Rock burst monitoring and early warning method and device based on ground sound time series characteristics

Abstract

The present disclosure relates to a method and device for monitoring and warning of rock burst based on the time series characteristics of ground sound. The method includes: generating a frequency change gradient sequence based on a frequency time series sequence, generating an energy change gradient sequence based on an energy time series sequence, determining whether the frequency change gradient sequence and the energy change gradient sequence meet a first preset condition, and obtaining a first judgment result; determining the first frequency maximum value in the frequency time series sequence, determining the first energy maximum value in the energy time series sequence, determining whether the first frequency maximum value meets a second preset condition, and obtaining a second judgment result; determining the first difference between the first time node and the second time node, determining whether the first difference meets a third preset condition, and obtaining a third judgment result; issuing a warning based on the first judgment result, the second judgment result, and the third judgment result. This solution improves the timeliness and accuracy of rock burst warning.

Description

Technical Field

[0001] The present disclosure relates to the field of coal mine safety technology, and in particular to a method and device for monitoring and early warning of rock burst based on temporal characteristics of ground sounds. Background Art

[0002] Rock burst is a major threat to coal mine safety. It is essentially the result of an unstable and rapid release of energy during the coal-rock system's adjustment process, typically characterized by its transient and sudden nature. Therefore, real-time monitoring of rock burst is essential for timely early warning and ensuring safe coal mining. However, traditional rock burst early warning methods typically employ drill cuttings, coal seam drilling stress, and microseismic methods. These methods struggle to meet practical requirements in terms of timeliness, accuracy, and safety. Summary of the Invention

[0003] In order to overcome the problems existing in the related art, the present disclosure provides a rock burst monitoring and early warning method and device based on the temporal characteristics of ground sound.

[0004] According to a first aspect of an embodiment of the present disclosure, a method for monitoring and early warning of rock burst based on ground sound time series characteristics is provided, comprising:

[0005] Acquire ground sound frequency data and ground sound energy data of the target monitoring area of ​​the coal mine according to the preset frequency;

[0006] Using the ground sound frequency data to update the frequency time series sequence, and using the ground sound energy data to update the energy time series sequence;

[0007] generating a frequency change gradient sequence based on the frequency time series sequence, and generating an energy change gradient sequence based on the energy time series sequence, and determining whether the frequency change gradient sequence and the energy change gradient sequence meet a first preset condition, to obtain a first judgment result;

[0008] Determining a first frequency maximum value in the frequency time series, and determining a first energy maximum value in the energy time series, and determining whether the first frequency maximum value and the first energy maximum value meet a second preset condition to obtain a second judgment result;

[0009] determining a first difference between a first time node corresponding to the first frequency maximum value and a second time node corresponding to the first energy maximum value, determining whether the first difference satisfies a third preset condition, and obtaining a third judgment result;

[0010] According to the first judgment result, the second judgment result and the third judgment result, a warning level is determined, and a rock burst risk warning is issued according to the warning level.

[0011] In some embodiments of the present disclosure, determining whether the frequency change gradient sequence and the energy change gradient sequence meet a first preset condition to obtain a first judgment result includes:

[0012] When it is identified whether the frequency change gradient sequence contains a first subsequence, a second subsequence, a third subsequence, and a fourth subsequence that are sequentially connected, and when it is identified that the frequency change gradient sequence does not contain a negative value, it is determined that the frequency change gradient sequence satisfies the first subcondition; wherein the difference between the frequency change gradient values ​​in the first subsequence and the fourth subsequence and 0 is less than a first preset threshold, the frequency change gradient value in the second subsequence increases exponentially, and the frequency change gradient value in the third subsequence decreases to a second preset threshold within a preset time period; and the difference between the second preset threshold and 0 is less than the first preset threshold.

[0013] Upon identifying whether a fifth subsequence, a sixth subsequence, a seventh subsequence, and an eighth subsequence are sequentially connected in the energy change gradient sequence, and identifying that no negative value exists in the energy change gradient sequence, determining that the energy change gradient sequence satisfies the second subcondition; wherein the difference between the energy change gradient values ​​in the fifth and eighth subsequences and 0 is less than a first preset threshold, the energy change gradient value in the sixth subsequence increases exponentially, and the energy change gradient value in the seventh subsequence decreases to a second preset threshold within a preset time period; and the difference between the second preset threshold and 0 is less than the first preset threshold.

[0014] When both the first sub-condition and the second sub-condition are satisfied, it is determined that the first judgment result satisfies the first preset condition.

[0015] In some embodiments of the present disclosure, determining the first frequency maximum value in the frequency time series, determining the first energy maximum value in the energy time series, and determining whether the first frequency maximum value and the first energy maximum value meet a second preset condition to obtain a second judgment result include:

[0016] Acquiring historical geoacoustic frequency data and historical geoacoustic energy data of the target monitoring area of ​​the coal mine;

[0017] Determining a first interval using the historical geotonic frequency data;

[0018] determining a second interval using the historical geosound energy data;

[0019] Determine a first frequency maximum value and a first frequency cumulative value in the frequency time series, and calculate a frequency ratio of the first frequency maximum value to the first frequency cumulative value;

[0020] Determine a first energy maximum value and a first energy cumulative value in the energy time series, and calculate an energy ratio of the first energy maximum value to the first energy cumulative value;

[0021] When the frequency proportion value falls within the first interval and the energy proportion value falls within the second interval, it is determined that the second judgment result satisfies the second preset condition.

[0022] In some embodiments of the present disclosure, determining the first interval using the historical ground sound frequency data includes:

[0023] Obtaining the second maximum frequency value each time rock burst occurs in the mining area where the coal mine target monitoring area is located, and the cumulative frequency value of the mining area;

[0024] For each second frequency maximum value, determining a proportion of the second frequency maximum value in the frequency cumulative value to obtain a first ratio;

[0025] The first ratio corresponding to the first occurrence of rock burst is selected as the frequency target ratio;

[0026] Calculating the frequency standard deviation of all first ratios, calculating the sum of the frequency target ratio and the frequency standard deviation to obtain an upper limit value of the first interval, and calculating the difference between the frequency target ratio and the frequency standard deviation to obtain a lower limit value of the first interval;

[0027] The determining the second interval by using the historical geosound energy data includes:

[0028] Obtaining the second maximum energy value each time rock burst occurs in the mining area where the target monitoring area of ​​the coal mine is located, and the accumulated energy value of the mining area;

[0029] For each second energy maximum value, determining a proportion of the second energy maximum value in the energy cumulative value to obtain a second ratio;

[0030] The second ratio corresponding to the first occurrence of rock burst is selected as the energy target ratio;

[0031] Calculate the energy standard deviation of all second ratios, calculate the sum of the energy target ratio and the energy standard deviation to obtain the upper limit value of the second interval, calculate the difference between the energy target ratio and the energy standard deviation to obtain the lower limit value of the second interval.

