智能相机在激光焊缝跟踪检测系统中的应用研究

本文以中国科学院知识创新工程重要方向项目“全自动激光拼焊成套装备关键技术研究与示范应用”及沈阳市科技攻关项目“激光视觉焊缝自动跟踪与质量检测系统”为依托，针对激光焊接这个难点问题，在广泛调研国内外研究现状的基础上，研究开发了一套激光视觉焊缝跟踪检测原理样机。本文主要包括以下四方面的工作：1焊缝跟踪系统的系统结构搭建；2图像处理方法研究；3图像处理方法在FPGA中的实现；4基于工业机器人的激光焊接实验 及结果分析。具体工作如下： 本文首先论述了应用于焊缝跟踪的线结构光视觉传感器检测原理，建立了激光焊缝跟踪检测系统实验平台。该平台由图像采集与处理模块、上位机系统、DSP控制器、伺服电机驱动器、伺服电机等五部分组成。 激光拼焊焊缝跟踪图像的处理方法是关键技术之一，直接影响系统的实时性，根据激光拼焊焊缝跟踪图像的特点设计了相应的图像处理算法，分析研究了基于数学形态学的焊缝跟踪结构光条纹图像增强算法，并根据本课题的特点提出了一种基于模板的边缘提取方法，能简洁快速地提取出单像素边缘，然后研究了结构光中心线提取算法以及焊缝特征点识别算法，最后通过仿真实验验证了该图像处理流程的有效性。 论文的重点在于图像处理方法在智能相机中的实时实现。跟踪系统对图像处理的实时性要求很高，传统的处理方法主要是在DSP中以软件编程的方式实现，速度难以进一步提高，本课题中通过在智能相机中的FPGA中构建一个SOPC系统，将基于硬件描述语言VHDL完成的图像预处理模块和基于Xilinx公司的microblaze软核的特征点提取模块集成在单片芯片上，实现了激光条纹特征点的实时提取，系统具有高度的灵活性与出色的功能。 最后对搭建的跟踪系统平台进行了实验研究，用实验验证了焊缝跟踪系统的性能，保证了该套系统能够满足实时跟踪的要求，可以达到预期的设计目标。

煤系地层三维三分量地震数据解释方法研究

Conventional 3D seismic exploration cannot meet the demand of high yield and high efficiency safe production in coal mine any more. Now it is urgent to improve the discovery degree of coal mine geological structures for coal production in China. Based on 3D3C seismic exploration data, multi-component seismic information is fully excavated. First systematic research on 3D3C seismic data interpretation of coal measure strata is carried out. Firstly, by analyzing the coal measure strata, the seismic-geologic model of coal measure strata is built. Shear wave logging is built by using regression analysis. Horizon calibration methods of PP-wave and PS-wave are studied and the multi-wave data are used together to interpret small faults. Using main amplitude analysis technology, small faults which cannot be found from PP-wave sections can be interpreted from the low frequency PS-wave sections. Thus, the purpose to applying PS-wave data to fine structure assistant interpretation is achieved. Secondly, PP- and PS-wave post-stack well constrained inversion methods of coal measure strata are studied. Joint PP- and PS-wave post-stack inversion flow is established. More attribute parameters, which are applied in fine lithology interpretation of coal measure strata, are obtained from combinations of the inversion results. Exploring the relation between rock with negative Poisson’s ratio and anisotropy, fracture development in coal seam are predicted. Petrophysical features of coal measure strata are studied, and the relations between elastic parameters and lithology, fluid and physical properties are established. Inversions of the physical parameters such as porosity, permeability and water saturation, which reflect lithology and fluid property, are obtained. Finally, the approaches of shear wave splitting and Thomsen parameters inversion, which provide new ideas for seismic anisotropy interpretation of coal measure strata, are studied to predict fracture development. The results of practical application indicate that the methods in this paper have good feasibility and applicability. They have positive significance for high yield and high efficiency safe production in coal mine.

