Review and prospect of coal mine geological guarantee system in China during 30 years of construction
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摘要:
地质保障是煤炭安全、高效、绿色开采不可或缺的基础。综述了我国煤矿地质保障系统建设30年来在保障内涵、基础理论研究、技术与装备研发等方面的主要进展。较为系统地分析了煤炭绿色智能开采背景下地质保障系统建设面临的5方面技术难题：地质信息采集与解释的智能化水平不高，静态地质条件探查精度较低、综合研究程度不高、超前预测可靠性亟待提高，动态地质信息实时在线监测方法单一、致灾响应评价技术标准缺项，地质信息管理与多源异构信息融合的技术水平不高，三维地质模型精度不能满足智能开采对地质透明化的要求。指出煤矿地质保障系统未来应以精准地质预测为目的，以实现地质透明为目标，以精细地质探测和精准地质表征为突破口，重点在以下方向攻关：(1) 以建立具有矿井地质特色的全空间地球物理场多参量响应模板为目标，不断加强矿井物探的应用基础研究。(2) 低空无人机与智能机器人在地质探测和监测数据采集中的先导性示范研究。(3) 加强矿井地质体赋存与分布规律和采动覆岩变形规律研究，探索精准辨识“地质异常”的方法，研究基于矿井地质与工程特色的智能开采地质条件定量描述和分区综合预测评价的理论与方法。(4) 多源多维异构地质数据体交换格式与建库标准、工作面地质透明程度量化评价方法研究，研发多源异构地质信息融合−共享与三维可视化技术、基于地质大数据的三维地质几何属性一体化集成建模与自动更新技术等。同时，提出分层分类梯级人才的培养模式。
Abstract:Geological guarantee is the indispensable basis for the safe, efficient and green mining of coal mine. The primary objective of this paper is to present a detailed review of the construction progress of China’s geological guarantee system over the past three decades, covering the key aspects of its intention, basic theoretical research, and technological and equipment development. The statement outlines five complex technical problems faced by the geological guarantee system in the context of green and intelligent mining, which include the low level of intelligence in geological information collection and interpretation, the need to improve advance prediction reliability based on low exploration accuracy and low comprehensive research degree of static geological conditions, the challenge of using a single real-time online monitoring method for dynamic geological information and the lack of technical standards for disaster response evaluation, the low technical level of geological information management and multi-source heterogeneous information fusion, and the inadequacy of 3D geological modelling for achieving the required level of geological transparency in intelligent mining. The paper identifies the crucial areas in which the geological guarantee system of a coal mine must be studied to achieve accurate geological prediction and mine geological transparency in the future, highlighting the need for breakthroughs in fine geological exploration and accurate geological representation. The crucial areas are listed as follows: (1) The applied basic research of mine geophysical exploration should be strengthened constantly aiming at the establishment of the multi-parameter response template for the full-space geophysical field with mine geological characteristics; (2) Demonstration research should be conducted for the pilot of low-altitude unmanned aerial vehicles (UAVs) and intelligent robot for data collection in geological exploration and monitoring. (3) Study on the occurrence and distribution law of mine geological body and the deformation of overburden rock in the mining-affected area should be strengthened, to seek the method for precisely distinguishing the “geological anomaly” and to research on the theory and method of quantitative description and zoned comprehensive prediction and evaluation of intelligent mining geological conditions based on mine geology and engineering characteristics. (4) The transferring format and specifications for database construction of multi-source and multi-dimension heterogeneous geological data volume, as well as the quantitative evaluation method of geological transparency of working face, should be studied to develop the fusion-sharing and 3D visualization technology of multi-source heterogeneous geological information, and the integrated modeling and automatic updating technology of 3D geological geometry-attributes based on geological big data. At the same time, the training mode of hierarchical talents was put forward.