[0032] In some embodiments of the present disclosure, determining a first difference between a first time node corresponding to the first frequency maximum value and a second time node corresponding to the first energy maximum value, and determining whether the first difference satisfies a third preset condition to obtain a third judgment result includes:

[0033] Obtaining a third time node corresponding to a second frequency maximum value each time a rock burst occurs in the mining area where the coal mine target monitoring area is located, and a fourth time node corresponding to a second energy maximum value each time a rock burst occurs;

[0034] For each occurrence of rock burst, calculating a second difference between a third time node corresponding to the rock burst and a fourth time node corresponding to the rock burst;

[0035] The absolute value of the second difference corresponding to the first occurrence of rock burst is selected as the target difference;

[0036] Calculate the standard deviation of the time intervals of all second differences;

[0037] Calculating the sum of the time interval standard deviation and 1 to obtain a first sum value, and multiplying the first sum value by the target difference value to obtain an upper limit value;

[0038] Calculating the difference between the time interval standard deviation and 1 to obtain a third difference value, and multiplying the third difference value by the target difference value to obtain a lower limit value;

[0039] Obtain a third interval according to the upper limit value and the lower limit value;

[0040] When the first difference falls within the third interval, it is determined that the third judgment result satisfies the third preset condition.

[0041] In some embodiments of the present disclosure, determining the warning level according to the first judgment result, the second judgment result, and the third judgment result includes:

[0042] If the first judgment result is that the first preset condition is not met, determining the warning level as no danger;

[0043] When the first judgment result is that the first preset condition is satisfied, the second judgment result is that the second preset condition is satisfied, and the third judgment result is that the third preset condition is not satisfied, determining that the warning level is a medium impact risk;

[0044] When the first judgment result is that the first preset condition is satisfied, the second judgment result is that the second preset condition is not satisfied, and the third judgment result is that the third preset condition is satisfied, determining that the warning level is a medium impact risk;

[0045] When the first judgment result satisfies the first preset condition, the second judgment result satisfies the second preset condition, and the third judgment result satisfies the third preset condition, the warning level is determined to be a strong impact hazard.

[0046] According to a second aspect of an embodiment of the present disclosure, a rock burst monitoring and early warning device based on ground sound time series characteristics is provided, comprising:

[0047] An acquisition unit, configured to acquire ground sound frequency data and ground sound energy data of a target monitoring area of ​​a coal mine according to a preset frequency;

[0048] an updating unit, configured to update a frequency time series sequence using the ground sound frequency data, and to update an energy time series sequence using the ground sound energy data;

[0049] a first judgment unit, configured to generate a frequency change gradient sequence based on the frequency time series sequence, and generate an energy change gradient sequence based on the energy time series sequence, and determine whether the frequency change gradient sequence and the energy change gradient sequence meet a first preset condition, to obtain a first judgment result;

[0050] a second judgment unit, configured to determine a first frequency maximum value in the frequency time series sequence and a first energy maximum value in the energy time series sequence, and determine whether the first frequency maximum value and the first energy maximum value meet a second preset condition to obtain a second judgment result;

[0051] a third judgment unit, configured to determine a first difference between a first time node corresponding to the first frequency maximum value and a second time node corresponding to the first energy maximum value, determine whether the first difference satisfies a third preset condition, and obtain a third judgment result;

[0052] The early warning unit is used to determine the early warning level according to the first judgment result, the second judgment result and the third judgment result, and to issue an early warning of rock burst risk according to the early warning level.

[0053] According to a third aspect of an embodiment of the present disclosure, an electronic device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method described in any one of the first aspects is implemented.

[0054] According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method according to any one of the first aspects is implemented.

[0055] According to a fifth aspect of an embodiment of the present disclosure, a computer program product is provided, comprising a computer program, wherein the computer program implements the method as described in any one of the first aspects when executed by a processor.

[0056] The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: obtaining ground sound frequency data and ground sound energy data of the target monitoring area of ​​the coal mine according to a preset frequency; using the ground sound frequency data to update the frequency time series sequence, and using the ground sound energy data to update the energy time series sequence; generating a frequency change gradient sequence based on the frequency time series sequence, and generating an energy change gradient sequence based on the energy time series sequence, determining whether the frequency change gradient sequence and the energy change gradient sequence meet the first preset condition, and obtaining a first judgment result; determining the first frequency maximum value in the frequency time series sequence, and determining the first energy maximum value in the energy time series sequence, determining whether the first frequency maximum value and the first energy maximum value meet the second preset condition, and obtaining a second judgment result; determining the first difference between the first time node corresponding to the first frequency maximum value and the second time node corresponding to the first energy maximum value, determining whether the first difference meets the third preset condition, and obtaining a third judgment result; determining the warning level based on the first judgment result, the second judgment result and the third judgment result, and issuing a warning according to the warning level. By analyzing and processing the ground sound energy time series and the ground sound frequency time series, it is possible to comprehensively judge whether there is a rock burst risk based on the time series characteristics of the ground sound in the mine, thereby improving the timeliness and accuracy of rock burst warning.

[0057] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0059] Figure 1 The present invention is a flowchart showing a method for monitoring and early warning of rock burst pressure based on the temporal characteristics of ground sound according to an exemplary embodiment.

[0060] Figure 2 The present invention is a block diagram showing a device for monitoring and early warning of rock burst pressure based on the temporal characteristics of ground sounds according to an exemplary embodiment.

[0061] Figure 3 The present invention is a block diagram of an apparatus for a method for monitoring and early warning of rock burst pressure based on temporal characteristics of ground sounds according to an exemplary embodiment. DETAILED DESCRIPTION

[0062] Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. In the following description, when referring to the drawings, like numbers in different figures represent like or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present invention, as detailed in the appended claims.