急倾斜金属矿体开采岩体移动规律与变形趋势预测研究

Rockmass movement due to mining steep metallic ore body is a considerable question in the surface movement and deformation issue caused by underground mining. Research on coal mining induced rockmass movement and its prediction problem have been performed for a long-term, and have achieved great progress at home and abroad. However, the rockmass movement caused by mining steep metal mine is distinctivly different from coal seam mining.. Existing surface movement laws and deformation prediction methods are not applicable to the rockmass movement caused by mining steep metal mine. So far the home and abroad research to this theory is presently at an early stage, and there isn’t mature theory or practical prediction method, which made a great impact on production. In this paper, the research object—Jinchuan nickel mine, which is typical steep metal mine, characterized by complex geological conditions, developed faults, cracked rockmass, high geostress, and prominent engineering stability problems. In addition, backfill mining method is used in the mine, the features of rockmass movement caused by this mining method are also different from other mining methods. In this paper, the laws of rock mass movement, deformation and destroy mechanism, and its prediction were analyzed based on the collection of data, detailed in-sit engineering geology survey, ground movement monitoring by GPS, theoretical analysis and numerical simulation. According to the GPS monitoring of ground surface movement, ground subsidence basin with apparent asymmetry is developing, the influence scope is larger in the upper faulted block than in the lower faulted block, and the center of ground movement is moving along the upper faulted block direction with increasing depth of mining. During the past half and seven years, the largest settlement has amounted to 1287.5mm, and corresponding horizontal displacement has amounted to 664.6mm. On the ground surface, two fissure belts show a fast-growing trend of closure. To sum up, mining steep metal mine with backfill method also exist the same serious problem of rockmass movement hazards. Fault, as a low intensity zone in rockmass, when it located within the region of mining influence, the change of potential energy mainly consumed in fault deformation associated with rockmass structure surface friction, which is the essence of displacement and stress barrier effects characterized by fault rupture zone. when steep fault located in the tensile deformation region incurred by underground excavation, no matter excavation in hangingwall or in footwall of the fault, there will be additional tensile stress on the vertical fault plane and decrease in the shear strength, and always showing characteristics of normal fault slip, which is the main reason of fault escarpment appeared on the ground surface. The No.14 shaft deformation and failure is triggered by fault activation, which showed with sidewall move, rupture, and break down features as the main form of a concentrated expression of fault effects. The size and orientation of principal stress in surrounding rock changed regularly with mining; therefore, roadway deformation and damage at different stages have different characteristics and distribution models. During the process of mining, low-intensity weak structures surface always showed the most obvious reaction, accompany with surface normal stress decrease and shear strength bring down, to some extent, occurred with relative slide and deformation. Meanwhile, the impact of mining is a relatively long process, making the structure surface effect of roadway deformation and damage more prominent than others under the influence of mining. Roadway surrounding rockmass deformation caused by the change of strain energy density field after excavation mainly belongs to elastic deformation, and the correspondented damage mainly belongs to brittle rupture, in this circumstance, surrounding rockmass will not appear large deformation. The large deformation of surrounding rockmass can only be the deformation associated with structure surface friction or the plastic deformation of itself, which mainly caused by the permanent self-weigh volume force，and long-term effect of mining led to the durability of this deformation Good pitting fill effect and supporting effect of backfill, as well as the friction of rockmass structure surface lead to obvious macro-rockmass movement with long-lag characteristics. In addition, the loss of original intensity and new structure surface arisen increased flexibility in rockmass and fill deformation in structure surface, which made the time required for rockmass potential energy translate into deformation work associated with plastic deformation and structure surface friction consumed much, and to a large extent, eliminated the time needed to do those plastic work during repeated mining, all of which are the fundamental reason of rockmass movement aftereffect more significant than before. Mining steep deposits in high tectonic stress area and in gravity stress area have different movement laws and deformation mechanism. The steep deposit, when the vertical size of the mining areas is smaller than the horizontal size of the orebody, no matter mining in gravity stress area or in high tectonic stress area, they have similar features of ground movement with mining horizontal orebody; contrarily, there will appear double settlement centers on the ground surface under the condition of mining in high tectonic stress area, while there will always be a single center under the other condition. Meanwhile the ground movement lever, scale of mining influence area and macro features of ground movement, deformation and fracture are also different from mining in gravity stress area, and the fundamental reason lies in the impact of orientation of the maximum principal stress on rock movement features in in-site rock stress field. When mining thick and steep deposit, the ground surface movement and deformation characteristic curves are significantly different from excavating the horizontal ore bed and thin steep deposit. According to the features of rockmass movement rate, the development process of mining-induced rockmass movement is divided into three stages: raising stage, steadily stage and gradually decay stage. Considering the actual exploitation situation, GPS monitoring results and macro-characteristics of surface movement, the current subsidence pattern of Jinchuan No.2 mine is in the early stage of development. Based on analysis of surface movement rate, surface subsidence rate increase rapidly when mining in double lever at the same time, and reach its peak until the exploitation model ended. When double lever mining translate into single, production decreased, surface subsidence rate suddenly start to reduce and maintain a relatively low value, and the largest subsidence center will slowly move along with the hangingwall ore body direction with increasing depth of mining, at the same time, the scope and extent of subsidence in footwall ore body will begin magnify, and a sub-settlement center will appear on ground surface, accompanied with the development and closure trend of ground fissure, the surrounding rockmass of shaft and roadway will be confronted to more frequent and severe deformation and failure, and which will have a negative impact on the overall stability of No.2 mine mining. On the premise of continuity of rockmass movement, gray system model can be used in ground rockmass movement prediction for good results. Under the condition of backfill mining step by step, the loose effect of compact status of the hard, broken rockmass led to lower energy release rate, although surrounding rockmass has high elastic energy, loose and damage occurred in the horizontal ore body, which made the mining process safety without any large geological hazards. During the period of mining the horizontal ore body to end, in view of its special “residual support role”, there will be no large scale rockmass movement hazards. Since ground surface movement mainly related to the intensity of mining speed and backfill effect, on the premise of constant mining speed, during the period of mining the horizontal ore body to end, the rate of ground surface rockmass movement and deformation won’t have sudden change.

