阅读说明：本技术 近水平煤层-覆岩-地表的采动-运动-移动真三维相似材料模拟立体化数据采集方法 (Mining-movement true three-dimensional similar material simulation three-dimensional data acquisition method for near-horizontal coal seam-overlying rock-earth surface ) 是由 徐良骥 叶伟 卢克东 王明达 张坤 刘潇鹏 于 2020-09-21 设计创作，主要内容包括：本发明公开了一种近水平煤层-覆岩-地表的采动-形变-移动真三维相似材料模拟立体化数据采集方法,具体包含如下步骤：在采前、采中、采后分别用移动式三维激光扫描仪对工作面地表扫描一次、三次、两次,获取用于实现下沉盆地三维可视化的点云数据；分别在上(下)山工作面边界剖面侧(a)和下(上)山工作面外围地层剖面侧(b)的顶板层、覆岩层、弯曲带、松散层各布设一条沉降观测线,采用六台移动式数码相机对煤层掘进中特定时期的a、b进行数码照相获取覆岩形变及岩层内部沉降的宏观信息；煤层顶板层、覆岩层和松散层中从a到b分别均匀布置5条应力监测线,通过应力传感转换器连接电脑,实时传输应力数据。(The invention discloses a method for acquiring simulated three-dimensional data of a near-horizontal coal seam, overburden rock, earth surface mining, deformation and movement true three-dimensional similar material, which specifically comprises the following steps: scanning the surface of the working surface once, three times and two times by using a mobile three-dimensional laser scanner before, during and after mining to obtain point cloud data for realizing three-dimensional visualization of the subsidence basin; respectively arranging a settlement observation line on a top plate layer, a overburden layer, a bending zone and a loose layer on the upper (lower) mountain working face boundary section side (a) and the lower (upper) mountain working face surrounding ground section side (b), and carrying out digital photography on a and b in a specific period in coal seam tunneling by adopting six mobile digital cameras to obtain macroscopic information of overburden deformation and internal settlement of a rock stratum; 5 stress monitoring lines are uniformly distributed from a to b in the coal seam top plate layer, the overlying strata and the loose layer respectively, and are connected with a computer through a stress sensing converter to transmit stress data in real time.)

1. The method is characterized by being completed through three technologies, namely a three-dimensional laser scanner indoor data acquisition technology, a mobile digital photograph acquisition covering rock macroscopic deformation information and profile settlement information technology and a covering rock internal stress change information extraction technology.

2. The three-dimensional laser scanner indoor data acquisition technology according to claim 1, characterized by comprising the steps of:

step 1, arranging a three-dimensional laser scanner and establishing a coordinate system:

the three-dimensional laser scanner is installed by matching with a tripod, the position of the scanner must be located on a working surface open-eye side inclination extension line, the scanner is used for establishing a relative coordinate system by taking a centering point as a relative coordinate system origin, an x axis is established in the inclination direction, a y axis is established by taking the origin perpendicular to the x axis, the upper surface of a built true three-dimensional similar material model is used as a scanning area, and a scanner target is selected.

Step 2, scanning before mining:

and the three-dimensional laser scanner collects three-dimensional point location information of the surface of the working face before the coal seam is mined as initial point cloud data.

Step 3, adopting middle scanning:

and respectively scanning the earth surface of the working surface by using a three-dimensional laser scanner to acquire three-dimensional point location information as cloud data of the sampling point when the coal bed is pushed to the top plate to collapse, the overlying strata is broken and the bending zone is slightly bent.

Step 4, postharvest scanning:

and respectively scanning the earth surface of the working surface by using a three-dimensional laser scanner for collecting three-dimensional point location information as post-mining point cloud data 24 hours and 48 hours after the coal seam mining is finished, and taking the average value of the point location information of two times of independent observation as final post-mining earth surface point cloud data of the working surface.

3. The mobile digital photography cover rock macro-deformation information and section settlement information collecting technology according to claim 1, characterized by comprising the following steps:

step I, mobile digital camera installation:

and (2) respectively arranging moving platforms of the mobile digital cameras on two sides a and b, equally dividing the effective working surface of the test device into three parts, arranging vertical pin marks, taking the middle point of each part to extend to the moving platforms towards two sides along the direction of the vertical working surface, and marking the three shooting positions of aP1, aP2, aP3, bP1, bP2 and bP3 on the platforms. And after the shooting position is marked, a mobile digital camera is installed.