[0063] The terms used in the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure. The singular forms "a", "an" and "the" used in the present disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0064] It should be understood that although the terms first, second, third, etc. may be used to describe various information in the embodiments of the present disclosure, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of the embodiments of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0065] Furthermore, the various forms of processes shown in the embodiments of this disclosure may be used to reorder, add, or delete steps. For example, the steps described in this application may be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved. This is not a limitation herein.

[0066] Rock burst is a major threat to coal mine safety. It is essentially the result of an unstable and rapid release of energy during the coal-rock system's adjustment process, typically characterized by its transient and sudden nature. Therefore, real-time monitoring of rock burst is essential for timely early warning and ensuring safe coal mining. However, traditional rock burst early warning methods typically employ drill cuttings, coal seam drilling stress, and microseismic methods. These methods struggle to meet practical requirements in terms of timeliness, accuracy, and safety.

[0067] Real-time, accurate, and remote monitoring and early warning of rock burst are crucial prerequisites for decompression, hazard resolution, and rock burst prevention. Currently, rock burst mines commonly utilize a multi-parameter, real-time monitoring and early warning model using the drill cuttings method, coal seam drilling stress, microseismicity, and ground sound. The drill cuttings method is the most traditional monitoring method, with a simple operational process. However, it is rarely used in the field. First, the work is cumbersome, with a low degree of mechanization, requiring significant human and material resources, resulting in poor data reliability. Second, the drilling depth for drill cuttings is typically 15 meters, with a spacing of 10 to 50 meters. This limits the monitoring area to a discrete 0-15 meter radius within the coal wall of the mining roadway. Furthermore, the drilling area is not necessarily within the rock burst hazard zone, resulting in data processing lags and potential for missed detections in both time and space. Third, the drilling area for the drill cuttings method lies within the abutment pressure influence zone, posing a high rock burst hazard and significant safety risks to construction workers. Coal seam borehole stress monitoring has a simple principle, concise construction process, and is widely used. However, its early warning effect is poor and it is often used as an auxiliary monitoring method. The reasons are: first, coal seam borehole stress monitoring can only obtain stress change values ​​and is limited to the vertical direction. It cannot monitor horizontal stress. Therefore, it cannot effectively monitor and warn of impact ground pressure dominated by horizontal stress; second, the construction specifications of coal seam borehole stress sensors are high, requiring the pressure pillow to remain horizontal and in contact with the hole wall, and the oil pipe to be undamaged. It is highly susceptible to interference, has a high failure rate, and often misses the protection; third, coal seam stress monitoring adopts a group arrangement, with two measuring points in each group. The measuring point depths are generally 9m and 15m, and the group spacing is generally 10-30m. The monitoring range is 300m ahead of the working face. As a result, the monitoring area is limited to a discontinuous area of ​​0-15m in the coal wall of the mining roadway, resulting in spatial missed detection. Microseismic monitoring uses sensors installed underground or on the surface to capture the vibration waves generated by coal and rock mass fractures. Based on the arrival time of the P-wave received by each sensor, a positioning algorithm is used to calculate the location, time, and extent of the coal and rock fracture. However, the frequency of microseismic monitoring events is less than 150Hz, the energy is greater than 100J, and it can only detect microseismic events that have already occurred, failing to provide effective early warning. Compared to these early warning methods, geoacoustic monitoring can capture real-time microvibration information on the initiation, generation, propagation, and through-break of coal and rock mass during the process from microfracture to instability. It provides rich precursor information and is less susceptible to interference. By analyzing geoacoustic information, it is possible to infer the damage evolution characteristics within the coal and rock mass and assess its internal energy adjustment trends. The monitoring range covers the area affected by the bearing pressure of the mining face, enabling real-time monitoring and short-term, early warning.

[0068] However, research on rockburst ground sound monitoring and early warning is still in its exploratory stage, and the temporal patterns of ground sound before rockburst are largely unknown. The key to achieving short-term, early warning of rockburst is to establish a monitoring and early warning model based on the ground sound precursor information and select early warning indicators that are both predictive and practical in the field.

[0069] In order to solve the above problems, the present disclosure provides a rock burst monitoring and early warning method and device based on ground sound time series characteristics, which obtains ground sound frequency data and ground sound energy data of the target monitoring area of ​​the coal mine according to a preset frequency; uses the ground sound frequency data to update the frequency time series sequence, and uses the ground sound energy data to update the energy time series sequence; generates a frequency change gradient sequence based on the frequency time series sequence, and generates an energy change gradient sequence based on the energy time series sequence, determines whether the frequency change gradient sequence and the energy change gradient sequence meet a first preset condition, and obtains a first judgment result; determines the first frequency maximum value in the frequency time series sequence, and determines the first energy maximum value in the energy time series sequence, determines whether the first frequency maximum value and the first energy maximum value meet a second preset condition, and obtains a second judgment result; determines the first difference between the first time node corresponding to the first frequency maximum value and the second time node corresponding to the first energy maximum value, determines whether the first difference meets a third preset condition, and obtains a third judgment result; determines the warning level according to the first judgment result, the second judgment result and the third judgment result, and issues a warning according to the warning level. By analyzing and processing the ground sound energy time series and the ground sound frequency time series, it is possible to comprehensively judge whether there is a rock burst risk based on the time series characteristics of the ground sound in the mine, thereby improving the timeliness and accuracy of rock burst warning.

[0070] Figure 1 FIG. 1 is a flow chart showing a method for monitoring and warning of rock burst pressure based on the temporal characteristics of ground sound according to an exemplary embodiment. Figure 1 As shown, it should be noted that the rock burst monitoring and early warning method based on the ground sound time series characteristics of the embodiment of the present disclosure is applied to the rock burst monitoring and early warning device based on the ground sound time series characteristics. Figure 1 As shown, the method may include the following steps:

[0071] Step 101: Acquire ground sound frequency data and ground sound energy data of a target monitoring area of ​​a coal mine according to a preset frequency.

[0072] In one embodiment, a geophone probe may be installed behind the coal mining working face to obtain geophone frequency data and geophone energy data through the geophone probe.

[0073] Step 102: Use the ground sound frequency data to update the frequency time series sequence, and use the ground sound energy data to update the energy time series sequence.