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煤矿井下煤与瓦斯突出、突水是煤矿生产过程中的主要灾害，在碎软煤层中尤为突出，这类煤矿的数量很多，占比也很高[1]。利用近水平定向钻孔抽采瓦斯、进行探放水是保障煤矿安全的有效方法[2-3]。煤矿碎软煤层煤质软、破碎、透气性较差，顺煤层钻进时煤层处于欠平衡状态，尤其采用孔底液动螺杆定向钻进施工时，经常出现坍塌卡钻、沉渣卡钻，造成卡钻埋钻事故[4-5]；采用水力驱动螺杆马达的高压水也极容易造成塌孔无法成孔[6-8]。针对碎软煤层定向钻进遇到的问题，科技人员开展了大量的研究工作，在碎软煤层钻进中，采用风压空气钻进技术[9]，解决上述问题，在淮南、淮北等矿区碎软煤层中广泛应用，最深孔达到了400多m，已成为碎软煤层钻孔施工的主要技术，取得了良好的应用效果。电磁波随钻测量技术既适用液动螺杆钻进，还适用风动螺杆钻进，可以弥补液动随钻测量系统的不足，是解决钻孔横穿软煤工作面的设备保障[10-11]。
电磁波随钻测量技术主要是依靠地层介质和钻杆来进行数据传输，在孔中将测量的数据加载到电磁波载波信号上，电磁波载波信号沿着地层和钻杆向孔口传播，在孔口将检测到的电磁波中的测量信号卸载解码、计算得到姿态测量数据[12-13]。
电磁波随钻测量技术的姿态测量精度直接决定了定向钻孔的施工效果，姿态测量精度偏差大，会对钻孔定向指导造成极大的影响。笔者将无线电磁波全过程影响姿态精度的因素逐条进行论述分析，提出影响姿态精度的因素和相应的解决对策方案，确保电磁波随钻测量系统的测量精度满足定向钻进要求。
1 钻孔姿态测量与定向钻进技术
钻孔姿态可以用倾角和方位角2个参数来确定。用仪器轴线OP与水平面的锐夹角$ \beta $表示倾斜角，称$ \beta $为倾角。物体轴线OP在水平面上的投影OP'与地球磁北方向ON顺时针计量的夹角$ \alpha $，即为磁方位角$ \alpha $(磁方位角经过大地磁偏角校正后为方位角)[14]，如图 1所示。
钻孔轨迹即钻头在钻进过程中形成的空间钻孔路径。以测点为基础绘制的钻孔轨迹基本为折线，钻孔轨迹与实际轨迹吻合程度取决于测点的密集程度。在造斜组合钻具中，弯曲工具的2个轴线组成的平面，定义为工具面，工具面与铅垂面夹角为工具面向角，定义沿钻进方向顺时针旋转增加，如图 2中所示。
电磁波随钻测量系统的姿态测量组件是由三轴磁通门传感器和三轴重力加速度计组成，3个相互垂直的坐标轴分别安装加速度传感器和磁传感器，构成姿态测量系统，通过坐标旋转确定唯一的钻孔姿态参数[15-16]，如图 3所示。
加速度传感器和磁传感器测量不同方向上的重力分量和磁场分量，根据下面4个公式计算得出倾角$ \beta $、方位角$ \alpha $和工具面角$ \gamma $数值[17]。
$$ \beta {\text{ = }}\arctan \frac{{ - {G_y}}}{{\sqrt {\left( {G_x^2 + G_z^2} \right)} }} \beta \in \left[ { - \frac{{\text{π }}}{{\text{2}}}, \frac{{\text{π }}}{{\text{2}}}} \right] $$ (1) $$ \alpha = \arctan \left[ {\frac{{{G_0}\left( {{B_z}{G_x} - {B_x}{G_z}} \right)}}{{{B_y}\left( {G_x^2 + G_z^2} \right) - {G_y}\left( {{B_x}{G_x} - {B_z}{G_z}} \right)}}} \right] $$ (2) $$ \gamma = \arctan \left( {\frac{{ - {G_x}}}{{ - {G_z}}}} \right) \gamma \in \left[ {0, 2{\text{π }}} \right] $$ (3) $$ {G_0} = \sqrt {G_x^2 + G_y^2 + G_z^2} $$ (4) 式中：Gx、Gy、Gz为加速度传感器所在轴的3个分量测量值，m/s2；Bx、By、Bz为地磁场的3个分量测量值，T；G0为重力加速度值，m/s2。
