井下凿岩机器人自主操作方法研究进展

目前钻孔机器人位姿调节多采用手动遥控调节与人工复测结合,未实现全自动调节,开环控制精度低、自动化能力低、无法实现煤矿用探放水、防突和防冲钻孔机器人精确开孔定位与孔群全自动施工。通过分析钻孔机器人钻臂结构和动作,建立了钻臂运动学模型;通过对加工误差、机身变形、装配间隙等影响因素分析,发现采用回转减速器蜗轮蜗杆结构间隙会引起倾角和方位角误差放大,并在机身平时会引起倾角和方位角误差最大达0.85°;为消除误差,首先采用传统钻臂运动学误差补偿方法建立了钻臂静、动态误差补偿模型,利用全站仪测试关节间隙和变形量,基于补偿模型和RBF神经网络法求逆解得到误差补偿量,钻臂期望位姿与实际位姿误差的x方向平均误差为9.6 mm,y方向平均误差为18.2 mm,z方向平均误差为16 mm,满足工程应用要求;其次为解决传统全站仪试验测量的方法的复杂性和非实时性问题,提出了一种通过激光测距仪和高精度开孔定向仪组合获得位姿误差检测的方法,通过测距实时计算实际和理论倾角、方位角差值,作为误差补偿后的新倾角和方位角的控制输入量,对钻臂进行实时误差检测与补偿;最后利用传统全站仪精度检测方法对激光测距组合位姿误差补偿模型进行验证。试验表明：激光测距组合定位误差检测法最大误差差值在±0.5°以内,方位角最大误差在±0.5°以内,比未采用误差补偿前分别提高了41.1%和37.5%,满足了钻孔机器人开孔定位误差要求。在煤炭行业开展了钻孔机器人钻臂在线精确定位与误差补偿研究,对钻孔机器人精确自动开孔定位及孔群全自动施工具有重要的借鉴和指导意义。

     

敞开酸溶-电感耦合等离子体发射光谱法测定石煤钒矿中钒铁铝磷

石煤钒矿资源的勘探、研究和利用均需对其成分进行准确的分析测试,其中钒、铁、铝、磷等主要成分的测定尚未建立标准方法,当前所用的分析测试方法各有不足。采用碱熔电感耦合等离子体发射光谱法(ICP-OES)测定石煤钒矿样品时,高浓度的可溶性盐会导致高背景,干扰测定。酸溶法可避免上述问题,但由于常规的氢氟酸-盐酸-硝酸-高氯酸四酸体系不能消除碳和有机质对样品的吸附和包裹,待测成分无法完全释放,需先将样品高温灼烧除碳,过程繁琐。本文采用少量硫酸加四酸的五酸体系处理样品,电热板加热,盐酸浸提,利用硫酸的强氧化性将样品中大量的碳氧化成二氧化碳,免却了灼烧除碳流程,消除了含碳物质对样品的吸附和包裹,显著增强了消解效果。由此建立了ICP-OES测定石煤钒中钒、铁、铝、磷的分析方法,在称样量为0.1g、浓硫酸加入量为0.30mL时,样品消解率达到99%以上。方法检出限为17~51mg/kg,相对标准偏差(RSD, n=11)在1.7%~5.1%之间;相对误差为-4.6%~2.7%。该方法背景低、测定结果准确,可满足石煤钒矿石样品的检测要求。     

First‐year post‐fire erosion rates in Bitterroot National Forest,Montana

Accelerated runoff and erosion commonly occur following forest fires due to combustion of protective forest floor material, which results in bare soil being exposed to overland flow and raindrop impact, as well as water repellent soil conditions. After the 2000 Valley Complex Fires in the Bitterroot National Forest of west‐central Montana, four sets of six hillslope plots were established to measure first‐year post‐wildfire erosion rates on steep slopes (greater than 50%) that had burned with high severity. Silt fences were installed at the base of each plot to trap eroded sediment from a contributing area of 100 m². Rain gauges were installed to correlate rain event characteristics to the event sediment yield. After each sediment‐producing rain event, the collected sediment was removed from the silt fence and weighed on site, and a sub‐sample taken to determine dry weight, particle size distribution, organic matter content, and nutrient content of the eroded material. Rainfall intensity was the only significant factor in determining post‐fire erosion rates from individual storm events. Short duration, high intensity thunderstorms with a maximum 10‐min rainfall intensity of 75 mm h^?1 caused the highest erosion rates (greater than 20 t ha^?1). Long duration, low intensity rains produced little erosion (less than 0·01 t ha^?1). Total C and N in the collected sediment varied directly with the organic matter; because the collected sediment was mostly mineral soil, the C and N content was small. Minimal amounts of Mg, Ca, and K were detected in the eroded sediments. The mean annual erosion rate predicted by Disturbed WEPP (Water Erosion Prediction Project) was 15% less than the mean annual erosion rate measured, which is within the accuracy range of the model. Published in 2007 by John Wiley & Sons, Ltd.     