[0074] It is understood that the frequency time series sequence is obtained by sorting the frequency data according to the data collection time. The latest collected ground sound frequency data can be stored at the end of the frequency time series sequence to update the frequency time series sequence. The frequency time series sequence is obtained by sorting the energy data according to the data collection time. The latest collected ground sound energy data can be stored at the end of the energy time series sequence to update the energy time series sequence.

[0075] For example, the time series of ground sound characteristics of ground sound energy index and ground sound frequency index can be obtained, as of the current monitoring time node T N The frequency index time series is FT0, FT1, FT2, FT3, ..., FT N , as of the current time node T N The energy index time series sequence is ET0, ET1, ET2, ET3, ..., ET N .

[0076] Step 103: Generate a frequency change gradient sequence based on the frequency time series sequence, and generate an energy change gradient sequence based on the energy time series sequence, determine whether the frequency change gradient sequence and the energy change gradient sequence meet a first preset condition, and obtain a first judgment result.

[0077] In one embodiment of the present disclosure, the frequency change gradient sequence is F1=[(FT1-FT0)-(FT0-0)], F2=[(FT2-FT1)-(FT1-FT0)], F3=[(FT3-FT2)-(FT2-FT1)], ..., F N =[(FT N -FT N-1 )-(FT N-1 -FT N-2 )].

[0078] In one embodiment of the present disclosure, the energy change gradient sequence is E1=[(ET1-ET0)-(ET0-0)], E2=[(ET2-ET1)-(ET1-ET0)], E3=[(ET3-ET2)-(ET2-ET1)], ..., E N =[(ET N -ET N-1 )-(ET N-1 -ET N-2 )].

[0079] In some embodiments of the present disclosure, step 103 may specifically include the following steps:

[0080] Step a1: upon identifying whether the frequency change gradient sequence contains a first subsequence, a second subsequence, a third subsequence, and a fourth subsequence connected in sequence, and identifying that there are no negative values ​​in the frequency change gradient sequence, determine whether the frequency change gradient sequence satisfies the first sub-condition.

[0081] The difference between the frequency change gradient value in the first subsequence and the fourth subsequence and the value of 0 is less than a first preset threshold, the frequency change gradient value in the second subsequence increases exponentially, and the frequency change gradient value in the third subsequence decreases to a second preset threshold within a preset time period; and the difference between the second preset threshold and the value of 0 is less than the first preset threshold.

[0082] Step a2: When it is identified whether the energy change gradient sequence contains the fifth subsequence, the sixth subsequence, the seventh subsequence, and the eighth subsequence connected in sequence, and when it is identified that there are no negative values ​​in the energy change gradient sequence, it is determined that the energy change gradient sequence satisfies the second sub-condition.

[0083] Among them, the difference between the energy change gradient value in the fifth subsequence and the eighth subsequence and the value of 0 is less than the first preset threshold, the energy change gradient value in the sixth subsequence increases exponentially, and the energy change gradient value in the seventh subsequence decreases to the second preset threshold within a preset time period; the difference between the second preset threshold and the value of 0 is less than the first preset threshold.

[0084] Step a3: When both the first sub-condition and the second sub-condition are satisfied, determine that the first judgment result satisfies the first preset condition.

[0085] It should be noted that since the dynamic instability of coal and rock masses is a dynamic process of unstable energy transfer and rapid release during the process of internal energy adjustment, it is accompanied by the rapid expansion and penetration of a large number of micro-cracks within the coal and rock mass, rather than the independent formation and development of a single micro-crack. Therefore, isolated high-energy, high-frequency ground sound events cannot be used as an indicator of rock burst danger. However, continuous high-energy, high-frequency ground sound events within a short period of time are one of the precursors to coal and rock dynamic failure. Therefore, it is possible to determine whether the frequency change gradient sequence and the energy change gradient sequence are close to 0 in the early stage, suddenly show exponential growth, and then close to 0 again, without any negative values ​​in the meantime. If this situation occurs, it indicates a certain risk of rock burst.

[0086] In one embodiment, the frequency variation gradient sequence can be divided and processed by identifying the first subsequence, the second subsequence, the third sequence, and the fourth sequence. If the first subsequence, the second subsequence, the third sequence, and the fourth sequence are connected in sequence, it indicates that there is a certain risk of rock burst. Similarly, the energy variation gradient sequence can be divided and processed by identifying the fifth subsequence, the sixth subsequence, the seventh sequence, and the eighth sequence. If the fifth subsequence, the sixth subsequence, the seventh sequence, and the eighth sequence are connected in sequence, it indicates that there is a certain risk of rock burst.

[0087] Step 104 , determining a first frequency maximum value in the frequency time series, and determining a first energy maximum value in the energy time series, and determining whether the first frequency maximum value and the first energy maximum value meet a second preset condition, to obtain a second judgment result.

[0088] In one embodiment, the frequency maximum value F Nmax =max(FT0,FT1,FT2,TF3,···,FT N ), the cumulative frequency value F Nsum = , maximum energy E Nmax =max(ET0, ET1, ET2, ET3,···,ET N )、Cumulative value E Nsum = .

[0089] In some embodiments of the present disclosure, step 104 may specifically include the following steps:

[0090] Step b1, obtaining historical geoacoustic frequency data and historical geoacoustic energy data of the target monitoring area of ​​the coal mine.

[0091] Step b2: Determine the first interval using historical geo-frequency data.

[0092] Step b3: Determine the second interval using historical geosound energy data.

[0093] Step b4: determining the first frequency maximum value and the first frequency cumulative value in the frequency time series, and calculating the frequency ratio of the first frequency maximum value in the first frequency cumulative value.

[0094] Step b5: determining the first energy maximum value and the first energy cumulative value in the energy time series, and calculating the energy proportion of the first energy maximum value in the first energy cumulative value.

[0095] Step b6: When the frequency proportion value falls within the first interval and the energy proportion value falls within the second interval, determine that the second judgment result satisfies the second preset condition.