定向钻进过程中，一般3 m或6 m测量一次钻孔轨迹，轨迹计算时，将2个相邻测点的姿态值的平均值作为进尺的姿态值计算直线段，设测点Pi的坐标($ {X_i} $, $ {Y_i} $, $ {Z_i} $)，则其坐标计算如下[18]。
$$ {X_i} = \sum\limits_{i = 0}^n {\Delta L\cos \frac{{{\beta _i} + {\beta _{i - 1}}}}{2}} \cos \left( {\frac{{{\alpha _i} + {\alpha _{i - 1}}}}{2} - \lambda } \right) $$ (5) $$ {Y_i} = \sum\limits_{i = 0}^n {\Delta L\cos \frac{{{\beta _i} + {\beta _{i - 1}}}}{2}} \sin \left( {\frac{{{\alpha _i} + {\alpha _{i - 1}}}}{2} - \lambda } \right) $$ (6) $$ {Z_i} = \sum\limits_{i = 0}^n {\Delta L\sin \frac{{{\beta _i} + {\beta _{i - 1}}}}{2}} $$ (7) 式中：ΔL为测点之间的距离，m；λ为主设计方位角，(°)。
定向钻进是通过改变造斜件螺杆弯角工具面来造斜，利用钻孔造斜轨迹设计来实现，如图 4所示。
按照常规定义，当工具面调整到Ⅰ、Ⅳ区域里时，倾角增大，工具面调整到Ⅱ、Ⅲ区域里时，倾角减小[19-20]。当工具面向角为0°或180°时，造斜强度最大。当工具面调整到Ⅰ、Ⅱ区域里时，方位向右，工具面调整到Ⅲ、Ⅳ区域里时，方位角向左。当工具面向角为90°或270°时，则左右强度最大。
2 设计精度影响因素与解决方案
无线电磁波随钻测量系统姿态测量精度影响因素可分为测量短节设计精度和系统应用引入误差精度。测量短节设计精度主要有以下方面：
① 传感器和基准电源器件自身精度受到元器件制作时工艺不同引起的误差，选择不同的测量传感器，其稳定性、温度特性、响应时间及抗冲击能力等都不同，这些差异都会影响传感器测量精度。因此，设计时，应优先采用品牌较好的器件，必要时对批次进行测试核准。
② 测斜仪结构系统误差主要是由于测量系统传感器敏感轴的不正交、与仪器坐标轴不重合等因素引起的，不正交角和不重合角实际都是小角度，很难或几乎不能通过测量确定，而且是非线性问题，通过分析，采用最优化技术的无约束条件下多变量函数的寻优方法，变量轮换法确定不正交角，单纯形加速法确定不重合角，能有效地确定这些参数，从而达到校正精度[21]。
③ 随机振动和采集不当带来的误差由于测量传感器在采集时，受到瞬间干扰或特殊振动等，使得采集到的样点数据不准从而带来误差。这种误差需要建立采集样点数据判别准则和一次多样点的方式采集数据，进行判别、剔除解决。具体是采用软件设计同一点静态下采集多次样点数据，对采集样点异常点自动剔除，对采集样点稳定部分的数据再进行均值处理，理论上，测量数据越多，准确率越高。
④ 传感器干扰传感器在使用、运输过程中，尤其是磁传感器抗磁干扰性能差，容易受到外界强磁环境影响，发生超差的情况。这种情况一般在测量短节设计时，在传感器外围增加消磁电路和采用误差修正来解决外界对传感器的影响。
⑤ 普通钢质钻杆对测量短节的干扰钢质钻杆距离测量短节较近时，会使测量短节周围的磁环境发生畸变，测量短节测量的精度也会受到影响。通常采用的办法是增加上下无磁钻杆，在设计时根据钻杆的磁性情况以及测量短节对应精度要求，确定无磁钻杆配备长度，减少误差。
⑥ 测量短节标定在出厂时对测量短节进行标定，用于补偿磁传感器、加速度传感器因安装、漂移和随机误差等引入的误差[22]。出厂测量短节标定的精度要求、标定现场磁环境、标定台架、标定数据密度等都影响着数据的精度。这个环节是测量短节出厂前必备的环节，也是测量短节出厂前的综合校准环节。
以上6种影响因素采取合理的处置方法，在产品结构和工艺定型后，也就确定了测量短节系统的重复误差水平。