Step II, taking pictures before coal seam mining:

before coal seam mining, mobile digital cameras are respectively arranged at the positions of aP1, aP2, aP3, bP1, bP2 and bP3, pictures of six parts of a section, namely aI, aII, aIII, bI, bII and bIII, are simultaneously shot, and the pictures are spliced to obtain a full-profile section as original macro-information of the section before coal seam mining.

Step III, taking a picture when the top plate collapses:

when the roof caving phenomenon occurs after the coal seam is mined for a certain distance, the mobile digital cameras are respectively arranged at the positions of aP1, aP2, aP3, bP1, bP2 and bP3, pictures of six parts of a section, namely aI, aII, aIII, bI, bII and bIII, are simultaneously shot, the pictures are spliced to obtain macro deformation information of the roof layer on the section, the coal seam mining advancing distance at the moment is recorded as L1, and the time point at the moment is recorded as T1.

Step IV, photographing when the overburden rock is broken:

when the phenomenon of breaking of the overburden rock is caused when coal mining continues to advance, mobile digital cameras are respectively arranged at the positions of aP1, aP2, aP3, bP1, bP2 and bP3, pictures of six parts a I, a II, a III, b I, b II and b III of a section are simultaneously shot, the pictures are spliced to obtain macro-deformation information of an overburden rock layer of the section, the coal mining advancing distance at the moment is recorded as L2, and the time point at the moment is recorded as T2.

Step V, photographing when the bending belt is slightly bent and the overlying rock is further damaged:

when the coal seam continues to advance and a bending zone slightly bends and the overburden is further damaged, the mobile digital cameras are respectively arranged at the positions of aP1, aP2, aP3, bP1, bP2 and bP3, pictures of six parts of a cross section, namely aI, aII, aIII, bI, bII and bIII are simultaneously taken, the pictures are spliced to obtain macro deformation information of the overburden and the unconsolidated layer of the cross section, the coal seam mining advancing distance at the moment is recorded as L3, and the time point at the moment is recorded as T3.

Step VI, extracting sedimentation information:

and (4) establishing a two-dimensional coordinate system for the eight spliced photos shot in the steps II-V, taking the intersection point of the section open-off eye direction of the working surface and the sections on two sides as the origin of the coordinate system, establishing a Y axis downwards along the side boundary of the section open-off eye, establishing an X axis along the trend direction, and extracting the sinking information of the observation line (pin mark).

4. The overburden internal stress variation information extraction technology as recited in claim 1, comprising the steps of:

step i, stress sensing piece arrangement:

5 stress observation lines are respectively arranged on the top plate layer, the overburden layer and the unconsolidated layer at equal intervals from the section side a to the section side b, each stress observation line is composed of independent stress sensing pieces with the interval of 30cm, the tail end of each stress sensing piece is provided with a transmission line, and all the transmission lines are drawn out from the working face drawing end holes along the stress observation lines.

And step ii, strain information acquisition:

and connecting the stress transmission line of each layer with the respective stress sensing converter, connecting the stress transmission line to a computer, recording the stress change condition in real time from the beginning of coal seam mining, and selecting stress change curves corresponding to T1, T2 and T3 to extract strain information when the coal seam mining is finished.

Technical Field

The invention relates to a method for acquiring simulation test data of similar materials in the field of mining subsidence, in particular to a method for acquiring simulation three-dimensional data of a near-horizontal coal bed, overburden rock, earth surface mining movement and movement true three-dimensional similar material.

Background

The nature of the similar material simulation test is that according to a similar principle, a coal bed, an overlying rock and an earth surface rock stratum on a mine are reduced according to a certain proportion, a mine model is manufactured by selecting a proper similar material according to a test prototype, after the model reaches an expected state, the coal bed in the model is extracted, the migration conditions of the overlying rock stratum and the earth surface rock stratum after the coal bed is extracted are observed and recorded, and accordingly, the movement deformation rule, the rock stratum damage condition and the earth surface movement deformation rule of the rock stratum above a working face in the actual extraction process are explored. At present, similar material simulation tests are mostly limited to research on a section of a stratum where a coal seam working face is located along the trend, and only cover rock deformation of the stratum where the working face is located and sedimentation conditions of a local earth surface of the working face can be obtained, so that the comprehensive three-dimensional research on the cover rock deformation and the earth surface sedimentation rule of the coal seam after mining and the visualization of an earth surface subsidence basin are difficult. The method comprises the steps of constructing a mining-moving true three-dimensional similar material model of a nearly horizontal coal bed-overburden-earth surface, acquiring subsidence data of a coal bed top plate layer, an overburden layer and a loose layer on the boundary profile side of an upper (lower) working surface and the profile side of a surrounding ground layer of the lower (upper) working surface by using a mobile digital camera, acquiring moving deformation information of the earth surface by using a three-dimensional laser scanner, and acquiring stress change information of the top plate layer, the overburden layer and the loose layer by using a stress sensor to arrange an observation line and combining a stress sensing converter and a computer, so that the visualization of an earth surface subsidence basin is realized, and a three-dimensional data support is provided for analyzing the internal mechanical mechanism of the rock layer corresponding to the macroscopic deformation information of the coal bed top plate, the overburden layer and the loose layer according to a stress change curve.