[0096] It should be noted that dynamic instability of coal and rock masses is a dynamic process characterized by unstable and rapid energy transfer and release during internal energy adjustment. The unstable and rapid release of energy in a localized area of ​​a coal and rock mass presupposes a certain degree of accumulation, and the two are closely related. Energy accumulation manifests itself in geoacoustic signals as cumulative geoacoustic energy and frequency, while rapid, instantaneous energy release manifests itself in geoacoustic signals as maximum geoacoustic energy and frequency. Extensive mechanical testing has shown that, under the same conditions, the ratio of the maximum geoacoustic frequency to the cumulative value prior to dynamic instability of the coal and rock mass approaches a constant, with a standard deviation of no more than 1%. The ratio of the maximum geoacoustic energy to the cumulative value approaches a constant, with a standard deviation of no more than 5%.

[0097] Therefore, the maximum frequency and maximum energy can be used to determine whether there is a rock burst risk.

[0098] In some embodiments of the present disclosure, step b2 specifically includes:

[0099] Step b21, obtaining the second maximum frequency value each time rock burst occurs in the mining area where the target monitoring area of ​​the coal mine is located, and the cumulative frequency value of the mining area.

[0100] Step b22: For each second frequency maximum value, determine the proportion of the second frequency maximum value in the frequency cumulative value to obtain a first ratio.

[0101] Step b23: Select the first ratio corresponding to the first occurrence of rock burst as the frequency target ratio.

[0102] Step b24, calculate the frequency standard deviation of all first ratios, calculate the sum of the frequency target ratio and the frequency standard deviation to obtain the upper limit value of the first interval, calculate the difference between the frequency target ratio and the frequency standard deviation to obtain the lower limit value of the first interval.

[0103] In one embodiment, the first ratio=F Nmax / F Nsum Located in [R F ±K F ] interval, F Nmax is the second frequency maximum, F Nsum is the cumulative value of frequency, F R K is the ratio of the maximum frequency value of the first occurrence of rock burst at the application mine site (or surrounding mines with the same coal seam) to the cumulative frequency value, F It is the ratio of the maximum frequency value in multiple rock burst occurrence cases at the application mine site (or surrounding mines mining the same coal seam) to the cumulative frequency value.

[0104] In some other embodiments of the present disclosure, step b3 specifically includes:

[0105] Step b31, obtaining the second maximum energy value each time rock burst occurs in the mining area where the target monitoring area of ​​the coal mine is located, and the energy cumulative value of the mining area.

[0106] Step b32: for each second energy maximum value, determine the proportion of the second energy maximum value in the energy cumulative value to obtain a second ratio.

[0107] Step b33: Select the second ratio corresponding to the first occurrence of rock burst as the energy target ratio.

[0108] Step b34, calculate the energy standard deviation of all second ratios, calculate the sum of the energy target ratio and the energy standard deviation to obtain the upper limit value of the second interval, calculate the difference between the energy target ratio and the energy standard deviation to obtain the lower limit value of the second interval.

[0109] It can be understood that since the ratio of the maximum value of the ground sound frequency to the cumulative value before the dynamic instability of the coal rock mass tends to be constant, the historical ground sound data in the mining area where the target monitoring area of ​​the coal mine is located can be used to determine the first interval and the second interval.

[0110] In one embodiment, the second ratio = E Nmax / E Nsum , located in [R E ±K E ] interval, E Nmax is the second energy maximum, E Nsum is the energy accumulation value, E R K is the ratio of the maximum energy when the first rock burst occurs at the mine site (or surrounding mines with the same coal seam) to the cumulative energy value. E It is the standard deviation of the proportion of the maximum energy to the cumulative energy value in multiple rock burst manifestation cases at the application mine site (or surrounding mines mining the same coal seam).

[0111] Step 105 : Determine a first difference between a first time node corresponding to the first frequency maximum value and a second time node corresponding to the first energy maximum value, determine whether the first difference satisfies a third preset condition, and obtain a third judgment result.

[0112] It should be noted that dynamic instability of coal and rock masses is a dynamic process characterized by unstable and rapid energy transfer and release during internal energy adjustment. This rapid and instantaneous energy release manifests itself in geophonic signals as maximum geophonic energy and frequency. High frequency represents the speed at which a large number of microcracks expand, while high energy represents the intensity of these expansions. Extensive mechanical testing has shown that high-frequency and high-energy geophonic events occur immediately before coal and rock mass failure. These events do not overlap, but are closely associated, with a standard deviation of no more than 10%.

[0113] Therefore, the first difference between the first time node corresponding to the first frequency maximum value and the second time node corresponding to the first energy maximum value can be used to determine whether there is a rock burst risk.

[0114] In some embodiments of the present disclosure, step 105 may specifically include the following steps:

[0115] Step c1, obtaining the third time node corresponding to the second frequency maximum value each time rock burst occurs in the mining area where the coal mine target monitoring area is located, and the fourth time node corresponding to the second energy maximum value each time rock burst occurs.

[0116] Step c2: For each occurrence of rock burst, calculate a second difference between a third time node corresponding to the rock burst and a fourth time node corresponding to the rock burst.

[0117] Step c3: Select the absolute value of the second difference corresponding to the first occurrence of rock burst as the target difference.

[0118] Step c4: Calculate the standard deviation of the time intervals of all second differences.

[0119] Step c5, calculating the sum of the time interval standard deviation and 1 to obtain a first sum value, and multiplying the first sum value by the target difference value to obtain an upper limit value;

[0120] Step c6, calculating the difference between the time interval standard deviation and 1 to obtain a third difference value, and multiplying the third difference value by the target difference value to obtain a lower limit value;

[0121] Step c7, obtaining a third interval according to the upper limit value and the lower limit value;

[0122] Step c8: When the first difference falls within the third interval, determining that the third judgment result satisfies the third preset condition.

[0123] In one embodiment, the difference Q can be calculated as: max -TE max |, Q is located at [T Q *(1±K T )] interval, TF max is the third time node, TE max For the fourth time node, the target difference T Q The absolute value of the difference between the node time of the maximum frequency and the node time of the maximum energy when the rock burst occurs for the first time at the application mine site (or the surrounding mines with the same coal seam); the standard deviation of the time interval K T It is the standard deviation of the absolute value of the difference between the node time of the maximum frequency and the node time of the maximum energy in multiple cases of rock burst at the application mine site (or surrounding mines mining the same coal seam).

[0124] Step 106: Determine the warning level based on the first judgment result, the second judgment result, and the third judgment result, and issue a rock burst risk warning according to the warning level.