中国东部上第三系硬粘土的工程地质特性及边坡开挖工程环境效应研究

The engineering geological properties of Neogene hard clays and related engineering problems are frontiers in the fields of Engineering Geology, Soil Mechanics and Rock Mechanics. Recently, it has been recognized that Neogene hard clay is the intermediate type of material between the soil and the rock. Many aspects of them, such as sampling, testing, calculating and engineering process, are special, which could not be researched by means of theories and methods of traditional Soil Mechanics of Rock Mechanics. In order to get real knowledge and instruct the engineering practice, intersect studying of multiple disciplines, including Engineering Geology, Soil Mechanics and Rock Mechanics, etc., is necessary. Neogene hard clay is one of the important study objects of regional problem rocks & soils in our country, which extensively distributed in China, especially in Eastern China. Taking the related areas along the middle line of the Project of Transferring Water from the South to the North (e.g. Nanyang basin, Fangcheng-Baofeng area and Handan-Yongnian area), South-west of Shandong, Xu-Huai area and Beijing area, etc. as main study areas, the paper divided Neogene hard clays into reduction environment dominated origin and oxidation environment dominated origin, which distributed on areas western and eastern to Mount Taihangshan respectively. Intermediate types are also existed in some areas, which mainly distribute near the edges of depositional basins; they are usually of transitions between diluvial and lacustrine deposits. As to Neogene hard clays from Eastern China, the clay particle content is high, and montmorillonite or illite/montmorillonite turbostratic mineral is the dominating clay mineral. The content of effective montmorillonite is very high in each area, which is the basis for the undesirable engineering properties of Neogene hard clays. For hard clays from the same area, the content of effective montmorillonite in gray-greenish hard clay is much higher than that in purple-brownish or brown-yellowish hard clay, which is the reason why the gray-greenish hard clay usually has outstanding expansive property. On the other hand, purple-brownish or brown-yellowish hard clay has relatively less montmorillonite, so its property is better. All of these prove that the composition (clay mineral) of Neogene hard clay is the control factor for the engineering properties. Neogene hard clays have obvious properties such as fissured, overconsolidated and expansive, which are the main reasons that many engineering problems and geological harzards usually occur in Neogene hard clays. The paper systematically elaborates the engineering properties of Neogene hard clays from Eastern China, analyses the relationships between engineering properties and basic indexes. The author introduces the ANN method into the prediction of engineering property indexes of hard clays, which provides a new way for quantitatively assessment and prediction of engineering property indexes. During investigation in the field, the author found that there exists obvious seam-sheared zone between different hard clays in Miocene Xiacaowan formation in Xu-Huai area. Similar phenomenon also exists near the borderline between Neogene hard clays and underlying coal measures in the Southwest of Shandong province, which could be observed in the cores. The discovery of seam-sheard zone has important theoretical and practical significance for engineering stability analysis and revealing the origin of fissures in Neogene hard clays. The macrostructure, medium structure and microstructure together control the engineering properties of hard clays. The author analyses and summarizes the structural effects on hard clays in detail. The complex of the strength property of hard clays is mostly related to the characteristics of fissures, which is one of the main factors that affect the choice of shear strength parameters. So structure-control theory must be inseparably combined with composition-control theory during the engineering geological and rock/soil mechanics research of hard clays. The engineering properties, such as fissured, overconsolidated and expansive, control the instability of engineering behaviors of Neogene hard clays under the condition of excavation, i.e. very sensitive to the change of existence environment. Based on test data analysis, the author elaborates the effects of engineering environment change on the engineering properties. Taking Nanyang basin as example, the author utilizes FEM to study the effects of various factors on stability of cutting canal slopes, than sets forth the characteristics, development laws and formation mechanism of the deformation and failure of hard clay canal slopes, summarizes the protection and reinforcement principles, as well as the protection and remedy steps. On the basis of comparison of engineering properties of domestic and foreign Neogene muddy deposits, in the view of whole globe and associated with the geological characteristics of China, the paper demonstrates that the intermediate type of the material between the soil and the rock, named "hard clay/soft rock", which can not be separated abruptly, really exists in China. The author has given a preliminary classification based on its geological origin and distribution law, which is very significant for promoting the mixture of Engineering Geology, Soil Mechanics and Rock Mechanics. In the course of large scales engineering construction in China, many engineering experiences and testing data are gained, summarizing these testing results and automatically managing them with computer technology are very necessary. The author develops a software named "Hard Clay-Soft Rock Engineering Geological Information Management and Analysis System (HRGIMS)", realizes the automatic and visual management of geo-engineering information, on the basis of information management, the functions of test data analysis and engineering property prediction are strengthened. This system has well merits for practice and popularization.