Disclosure of Invention

In view of the above, the invention provides a method for acquiring mining-movement true three-dimensional similar material simulated three-dimensional data of a near-horizontal coal seam-overlying rock-earth surface, which is used for acquiring earth surface movement deformation information, overlying rock macroscopic deformation information and settlement information of a working surface section side and a working surface outer surrounding ground layer section side and stress change information inside the overlying rock in a near-horizontal coal seam true three-dimensional similar material simulation test.

The invention is realized by the following three technologies:

technique 1, three-dimensional laser scanner indoor data acquisition technique

Step 1, arranging three-dimensional laser scanner and establishing coordinate system

The three-dimensional laser scanner is installed by matching with a tripod, the position of the scanner must be located on a working surface open-eye side inclination extension line, the scanner is used for establishing a relative coordinate system by taking a centering point as a relative coordinate system origin, an x axis is established in the inclination direction, a y axis is established by taking the origin perpendicular to the x axis, the upper surface of a built true three-dimensional similar material model is used as a scanning area, and a scanner target is selected.

Step 2, scanning before mining

And the three-dimensional laser scanner collects three-dimensional point location information of the surface of the working face before the coal seam is mined as initial point cloud data.

Step 3, scanning in mining

And respectively scanning the earth surface of the working surface by using a three-dimensional laser scanner to acquire three-dimensional point location information as cloud data of the sampling point when the coal bed is pushed to the top plate to collapse, the overlying strata is broken and the bending zone is slightly bent.

Step 4, scanning after mining

And respectively scanning the earth surface of the working surface by using a three-dimensional laser scanner for collecting three-dimensional point location information as post-mining point cloud data 24 hours and 48 hours after the coal seam mining is finished, and taking the average value of the point location information of two times of independent observation as final post-mining earth surface point cloud data of the working surface.

Technology 2, technology for acquiring overburden rock macroscopic deformation information and section settlement information by mobile digital photography

Step I, Mobile digital Camera mounting

And (2) respectively arranging moving platforms of the mobile digital cameras on two sides a and b, equally dividing the effective working surface of the test device into six parts, arranging vertical pin marks, taking the middle point of each part to extend to the moving platforms towards two sides along the direction of the vertical working surface, and marking the six shooting positions on the platforms as aP1, aP2, aP3, bP1, bP2 and bP 3. And after the shooting positions are marked, the mobile digital cameras are arranged at the six marked positions.

Step II, taking pictures before coal seam mining

Before coal seam mining, mobile digital cameras are respectively arranged at the positions of aP1, aP2, aP3, bP1, bP2 and bP3, photographing parameters (such as focal length, aperture, ISO and the like) of the six mobile digital cameras are set to be the same, photos of six parts of a section a I, a II, a III, b I, b II and b III are simultaneously photographed, and the photos are spliced to obtain the full view of the section as original profile macroscopic information before coal seam mining.

Step III, photographing when the top plate collapses

When the roof caving phenomenon occurs after the coal seam is mined for a certain distance, the mobile digital cameras are respectively arranged at the positions of aP1, aP2, aP3, bP1, bP2 and bP3, photographing parameters (such as focal length, aperture, ISO and the like) of the six mobile digital cameras are set to be the same, photos of six parts of a section are taken at the same time, photos of the six parts of the section are taken, the photos are spliced to obtain macro deformation information of the roof layer on the section, the coal seam mining advancing distance at the moment is recorded as L1, and the time point at the moment is recorded as T1.