[0125] In some embodiments of the present disclosure, step 106 may specifically include the following steps:

[0126] Step d1: When the first judgment result is that the first preset condition is not met, the warning level is determined to be no danger.

[0127] Step d2: when the first judgment result satisfies the first preset condition, the second judgment result satisfies the second preset condition, and the third judgment result does not satisfy the third preset condition, determine that the warning level is a medium impact risk.

[0128] Step d3: when the first judgment result satisfies the first preset condition, the second judgment result does not satisfy the second preset condition, and the third judgment result satisfies the third preset condition, determine that the warning level is a medium impact risk.

[0129] Step d4: when the first judgment result satisfies the first preset condition, the second judgment result satisfies the second preset condition, and the third judgment result satisfies the third preset condition, determining that the warning level is a strong impact hazard.

[0130] According to the rock burst monitoring and early warning method based on ground sound time series characteristics proposed in the embodiment of the present disclosure, ground sound frequency data and ground sound energy data of the target monitoring area of ​​the coal mine are obtained according to a preset frequency; the frequency time series sequence is updated using the ground sound frequency data, and the energy time series sequence is updated using the ground sound energy data; a frequency change gradient sequence is generated based on the frequency time series sequence, and an energy change gradient sequence is generated based on the energy time series sequence, and it is determined whether the frequency change gradient sequence and the energy change gradient sequence meet a first preset condition to obtain a first judgment result; the first frequency maximum value in the frequency time series sequence and the first energy maximum value in the energy time series sequence are determined, and it is determined whether the first frequency maximum value and the first energy maximum value meet a second preset condition to obtain a second judgment result; the first difference between the first time node corresponding to the first frequency maximum value and the second time node corresponding to the first energy maximum value is determined, and it is determined whether the first difference meets a third preset condition to obtain a third judgment result; the warning level is determined based on the first judgment result, the second judgment result and the third judgment result, and an early warning is issued according to the warning level. By analyzing and processing the ground sound energy time series and the ground sound frequency time series, it is possible to comprehensively judge whether there is a rock burst risk based on the time series characteristics of the ground sound in the mine, thereby improving the timeliness and accuracy of rock burst warning.

[0131] Figure 2 This is a block diagram of a rock burst monitoring and early warning device based on ground sound time series characteristics according to an exemplary embodiment. Figure 2 The device includes an acquisition unit 201, an update unit 202, a first judgment unit 203, a second judgment unit 204, a third judgment unit 205 and an early warning unit 206.

[0132] The acquisition unit 201 is configured to acquire ground sound frequency data and ground sound energy data of a target monitoring area of ​​a coal mine according to a preset frequency;

[0133] An updating unit 202, configured to update a frequency time series sequence using the ground sound frequency data, and to update an energy time series sequence using the ground sound energy data;

[0134] A first judgment unit 203 is configured to generate a frequency change gradient sequence based on the frequency time series sequence, and generate an energy change gradient sequence based on the energy time series sequence, and determine whether the frequency change gradient sequence and the energy change gradient sequence meet a first preset condition to obtain a first judgment result;

[0135] The second judgment unit 204 is configured to determine a first frequency maximum value in the frequency time series sequence and a first energy maximum value in the energy time series sequence, and determine whether the first frequency maximum value and the first energy maximum value meet a second preset condition to obtain a second judgment result;

[0136] The third judgment unit 205 is configured to determine a first difference between a first time node corresponding to the first frequency maximum value and a second time node corresponding to the first energy maximum value, determine whether the first difference satisfies a third preset condition, and obtain a third judgment result;

[0137] The early warning unit 206 is used to determine the early warning level according to the first judgment result, the second judgment result and the third judgment result, and issue a rock burst risk early warning according to the early warning level.

[0138] In some embodiments of the present disclosure, the first judgment unit 203 is specifically configured to:

[0139] When it is identified whether the frequency change gradient sequence contains a first subsequence, a second subsequence, a third subsequence, and a fourth subsequence that are sequentially connected, and when it is identified that the frequency change gradient sequence does not contain a negative value, it is determined that the frequency change gradient sequence satisfies the first subcondition; wherein the difference between the frequency change gradient values ​​in the first subsequence and the fourth subsequence and 0 is less than a first preset threshold, the frequency change gradient value in the second subsequence increases exponentially, and the frequency change gradient value in the third subsequence decreases to a second preset threshold within a preset time period; and the difference between the second preset threshold and 0 is less than the first preset threshold.

[0140] Upon identifying whether a fifth subsequence, a sixth subsequence, a seventh subsequence, and an eighth subsequence are sequentially connected in the energy change gradient sequence, and identifying that no negative value exists in the energy change gradient sequence, determining that the energy change gradient sequence satisfies the second subcondition; wherein the difference between the energy change gradient values ​​in the fifth and eighth subsequences and 0 is less than a first preset threshold, the energy change gradient value in the sixth subsequence increases exponentially, and the energy change gradient value in the seventh subsequence decreases to a second preset threshold within a preset time period; and the difference between the second preset threshold and 0 is less than the first preset threshold.

[0141] When both the first sub-condition and the second sub-condition are satisfied, it is determined that the first judgment result satisfies the first preset condition.

[0142] In some embodiments of the present disclosure, the second determination unit 204 is specifically configured to:

[0143] Obtain historical geoacoustic frequency data and historical geoacoustic energy data in the target monitoring area of ​​the coal mine;

[0144] Determining a first interval using historical geotonic frequency data;

[0145] Determining the second interval using historical geosound energy data;

[0146] Determine a first frequency maximum value and a first frequency cumulative value in the frequency time series, and calculate a frequency ratio of the first frequency maximum value to the first frequency cumulative value;

[0147] Determine a first energy maximum value and a first energy cumulative value in the energy time series, and calculate an energy ratio of the first energy maximum value to the first energy cumulative value;

[0148] When the frequency proportion value falls within the first interval and the energy proportion value falls within the second interval, it is determined that the second judgment result satisfies the second preset condition.

