用开源数据集和露天煤矿实地数据集验证了算法的鲁棒性和精确性。试验结果表明在城市结构化环境中文中所提算法与当前激光SLAM算法精度保持一致,而针对长达两千多米的露天煤矿实地环境,所提算法较FAST-LIO2、LIO-SAM紧耦合算法在定位精度上分别提高了46.00%和23.15%,且具有更高的鲁棒性。
基金This study was supported by the geological project“Shendong-Jindong Large Coal Base 1:50000 Hydrogeological Geophysical Prospecting(G201611-4)”the project“Research on Physical Characteristics of Aquiferous Structure in Areas with Serious Water Shortage in Taihang Mountain(SK201303)”with basic scientific research expense.
文摘The purpose of this research is to explore the spatial distribution and influence range of the mined-out area of a coal mine in Hebei Province,the advantages of ultra-high density resistivity method,such as large data volume,high efficiency and high precision,are brought into full play,the abnormal patterns of dislocation and partial drainage area of shallow continuous aquifer caused by subsidence zone are detected,and then the spatial distribution patterns of subsidence and fractures caused by deep mining subsidence zone are deduced,this method not only extends the exploration range of high-density resistivity method in mining subsidence disaster assessment,but also improves the accuracy of measurement,the distribution and influence range of mined-out area are revealed accurately,and good exploration results have been obtained in this project.How to select reasonable geophysical prospecting methods and give full play to the role of geophysical prospecting methods according to the geological characteristics of the study area,this exploration work is not only a good combination of geophysical prospecting methods and actual geological conditions,it also provides a valuable reference version for the exploration work under the same geological conditions.
文摘Coal bumps have long been a safety hazard in coal mines, and even after decades of research, the exact mechanics that cause coal bumps are still not well understood. Therefore, coal bumps are still difficult to predict and control. The LaModel program has a long history of being used to effectively analyze displacements and stresses in coal mines, and with the recent addition of energy release and local mine stiffness calculations, the LaModel program now has greatly increased capabilities for evaluating coal bump potential. This paper presents three recent case histories where coal stress, pillar safety factor, energy release rate and local mine stiffness calculations in LaModel were used to evaluate the pillar plan and cut sequencing that were associated with a number of bumps. The first case history is a longwall mine where a simple stress analysis was used to help determine the limiting depth for safely mining in bump-prone ground. The second case history is a room-and-pillar retreat mine where the LaModel analysis is used to help optimize the pillar extraction sequencing in order to minimize the frequent pillar line bumps. The third case history is the Crandall Canyon mine where an initial bump and then a massive pillar collapse/bump which killed 6 miners is extensively back-analyzed. In these case histories, the calculation tools in LaModel are ultimately shown to be very effective for analyzing various aspects of the bump problem, and in the conclusions, a number of critical insights into the practical calculation of mine failure and stability developed as a result of this research are presented.
文摘煤矿智能化是煤炭行业高质量发展的技术支撑,关键岗位的机器人替代是实现煤炭少人化、无人化的高效开采的发展趋势。即时定位与地图构建(Simultaneous Localization and Mapping,SLAM)是煤矿机器人自主移动与导航的关键技术之一。煤矿井下为典型非结构化环境,空间狭长局促,结构复杂多变,照明情况不均匀,对煤矿井下SLAM提出了严峻挑战。总结了煤矿井下地图构建研究现状,针对LeGO-LOAM算法的回环检测仍存在的不足,利用SegMatch算法改进LeGO-LOAM的回环检测模块,且使用ICP算法进行全局图优化,提出了一种融合LeGO-LOAM和SegMatch的改进算法,阐述了该算法的原理和实现步骤;开展了煤矿井下模拟场景试验,对比分析改进前后SLAM算法的建图效果以及精度,试验结果表明改进算法构建的地图回环效果更好,估计轨迹更平滑、精确;结合导航需求研究了二维占据栅格地图的构建方法,试验验证了该方法所构建的栅格地图精度,结果表明有效滤除动态障碍物等离群噪点后的栅格地图具有0.01 m的建图精度,且所需存储空间较点云地图降低了3个数量级。研究成果有助于煤矿井下非结构环境下SLAM和煤矿机器人实时定位和自主移动。