Step IV, photographing when the overburden rock is broken

When the phenomenon of breaking of overlying strata caused by continuous advancing of coal seam mining is generated, mobile digital cameras are respectively arranged at the positions of aP1, aP2, aP3, bP1, bP2 and bP3, photographing parameters (such as focal length, aperture, ISO and the like) of the six mobile digital cameras are set to be the same, photos of six parts of a section are simultaneously photographed, photos of the six parts of the section are photographed at the same time, the photos are spliced to obtain macro-deformation information of overlying strata of the section, the coal seam mining advancing distance at the moment is recorded as L2, and the time point at the moment is recorded as T2.

Step V, photographing when the bending belt is slightly bent and the overlying rocks are further damaged

When the coal seam is further advanced and a bending zone is slightly bent and the overburden is further damaged, the mobile digital cameras are respectively arranged at the positions of aP1, aP2, aP3, bP1, bP2 and bP3, photographing parameters (such as focal length, aperture, ISO and the like) of the six mobile digital cameras are set to be the same, photos of six parts of a section are photographed at the same time, pictures of the six parts of the section are photographed at AII, BIII and BIIII, macroscopic deformation information of the overburden and the unconsolidated strata of the section is obtained through photo splicing, the coal seam mining advancing distance at the moment is recorded as L3, and the time point at the moment is recorded as T3.

Step VI, extracting sedimentation information

And (4) establishing a two-dimensional coordinate system for the eight spliced photos shot in the steps II-V, taking the intersection point of the section open-off eye direction of the working surface and the sections on two sides as the origin of the coordinate system, establishing a Y axis downwards along the side boundary of the section open-off eye, establishing an X axis along the trend direction, and extracting the sinking information of the observation line (pin mark).

Technique 3, overburden rock internal stress change information extraction technique

Step i, stress sensing piece arrangement

5 stress observation lines are respectively arranged on the top plate layer, the overburden layer and the unconsolidated layer at equal intervals from the section side a to the section side b, each stress observation line is composed of independent stress sensing pieces with the interval of 30cm, the tail end of each stress sensing piece is provided with a transmission line, and all the transmission lines are drawn out from the working face drawing end holes along the stress observation lines.

Step ii, strain information acquisition

And connecting the stress transmission line of each layer with the respective stress sensing converter, connecting the stress transmission line to a computer, recording the stress change condition in real time from the beginning of coal seam mining, and selecting stress change curves corresponding to T1, T2 and T3 to extract strain information when the coal seam mining is finished.

Drawings

FIG. 1 is a technical flow diagram.

Fig. 2 shows a three-dimensional laser scanner mounting position and relative coordinate system according to the technique 1.

Fig. 3 shows the arrangement positions and sectional areas of the a and b sectional side-movable digital camera according to the technique 2.

FIG. 4 is a layout of a section b side settlement observation line.

Fig. 5 shows a stress observation line arrangement of a layer according to the technique 3.

Detailed Description

For more detailed description of the purpose and implementation of the present invention, the method for acquiring simulated three-dimensional data of the near-horizontal coal seam-overburden-earth surface mining-movement true three-dimensional similar material will be described in further detail below with reference to the accompanying drawings.

Technique 1, three-dimensional laser scanner indoor data acquisition technique

Step 1, arranging three-dimensional laser scanner and establishing coordinate system

The three-dimensional laser scanner is installed by matching with a tripod, the position of the scanner must be located on a working surface open-eye side inclination extension line, the scanner is used for establishing a relative coordinate system by taking a centering point as a relative coordinate system origin, an x axis is established in the inclination direction, a y axis is established by taking the origin perpendicular to the x axis, the upper surface of a built true three-dimensional similar material model is used as a scanning area, and a scanner target is selected. Scanner setup and coordinate System establishment as shown in FIG. 2

Step 2, scanning before mining

And the three-dimensional laser scanner collects three-dimensional point location information of the surface of the working face before the coal seam is mined as initial point cloud data.

Step 3, scanning in mining

And respectively scanning the earth surface of the working surface by using a three-dimensional laser scanner to acquire three-dimensional point location information as cloud data of the sampling point when the coal bed is pushed to the top plate to collapse, the overlying strata is broken and the bending zone is slightly bent.

Step 4, scanning after mining

And respectively scanning the earth surface of the working surface by using a three-dimensional laser scanner for collecting three-dimensional point location information as post-mining point cloud data 24 hours and 48 hours after the coal seam mining is finished, and taking the average value of the point location information of two times of independent observation as final post-mining earth surface point cloud data of the working surface.