沾化凹陷火成岩油气藏形成条件和分布规律研究

As a kind of special lithologic ones, Igneous rock oil and gas pool is more and more paid attention, and it has different forming condition and distribution from conventional ones, such as various terrane distribution types, serious reservoir anisotropy, complicated hydrocarbon-bearing, so there is not successful experience to follow for exploration and development of this complex subtle oil and gas pool at present. For an example of Igneous oil and gas pool of Luo151 area in Zhanhua seg, Eastern China, this article study the difficult problem, including petrologic nd lithofacies analysis, Origin, invasion age and times of Igneous rock, reservoir anisotropy, Geological Modeling, Igneous reservoir synthesis evaluation. forming condition and distribution are studied synthetically, and an integrated method to predict igneous rock oil and gas pool is formed, which is evaluated by using development data. The Igneous rock is mainly diabase construction in Luo151 area of Zhanhua Sag, and petrologic types include carbonaceous slate, hornfels, and diabases. Based on analyzing synthetically petrologic component, texture and construct, 4 lithofacies zones, such as carbonaceous slate subfacies, hornfels subfacies containing cordierite and grammite, border subfacies and central subfacies, are divided in the diabase and wall rock. By studying on isotopic chronology, terrane configuration and imaging logging data, the diabase intrusion in Zhanhua Sag is formed by tholeiite magma emplacing in Shahejie formation stratum on the rift tension background Lower Tertiary in North China. The diabase intrusion of Luo151 is composed possibly of three periods magma emplacement. There is serious anisotropy in the diabase reservoirs of Luo151 in Zhanhua Sag. Fracture is primary reservoir space, which dominated by tensile fracture in high obliquity, and the fracture zones are mainly developed round joint belt of igneous rock and wall rock and position of terrane thickness changing rapidly. The generation materials of the reservoirs in Luo151 igneous oil pools consist of Intergranular micropore hornfels, condensate blowhole-solution void diabase condensate edge, the edge and center of the condensate seam diabase, of which are divided into horizontal, vertical and reticulated cracks according fracture occurrence. Based on the above research, a conceptual model of igneous rock reservoir is generated, which is vertically divided into 4 belts and horizontally 3 areas. It is built for the first time that classification evaluation pattern of igneous rock reservoir in this area, and 3 key wells are evaluated. The diabase construction is divided into grammite hornfels micropore type and diabase porous-fracture type reservoirs. The heavy mudstone layers in Third Member of Shahejie formation (Es3) provide favorable hydrocarbon source rock and cap formation, diabase and hornfels belts serve as reservoirs, faults and microcracks in the wall rocks as type pathways for oil and gas migration. The time of diabase invasion was about in the later deposition period of Dongying Formation and the middle of that of Guantao Formation, the oil generated from oil source rock of Es3 in the period of the Minghuazhen formation and is earlier more than the period of diabase oil trap and porous space forming. Based on geological and seismic data, the horizon of igneous rocks is demarcated accurately by using VSP and synthetic seismogram, and the shape distribution and continuity of igneous rocks are determined by using cross-hole seismic technology. The reservoir capability is predicted by using logging constraining inversion and neural network technology. An integrated method to predict igneous rock oil and gas pool is formed. The study is appraised by using development data. The result show the reservoir conceptual model can guide the exploration and development of oil pool, and the integrated method yielded marked results in the production.