[0149] In some embodiments of the present disclosure, the second determining unit 204 is further configured to:

[0150] Obtain the second maximum frequency value of each rock burst in the mining area where the target monitoring area of ​​the coal mine is located, as well as the cumulative frequency value of the mining area;

[0151] For each second frequency maximum value, determine the proportion of the second frequency maximum value in the frequency cumulative value to obtain a first ratio;

[0152] The first ratio corresponding to the first occurrence of rock burst is selected as the frequency target ratio;

[0153] Calculate the frequency standard deviation of all first ratios, calculate the sum of the frequency target ratio and the frequency standard deviation to obtain the upper limit of the first interval, and calculate the difference between the frequency target ratio and the frequency standard deviation to obtain the lower limit of the first interval;

[0154] The second judgment unit 204 is further configured to:

[0155] Obtain the second maximum energy value each time rock burst occurs in the mining area where the target monitoring area of ​​the coal mine is located, as well as the energy cumulative value of the mining area;

[0156] For each second energy maximum value, determining the proportion of the second energy maximum value in the energy cumulative value to obtain a second ratio;

[0157] The second ratio corresponding to the first occurrence of rock burst is selected as the energy target ratio;

[0158] Calculate the energy standard deviation of all second ratios, calculate the sum of the energy target ratio and the energy standard deviation to obtain the upper limit value of the second interval, calculate the difference between the energy target ratio and the energy standard deviation to obtain the lower limit value of the second interval.

[0159] In some embodiments of the present disclosure, the third judgment unit 205 is specifically configured to:

[0160] Obtaining a third time node corresponding to the second frequency maximum value each time a rock burst occurs in the mining area where the target monitoring area of ​​the coal mine is located, and a fourth time node corresponding to the second energy maximum value each time a rock burst occurs;

[0161] For each occurrence of rock burst, calculating a second difference between a third time node corresponding to the rock burst and a fourth time node corresponding to the rock burst;

[0162] The absolute value of the second difference corresponding to the first occurrence of rock burst is selected as the target difference;

[0163] Calculate the standard deviation of the time intervals of all second differences;

[0164] The sum of the target difference and the time interval standard deviation is taken as the upper limit, the difference between the target difference and the time interval standard deviation is taken as the lower limit, and the third interval is obtained according to the upper limit and the lower limit;

[0165] When the first difference falls within the third interval, it is determined that the third judgment result satisfies the third preset condition.

[0166] In some embodiments of the present disclosure, the early warning unit 206 is specifically configured to:

[0167] If the first judgment result is that the first preset condition is not met, the warning level is determined to be no danger;

[0168] If the first judgment result is that the first preset condition is met, the second judgment result is that the second preset condition is met, and the third judgment result is that the third preset condition is not met, the warning level is determined to be a medium impact risk;

[0169] If the first judgment result is that the first preset condition is met, the second judgment result is that the second preset condition is not met, and the third judgment result is that the third preset condition is met, the warning level is determined to be a medium impact risk;

[0170] When the first judgment result satisfies the first preset condition, the second judgment result satisfies the second preset condition, and the third judgment result satisfies the third preset condition, the warning level is determined to be a strong impact risk.

[0171] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0172] According to the rock burst monitoring and early warning device based on the ground sound time series characteristics proposed in the embodiment of the present disclosure, the ground sound frequency data and ground sound energy data of the target monitoring area of ​​the coal mine are obtained according to the preset frequency; the frequency time series sequence is updated by using the ground sound frequency data, and the energy time series sequence is updated by using the ground sound energy data; a frequency change gradient sequence is generated based on the frequency time series sequence, and an energy change gradient sequence is generated based on the energy time series sequence, and it is determined whether the frequency change gradient sequence and the energy change gradient sequence meet the first preset condition to obtain a first judgment result; the first frequency maximum value in the frequency time series sequence and the first energy maximum value in the energy time series sequence are determined, and it is determined whether the first frequency maximum value and the first energy maximum value meet the second preset condition to obtain a second judgment result; the first difference between the first time node corresponding to the first frequency maximum value and the second time node corresponding to the first energy maximum value is determined, and it is determined whether the first difference meets the third preset condition to obtain a third judgment result; according to the first judgment result, the second judgment result and the third judgment result, the warning level is determined, and an early warning is issued according to the warning level. By analyzing and processing the ground sound energy time series and the ground sound frequency time series, it is possible to comprehensively judge whether there is a rock burst risk based on the time series characteristics of the ground sound in the mine, thereby improving the timeliness and accuracy of rock burst warning.

[0173] Figure 3 This is a block diagram of an apparatus for a rock burst monitoring and early warning method based on ground sound time series characteristics, according to an exemplary embodiment. For example, apparatus 300 may be an electronic device, such as a mobile phone, computer, digital broadcast terminal, messaging device, game console, tablet device, medical device, fitness device, personal digital assistant, etc.

[0174] Reference Figure 3 , apparatus 300 may include one or more of the following components: a processing component 302 , a memory 304 , a power component 306 , a multimedia component 308 , an audio component 310 , an input / output (I / O) interface 312 , a sensor component 314 , and a communication component 316 .

[0175] The processing component 302 generally controls the overall operation of the device 300, such as operations associated with display, phone calls, data communications, camera operation, and recording operations. The processing component 302 may include one or more processors 320 to execute instructions to perform all or part of the steps of the above-described method. In addition, the processing component 302 may include one or more modules to facilitate interaction between the processing component 302 and other components. For example, the processing component 302 may include a multimedia module to facilitate interaction between the multimedia component 308 and the processing component 302.

[0176] The memory 304 is configured to store various types of data to support operations on the device 300. Examples of such data include instructions for any application or method operating on the device 300, contact data, phone book data, messages, pictures, videos, etc. The memory 304 can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0177] The power component 306 provides power to the various components of the device 300. The power component 306 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the device 300.

[0178] The multimedia component 308 includes a screen that provides an output interface between the device 300 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, it may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, slides, and gestures on the touch panel. The touch sensors can not only sense the boundaries of a touch or slide action, but also detect the duration and pressure associated with the touch or slide action. In some embodiments, the multimedia component 308 includes a front-facing camera and / or a rear-facing camera. When the device 300 is in an operating mode, such as a capture mode or a video mode, the front-facing camera and / or the rear-facing camera can receive external multimedia data. Each front-facing camera and the rear-facing camera can have a fixed optical lens system or have focal length and optical zoom capabilities.

[0179] The audio component 310 is configured to output and / or input audio signals. For example, the audio component 310 includes a microphone (MIC) that is configured to receive external audio signals when the device 300 is in an operating mode, such as a call mode, a recording mode, or a speech recognition mode. The received audio signals may be further stored in the memory 304 or transmitted via the communication component 316. In some embodiments, the audio component 310 also includes a speaker for outputting audio signals.