3 钻场实钻影响因素及数据分析
在煤矿井下现场实钻时，测量短节与无磁钻杆管间的同轴度也会影响探管测量精度，这些影响因素有的还导致较严重精度误差，以往认为测量短节精度就是轨迹测量精度，致使这部分误差容易被忽视。当这种情况严重时，测量结果会被判定为测量系统故障。这也就是常说的“孔中不准，标定架上准”的原因。
如某矿井实施无线电磁波定向钻进作业，在钻进过程中，发现相邻的不同测量点倾角数据变化过大。通常钻孔倾角弯曲强度应不大于0.05 rad/6 m (3°/6 m)；钻孔方位角弯曲强度应不大于0.035 rad/6 m(2°/6 m)。现场测量数据不符合弯曲强度要求，钻孔测量人员对测试数据分析后，质疑无线电磁波随钻测量系统的可靠性。
测试人员收集原始数据、测试情况和井下工况条件。在井下钻场，现有钻孔深度(100 m)位置，钻机处于未给进状态，连续多圈旋转钻具实施姿态数据测量。现场采用感应线圈接收方式，随机停机，静置测量了共26组不同工具面的倾角、方位角，数据见表 1。
表 1 同一位置不同工具面实测姿态数据Table 1. The actual attitude data of different tool surfaces at the same position序号 工具面向角/(°) 倾角/(°) 方位角/(°) 1 357.7 –13.5 78.5 2 25.0 –13.6 78.6 3 46.6 –13.7 78.6 4 71.6 –13.8 78.5 5 95.4 –13.8 78.3 6 129.5 –13.6 78.1 7 185.0 –12.8 77.7 8 155.6 –13.4 78.0 9 234.5 –12.2 77.6 10 299.9 –12.6 78.1 11 325.3 –13.0 78.5 12 183.5 –12.8 77.7 13 241.3 –12.2 77.5 14 333.5 –13.2 78.6 15 19.1 –13.6 78.6 16 228.6 –12.2 77.5 18 224.0 –12.3 77.5 19 20.4 –13.6 78.6 20 143.9 –13.5 77.9 21 236.0 –12.2 77.4 22 335.3 –13.2 78.6 23 62.8 –13.9 78.4 24 147.2 –13.4 77.9 25 252.4 –12.2 77.5 26 348.6 –13.4 78.6 由于是随机停机，不同圈数的工具面向角值也是随机产生，实测数据在图表中较为分散，不利于分析。因此，对所有的数据按照工具面向角数据从小到大进行了排列，再按照工具面变化分别对倾角和方位角的数据变化趋势进行成图，如图 5所示。
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图 5 同一位置不同工具面姿态变化Figure 5. Attitude changes of different tool face angles at the same position通过数据分析及曲线，可以看到：
① 尽管是不同圈数的数据，但倾角、方位角的误差变化随着工具面变化有着明显的规律。即倾角在工具面向角70°时呈现低谷，在250°附近呈现高峰。方位角在工具面向角220°附近呈现低谷，在30°呈现高峰。波峰和波谷工具面相差约为180°，能够呈现出较为明显的规律和走势。
② 按照不同时刻测量的数据来分析，不同圈数相近工具面向角测点的倾角最大误差不超过0.1°(工具面向角62.8°和71.6°)，方位角最大误差为0.2°(工具面向角234.5°和236°)。可以看出，无线电磁波系统的重复测量精度对照本文表述的6种设计误差，补偿处理较好，完全满足无线电磁波测量系统设计需求。
针对图 5中的测点变化趋势，分析造成上述原因，初步判定是由于外钻杆与测量短节不同轴造成，不同轴会使图 2和图 3所示模型中的Y轴不垂直于X轴与Z轴的平面。此时，利用式(1)—式(7)计算得出的姿态和轨迹变化量也就不准确。