Forward simulation of coal fire model by transient electromagnetic method with electrical source

Uncontrolled coal fires are natural disasters that may cause mineral loss and environmental damage. The traditional loop source transient electromagnetic method can effectively detect the low-resistivity region of coal fires, but its detection efficiency is not so good for high-resistivity regions. In view of this limitation, a technique based on electrical source transient electromagnetics is proposed in this paper to detect high-resistivity regions in the spontaneous combustion process of coal. Considering the complex geometry of the coal fire area, an unstructured tetrahedral grid is used in this study to realize the spatial discretization of the model, and solve the electromagnetic field based on a vector finite element algorithm. Numerical analysis is used to investigate methods for detecting coal fires and the characteristics of effective anomalies are further examined to provide guidance for practical detection.     

基于物联网GIS的消防智能巡检系统设计与实现

消防设施的高效智能管理是衡量城市智慧化水平的重要指标。为了实现该目标,利用物联网技术以及网络地理信息服务技术,设计并实现了集移动巡检终端与网络后台信息管理系统于一体的消防设施智能巡检系统。该系统利用智能无线传感器、RFID以及蓝牙无线通讯等技术,实现消防设施非接触式自动巡检与巡检信息实时传输;通过基于GIS的消防管线与消防拴拓扑结构分层分级可视化,实现消防设施的统一高效管理。相比于现有巡检方式,基于物联网GIS的消防设施智能巡检系统提高了巡检效率与便捷性以及巡检信息的准确性与实时性,为城市中消防设施的实时动态智慧化管理提供了技术支撑和保障。     

沁水煤田赵庄矿区地质构造分析与研究

在野外踏勘和室内资料整理分析的基础上,对赵庄矿区物探工作所查明的断层、井下揭露的断层以及野外观测到的断层进行了断层倾角统计和分断距统计对比分析。对矿区范围内井上下的断层和野外实测节理滑动面的发育规律进行了总结。在此基础上,分析了赵庄矿区地质构造体系及其演化规律。     

山西省煤矿采空地下空间评估与再利用研究

山西省煤炭资源丰富,年煤炭产量占全国产量的近1/4,煤炭资源开采形成大量的采空地下空间。随着碳中和目标的提出和山西风电、光伏发电的大力发展,如何合理利用煤矿采空地下空间,尤其是将地下空间与新能源结合将成为煤炭产业低碳发展的关键。本次研究运用比例系数法和采空地下空间守恒定律,测算出2022年山西省开采煤矿井巷可利用空间为1.54亿m3,“十五”到“十三五”期间关闭/退出煤矿的井巷可利用空间为1.05亿m3,估算1949至2021年山西省煤矿因工作面开采形成的采空地下空间约38.98亿m3,预测到2030年山西省煤矿工作面开采还可形成采空地下空间约19.56亿m3。根据山西省能源低碳发展需求提出了山西省煤矿采空地下空间未来可利用的四种模式：煤矿地下旅游或地下仓储、煤矿地下抽水蓄能、煤矿地下压缩空气储能和煤矿地下封存二氧化碳等。     

废弃矿井煤层气资源量计算范围研究

三带理论及煤层气的解吸/吸附理论,结合残余瓦斯压力理论及国内外的相关经验数据,从理论上对废弃矿井煤层气资源量的计算范围的确定进行了探讨。提出了确定废弃矿井煤层气资源量的计算范围的几种方法。     

煤系泥岩组分特征及其对岩石力学性质的影响

应用X-衍射、荧光光谱分析和力学试验研究方法,研究了淮南新集井田煤系泥岩的矿物组成和化学成分特征;建立了泥岩的力学性质与其化学成分之间的定性定量关系,其表现为:随着SiO2含量的增大,泥岩的单轴抗压强度和弹性模量总体呈增大趋势;而随着烧失量的增大,泥岩的单轴抗压强度和弹性模量总体呈减小趋势。     

煤的等温吸附实验中各因素影响分析

为完善煤的等温吸附实验方法,本文系统研究了粒度、压力、温度、平衡时间等对不同变质程度煤吸附性能的影响;分析了各因素对等温吸附实验结果的影响原因;确定了实验的最佳条件,并以此为依据建立了煤的等温吸附实验方法的主要技术参数。