一种基于改进粒子滤波的水下采矿导航方法

针对水下采矿导航系统所面临的噪声具有非高斯性和频率随机性的问题,提出基于粒子滤波的深海采矿导航算法,并针对粒子滤波的粒子退化和贫化提出一种新的重采样算法。结合湖试数据,仿真实验表明新的重采样算法在获得更好的滤波精度的同时可以避免粒子贫化现象。最后,将基于改进的粒子滤波的深海采矿导航算法与基于无迹卡尔曼滤波算法的导航算法进行对比。结果表明本文提出的算法具有较高的精度和优良的鲁棒性。

日本矿山技术考察 井下高温处理·水下采矿技术·提高劳动生产率的措拖

本文根据对日本几个矿山的实地考察介绍了日本地下矿的高温处理和水体下采矿技术以及提高劳动生产率的措施。

一种考虑ICR纵向偏差补偿的水下履带采矿车轨迹跟踪算法

水下履带采矿车在多金属结核矿区的稀软底质上进行采集作业时,受水动力的影响其瞬时转向中心(ICR)纵向偏移后与几何中心不再重合,故难以基于精准的运动学模型设计水下履带采矿车的轨迹跟踪算法。因而,本文提出一种基于履带车运动学模型的分散式轨迹跟踪算法以实现履带采矿车高精度路径跟踪控制。首先,通过引入虚拟转角设计水下履带采矿车的Stanley横向控制律;其次,利用无迹卡尔曼(UKF)滤波法估计的ICR纵向偏移作为纵向误差的补偿,以此设计水下履带采矿车的纵向控制律;最后,基于运动学模型计算水下履带采矿车的期望驱动轮转速。研究结果表明:引入纵向偏差补偿后的分散式轨迹跟踪算法可以精准地跟踪预设轨迹。

深海采矿时代已经来临

随着人类对资源需求的不断增加,陆地上的资源供给越来越乏力,一些国家的矿企正以极大的关注和热情瞄准深海矿产资源的开采。新西兰矿企日前获准在该国西海岸塔拉纳基地区开采铁矿石。这是新西兰首个海底采矿项目,也是世界上首次在海床上进行的商业金属采矿的项目,估算可能有高达100亿吨的铁矿石。即使只有10%的资源可发掘,那也将是有史以来发现的最大矿床。这一结果预计将会激励更多公司进入深海区域开采矿产。

某金矿超大规模水下深井开采技术方案研究

本文以某金矿大规模水下深井矿山的开采和开拓为例,提出分区开采、两段竖井提升等解决措施,工艺简单、设计新颖,成功解决了矿体赋存条件复杂、大规模回采、深井提升等难题,缩短了基建时间,实现了均衡持续生产,取得了显著的经济效益和社会效益,可作为深井矿山研究设计和生产优化的参考借鉴。

Mining-induced variation in water levels in unconsolidated aquifers and mechanisms of water preservation in mines

Phreatic water resources are widely found in thick unconsolidated surface layers in western China, where water levels respond sensitively and quickly to large-scale underground mining in conjunction with shallow coal seams. Longwall face #32201 of the Bulianta Coal Mine, in the Shendong coalfield was selected as an industrial trail base, where field observations on ground-water levels were conducted when the working face was below a water-rich area. The space-time variation in the behavior of un-consolidated water levels in response to underground mining and its relation with of advance were observed through the field trials. The basic conditions for water preservation in mines are presented and the mechanisms of water preservation in mining analyzed, given the geological condition of two key strata and a severely weathered layer buried in the overburden. The field trails show that water preservation in mining shallow coal seams can be successful under suitable conditions, providing new technology for envi-ronmental protection in the desert coalfields of northwestern China.

Study on effects of longwall mining on the underground water

It is very important for secure mining under water bodies to study the effects of Iongwall mining on the underground water. In order to study this problem, piezometers for monitoring underground water levels were established in an American coalmine. Large amounts of pre-mining and post-mining monitoring data were collected. Based on the data the effects of Iongwall mining on the underground water was studied. The results demonstrate that when the piezometer monitoring wells have an interburden thickness less than 72.7 m, the groundwater level decreases immediately to immeasurable levels and go dry after undermining. The height of the fractured zone in is 72.7-85.3 m in this geological and mining conditions. The results also show that the calculated value of fractured zone by the empirical formulae used in China is smaller than the actual results. Therefore, it is not always safe to use them in analysis of mining under water bodies.

Study on the change rule of groundwater level and its impacts on vegetation at arid mining area

The shallow groundwater in Shendong mining area was broken because of large-scale underground mining activities. Selecting 32201 working-face as research area, analyzed the change rule of groundwater level and aquifer thickness under mining impact with a large number of water level observation data. Then, the impacts of groundwater level change on vegetation were analyzed by the relationship theory of arid area groundwater and vegetation. The results show that the aquifer structure and the water condition of supply flow and drainage are changed by the water proof mining. The groundwater level recovere only a little compared with the original groundwater level in two years. But the great change of groundwater level do not have notable influences on vegetation of this mining area, and further study indicates that there are certain conditions where groundwater level change impacted on vegetation. When the influence of groundwater level change was evaluated, the plant ecological water level, warning water level and spatial distribution character of original groundwater and mining-impacted groundwater-level change should be integrated.

Influence of drainage of aquifer on settling of ground surface in mining area with high ground water level

Based on the basic principles of hydrogeology and soil mechanics, studied thegenesis mechanism and control factors of settling of ground surface caused by the drainageof the aquifer in the construction of coal mines, and put forward a corresponding calculatingmodel demonstrated by practical example.The study provides mining areas,which are covered with a very thick Quaternary soil layer and abundant ground water, witha theoretical basis aimed at forecasting the settling of ground surface.