Technology 2, mobile digital photography cover rock macroscopic deformation information acquisition technology and section settlement information

Step I, Mobile digital Camera mounting

And (2) respectively arranging moving platforms of the mobile digital cameras on two sides a and b, equally dividing the effective working surface of the test device into six parts, arranging vertical pin marks, taking the middle point of each part to extend to the moving platforms towards two sides along the direction of the vertical working surface, and marking the six shooting positions on the platforms as aP1, aP2, aP3, bP1, bP2 and bP 3. And after the shooting positions are marked, the mobile digital cameras are arranged at the six marked positions. The placement and cross-sectional area of the camera and the shooting position are shown in fig. 3.

Step I, taking pictures before coal seam mining

Before coal seam mining, mobile digital cameras are respectively arranged at the positions of aP1, aP2, aP3, bP1, bP2 and bP3, pictures of six parts of a section, namely aI, aII, aIII, bI, bII and bIII are simultaneously shot, shooting parameters (parameters such as focal length, aperture, ISO and the like) of the six mobile digital cameras are set to be the same, and the pictures are spliced to obtain the full view of the section as the original profile macroscopic information of the coal seam mining front section.

Step II, photographing when the top plate collapses

When the roof caving phenomenon occurs after the coal seam is mined for a certain distance, the mobile digital cameras are respectively arranged at the positions of aP1, aP2, aP3, bP1, bP2 and bP3, photographing parameters (such as focal length, aperture, ISO and the like) of the six mobile digital cameras are set to be the same, photos of six parts of a section are taken at the same time, photos of the six parts of the section are taken, the photos are spliced to obtain macro deformation information of the roof layer on the section, the coal seam mining advancing distance at the moment is recorded as L1, and the time point at the moment is recorded as T1.

Step III, photographing when the overburden rock is broken

When the phenomenon of breaking of overlying strata caused by continuous advancing of coal seam mining is generated, mobile digital cameras are respectively arranged at the positions of aP1, aP2, aP3, bP1, bP2 and bP3, photographing parameters (such as focal length, aperture, ISO and the like) of the six mobile digital cameras are set to be the same, photos of six parts of a section are simultaneously photographed, photos of the six parts of the section are photographed at the same time, the photos are spliced to obtain macro-deformation information of overlying strata of the section, the coal seam mining advancing distance at the moment is recorded as L2, and the time point at the moment is recorded as T2.

Step IV, photographing when the bending zone is slightly bent and the overlying rocks are further damaged

When the coal seam is further advanced and a bending zone is slightly bent and the overburden is further damaged, the mobile digital cameras are respectively arranged at the positions of aP1, aP2, aP3, bP1, bP2 and bP3, photographing parameters (such as focal length, aperture, ISO and the like) of the six mobile digital cameras are set to be the same, photos of six parts of a section are photographed at the same time, pictures of the six parts of the section are photographed at AII, BIII and BIIII, macroscopic deformation information of the overburden and the unconsolidated strata of the section is obtained through photo splicing, the coal seam mining advancing distance at the moment is recorded as L3, and the time point at the moment is recorded as T3.

Step V, extracting settlement information

And (3) establishing a two-dimensional coordinate system for the eight pictures shot in the steps I-IV, taking the intersection point of the working surface section open-off eye direction and the two side sections as the origin of the coordinate system, establishing a Y axis downwards along the boundary of the section open-off eye side, establishing an X axis along the trend direction, and extracting the sinking information of the observation line (pin mark). The layout and coordinate system of the settlement observation line are established as shown in fig. 4.

Technique 3, overburden rock internal stress change information extraction technique

Step i, stress sensing piece arrangement

5 stress observation lines are respectively arranged on the top plate layer, the overburden layer and the unconsolidated layer at equal intervals from the section side a to the section side b, each stress observation line is composed of independent stress sensing pieces with the interval of 30cm, a transmission line is arranged at the tail end of each stress sensing piece, and all the transmission lines are pulled out from the working face drawing end holes along the stress observation lines. Taking the overburden layer as an example, the stress observation line of the overburden layer is shown in fig. 5.

Step ii, stress information acquisition

And connecting the stress transmission line of each layer with the respective stress sensing converter, connecting the stress transmission line to a computer, recording the stress change condition in real time from the beginning of coal seam mining, and selecting stress change curves corresponding to T1, T2 and T3 to extract strain information when the coal seam mining is finished.