鄂尔多斯盆地上古生界包裹体研究及天然气成藏特征分析

Based on the study of types, even temperature, the character of age-old fluid and fluid pressure of the reservoir fluid-inclusion in the Upper Paleozoic of Ordos Basin , combining with the diagenesis and character of gas geochemistry, reservoir sequence, cause of the low pressure reservoir formation and formation environment have been studied, the following knows are acquired: Abundant fluid-conclusions have developed in sandstone reservoir in Upper Paleozoic of Ordos Basin,and its kinds is numerous , also taking place some changes such as shrinking rock, cracking, stretching after formation. According to formation cause, fluid inclusion is divided into two types:successive and nonsuccessive inclusion. Nonsuccessive inclusion is further divided into brine inclusion, containing salt crystal inclusion, gaseity hydrocarbon conclusion and liquid hydrocarbon conclusion and so on. The gaseity hydrocarbon conclusion distributes at all the Basin, the liquid hydrocarbon conclusion mainly distributes at the East of Basin, and its two kinds of fluorescence color: blue and buff reflects at least two periods of oil filling and oil source of the different maturity. The study of diagenesis has indicated that five periods of diagenesis correspond to five periods inclusion's growth.The first and second period conclusions mainly distribute at the increasing margin of quartz, little amount and low even temperature, containing little gaseity hydrocarbon conclusion; The third and fourth conclusions are very rich, and having multiplicity forms, gaseity hydrocarbon conclusion of different facies, distributing at the increasing margin and crevice of quartz, its even temperature is between 85℃and 135℃;The fifth inclusion is relatively few ,mainly distributing at vein quartz and calcite, and developing few gaseity hydrocarbon conclusion. The fluid in the inclusion is mainly NaCl brine:low and high salinity brine fluid(containing salt crystal).The former salinity is between 0.18% and 18.55%,and mainly centralized distributing at three sectongs: from 0% to 4%, from 6% to 8%, from 10% to 14%, expressing that the alternation of the underground fluid was not intense, the conservation condition was good in different periods. The trapping pressure of the gaseity hydrocarbon conclusion calculated by PVTsim(V10)simulation is between 21.39 MPa and 42.58MPa,the average is 28.99MPa,mainlydistributes at between 24 MPa and 34MPa,and having a character of gradually lower from early to late time. The pressure of SuLiGe and WuShenQi dropped quickly in early time, and YuLin, ShenMu-MIZhi gas area dropped slowly in early and quickly in late time, ha portrait the change of trapping pressure can be divided into three old-age pressure systems: TaiYuan-ShanXi formation, low ShiHeZi formation and high ShiHeZi-ShiQianFeng formation. In plane, the trapping pressure dropped lowly from south to north in main reservoir period, and this reflects the gas migrating direction in the geohistory period. The analysis of gas component and monnmer hydrocarbon isotope indicates that the gas in Upper Paleozoic of Ordos Basin is coal-seam gas. The gas C_1-C_4 rnonnmer hydrocarbon isotopes has distinct differences in different stratums of different areas, and forming YuLin, SuLiGe and ShenMu-MIZhi three different distributing types. To sum up, gas reservoir combination in Upper Paleozoic of Ordos Basin can be divided into three sets of combination of reservoir formation: endogenesis type, near source type and farther source type,and near source gas combinations of reservoir formation is the main gas exploration area for its high gas filling intensity, large reservoir size.