现场提钻查看测量系统，测量短节与无磁钻杆四周受力不均，拆装时有憋劲情况，主要原因是无磁钻杆变形或内部的测量短节变形，因此，测量短节与无磁钻杆的同轴度已经无法保证。
4 姿态数据误差修正
根据上述分析，数据修正主要依据倾角、方位角的变化趋势，综合考虑变形的原因，建议在无线电磁波测量系统测量工艺中，增加现场校准环节。校准是在钻孔开孔完成后，将电磁波探管随钻进入孔中，正式钻进前，对无线电磁波探管姿态测量进行校准。校准方法是在不给进情况下，在同一钻孔深度(> 10 m)，旋转钻具，在工具面向角0°~360°范围内多次测量倾角、方位角，记录并建立姿态校准数据表。建议标校准数据表中测点数不少于12个点，且尽可能均匀分布到钻杆轴向垂直平面的4个象限(即约每30°，布置1个测点)。考虑到现场情况和操作人员的技术能力，数据修正方式可选择查表补偿法和拟合函数法。
查表补偿法是根据姿态校准数据表，建立工具面的补偿表。补偿表的基值是数据波动的中心值，基值减去校准数据表中不同工具面的倾角和方位角得到的数值确定为补偿值。正常实钻测量时，根据工具面的位置就近查表，在测量的数值上加补偿值即可进行误差修正。这种修正方法，对测点的均匀度和数据要求较高，测点均匀度和数据多少决定了修正的精度高低。该方法虽然操作难度小，但每次需要查表校准。
拟合函数法是利用数据波动规律建立补偿函数，无磁钻杆和测量短节不同轴具有旋转特性，其规律与正弦函数较为接近，因此，采用拟合正弦函数进行补偿。倾角、方位角修正函数的基本幅值为倾角、方位角各自变化的平均值，当标定点在工具面0°~360°范围内分布均匀波峰波谷明显可见时，也可采用1/2波峰和波谷差值。倾角、方位角误差波动值分别按照下面公式计算。
$$ {A_{\Delta \beta }} = \left( {{A_{\beta \max }} - {A_{\beta \min }}} \right) - {A_{\beta \min }} $$ (8) $$ {A_{\Delta \alpha }} = \left( {{A_{\alpha \max }} - {A_{\alpha \min }}} \right) - {A_{\alpha \min }} $$ (9) 式中：$ {A_{\Delta \beta }} $为倾角测量误差波动值，(°)；$ {A_{\beta \max }} $、$ {A_{\beta \min }} $分别为倾角测量最大值、最小值，(°)；$ {A_{\Delta \alpha }} $方位角测量误差波动值，(°)；$ {A_{\alpha \max }} $、$ {A_{\alpha \min }} $分别为方位角测量最大值、最小值，(°)。
初相角的选择是利用角度变化趋势选定，初相角初步选定后，利用建立的数据进行测试，选择修正后的幅度变化最小时的相角作为函数的初相角。基值、波动值、初相角确定后，修正函数也就确定。
$$ {\beta _{\text{c}}} = {\beta _{\text{b}}} + \frac{1}{2}{A_{\Delta \beta }}\sin \left( {x + {\varphi _\beta }} \right) $$ (10) $$ {\alpha _{\text{c}}} = {\alpha _{\text{b}}} + \frac{1}{2}{A_{\Delta \alpha }}\sin \left( {x + {\varphi _\alpha }} \right) $$ (11) 式中：$ {\beta _{\text{c}}} $、$ {\beta _{\text{b}}} $分别为标定后、实测的倾角数据，(°)；$ {\alpha _{\text{c}}} $、$ {\alpha _{\text{b}}} $分别为标定后、实测的方位角数据，(°)；$ {\varphi _\beta } $、$ {\varphi _\alpha } $分别为拟合函数法修正的倾角、方位角初相角，rad。
拟合函数法技术分析难度稍大，但函数确定后，可以导入到定向钻进轨迹设计计算表中，直接按照设计轨迹进行定向钻进，不再需要其他干预。
利用拟合函数法对现场实测的数据进行修正测试。将表 1中的姿态数据代入式(8)、式(9)中，得到倾角补偿函数的幅值为1.6，方位角补偿函数的幅值为1.1。倾角的初相角选择$ \frac{{\text{π }}}{{10}} $，方位角的初相角选择1。将补偿数值和初相角代入式(10)、式(11)计算得到补偿后数据，计算结果见表 2。
表 2 姿态数据修正前后对比Table 2. Comparison table of attitude data before and after correction工具面向角/(°) 倾角/(°) 方位角/(°) 修正前 修正后 修正前 修正后 19.1 –13.6 –13.12 78.6 78.07 20.4 –13.6 –13.10 78.6 78.06 25.0 –13.6 –13.05 78.6 78.05 46.6 –13.7 –12.98 78.6 78.07 62.8 –13.9 –13.11 78.4 77.92 71.6 –13.8 –13.00 78.5 78.07 87.8 –13.9 –13.13 78.3 77.99 95.4 –13.8 –13.07 78.3 78.05 129.5 –13.6 –13.17 78.1 78.17 143.9 –13.5 –13.25 77.9 78.10 147.2 –13.4 –13.20 77.9 78.13 155.6 –13.4 –13.31 78.0 78.30 183.5 –12.8 –13.09 77.7 78.18 185.0 –12.8 –13.11 77.7 78.19 224.0 –12.3 –13.01 77.5 78.04 228.6 –12.2 –12.93 77.5 78.03 228.6 –12.2 –12.93 77.5 78.03 234.5 –12.2 –12.96 77.6 78.11 236.0 –12.2 –12.97 77.4 77.91 241.3 –12.2 –12.99 77.5 77.98 252.4 –12.2 –13.00 77.5 77.92 299.9 –12.6 –13.14 78.1 78.13 325.3 –13.0 –13.23 78.5 78.29 333.5 –13.2 –13.32 78.6 78.32 335.3 –13.2 –13.29 78.6 78.30 348.6 –13.4 –13.31 78.6 78.21 357.7 –13.5 –13.28 78.5 78.05 修正后的倾角、方位角随工具面向角变化趋势，如图 6所示。
从表 2和图 6中可以看出，补偿后倾角精度达到±0.2°，方位角精度达到±0.2°。倾角、方位角在同一位置变化很小，基本不受工具面旋转的影响。补偿后的现场采集数据达到了定向钻进的精度要求。
5 结论
a. 明确了无线电磁波随钻测量系统出厂前器件自身精度、结构系统误差、随机振动和采集不当、传感器干扰、普通钻杆干扰、测量短节标定等的6种影响因素，并给出了相应的处理方法。
b. 根据现场测试数据分析，发现不同工具面倾角和方位角数据具有明显的旋转变化规律，确定误差原因是测量短节与无磁钻杆不同轴造成的；根据数据特性提出现场校准数据采集方法和技术要求。通过数据分析，纠正短节精度就是钻孔测量精度的错误认识。针对不同轴问题，建议在现场仪器组装完成入孔后，对孔中测量部分进行校正，确保仪器测量精度。
c. 根据不同轴造成的因素精度考虑到钻场的条件和操作人员的技术能力，提出查表补偿法和拟合函数法两种修正方法，就补偿方法和计算给出说明。现场人员依据情况选择合适的校准方法，能够使得测量的数据更加准确。倾角和方位角校准修正后，精度均控制在±0.2°，满足碎软煤层轨迹控制精度要求。
d. 本次在无线电磁波随钻测量施工工艺上，增加校准流程对不同轴进行补偿，但主要依靠人员手动事后去补偿，仅解决了施工现场遇到的问题，没有达到主动预防目的，后续将在测量软件中增加现场实测前自标定环节，完成入孔后自动标定，提高随钻测量精度。
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