[0180] I / O interface 312 provides an interface between processing component 302 and peripheral interface modules, such as a keyboard, click wheel, buttons, etc. These buttons may include but are not limited to: a home button, volume buttons, a start button, and a lock button.

[0181] The sensor assembly 314 includes one or more sensors for providing various aspects of the status assessment of the device 300. For example, the sensor assembly 314 can detect the open / closed state of the device 300, the relative positioning of components, such as the display and keypad of the device 300. The sensor assembly 314 can also detect changes in the position of the device 300 or a component of the device 300, the presence or absence of user contact with the device 300, the orientation or acceleration / deceleration of the device 300, and temperature changes of the device 300. The sensor assembly 314 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 314 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 314 may also include an accelerometer, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0182] The communication component 316 is configured to facilitate wired or wireless communication between the apparatus 300 and other devices. The apparatus 300 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 316 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 316 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0183] In an exemplary embodiment, the apparatus 300 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above-described method.

[0184] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 304 including instructions. The instructions can be executed by the processor 320 of the apparatus 300 to perform the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0185] In an exemplary embodiment, a computer program product is also provided, comprising a computer program, which implements the above method when executed by the processor 320 of the apparatus 300 .

[0186] Other embodiments of the present invention will readily occur to those skilled in the art after considering the specification and practicing the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the invention that follow from the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the invention being indicated by the following claims.

[0187] It should be understood that the present invention is not limited to the exact construction described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A rock burst monitoring and early warning method based on ground sound time series characteristics, characterized in that: include: Acquire ground sound frequency data and ground sound energy data of the target monitoring area of ​​the coal mine according to the preset frequency; Using the ground sound frequency data to update the frequency time series sequence, and using the ground sound energy data to update the energy time series sequence; generating a frequency change gradient sequence based on the frequency time series sequence, and generating an energy change gradient sequence based on the energy time series sequence, and determining whether the frequency change gradient sequence and the energy change gradient sequence meet a first preset condition, to obtain a first judgment result; Determining a first frequency maximum value in the frequency time series, and determining a first energy maximum value in the energy time series, and determining whether the first frequency maximum value and the first energy maximum value meet a second preset condition to obtain a second judgment result; determining a first difference between a first time node corresponding to the first frequency maximum value and a second time node corresponding to the first energy maximum value, determining whether the first difference satisfies a third preset condition, and obtaining a third judgment result; Determining a warning level according to the first, second, and third judgment results, and issuing a rock burst risk warning according to the warning level; The determining of a first difference between a first time node corresponding to the first frequency maximum value and a second time node corresponding to the first energy maximum value, and determining whether the first difference satisfies a third preset condition to obtain a third judgment result includes: Obtaining a third time node corresponding to a second frequency maximum value each time a rock burst occurs in the mining area where the coal mine target monitoring area is located, and a fourth time node corresponding to a second energy maximum value each time a rock burst occurs; For each occurrence of rock burst, calculating a second difference between a third time node corresponding to the rock burst and a fourth time node corresponding to the rock burst; The absolute value of the second difference corresponding to the first occurrence of rock burst is selected as the target difference; Calculate the standard deviation of the time intervals of all second differences; Calculating the sum of the time interval standard deviation and 1 to obtain a first sum value, and multiplying the first sum value by the target difference value to obtain an upper limit value; Calculating the difference between the time interval standard deviation and 1 to obtain a third difference value, and multiplying the third difference value by the target difference value to obtain a lower limit value; Obtain a third interval according to the upper limit value and the lower limit value; When the first difference falls within the third interval, it is determined that the third judgment result satisfies the third preset condition.

2. The rock burst monitoring and early warning method based on ground sound time series characteristics according to claim 1 is characterized in that: The determining whether the frequency change gradient sequence and the energy change gradient sequence meet a first preset condition to obtain a first judgment result includes: When it is identified whether the frequency change gradient sequence contains a first subsequence, a second subsequence, a third subsequence, and a fourth subsequence that are sequentially connected, and when it is identified that the frequency change gradient sequence does not contain a negative value, it is determined that the frequency change gradient sequence satisfies the first subcondition; wherein the difference between the frequency change gradient values ​​in the first subsequence and the fourth subsequence and 0 is less than a first preset threshold, the frequency change gradient value in the second subsequence increases exponentially, and the frequency change gradient value in the third subsequence decreases to a second preset threshold within a preset time period; and the difference between the second preset threshold and 0 is less than the first preset threshold. Upon identifying whether a fifth subsequence, a sixth subsequence, a seventh subsequence, and an eighth subsequence are sequentially connected in the energy change gradient sequence, and identifying that no negative value exists in the energy change gradient sequence, determining that the energy change gradient sequence satisfies the second subcondition; wherein the difference between the energy change gradient values ​​in the fifth and eighth subsequences and 0 is less than a first preset threshold, the energy change gradient value in the sixth subsequence increases exponentially, and the energy change gradient value in the seventh subsequence decreases to a second preset threshold within a preset time period; and the difference between the second preset threshold and 0 is less than the first preset threshold. When both the first sub-condition and the second sub-condition are satisfied, it is determined that the first judgment result satisfies the first preset condition.

3. The rock burst monitoring and early warning method based on ground sound time series characteristics according to claim 1 is characterized in that: The determining of the first frequency maximum value in the frequency time series, determining the first energy maximum value in the energy time series, and determining whether the first frequency maximum value and the first energy maximum value meet a second preset condition to obtain a second judgment result includes: Acquiring historical geoacoustic frequency data and historical geoacoustic energy data of the target monitoring area of ​​the coal mine; Determining a first interval using the historical geotonic frequency data; determining a second interval using the historical geosound energy data; Determine a first frequency maximum value and a first frequency cumulative value in the frequency time series, and calculate a frequency ratio of the first frequency maximum value to the first frequency cumulative value; Determine a first energy maximum value and a first energy cumulative value in the energy time series, and calculate an energy ratio of the first energy maximum value to the first energy cumulative value; When the frequency proportion value falls within the first interval and the energy proportion value falls within the second interval, it is determined that the second judgment result satisfies the second preset condition.

4. The rock burst monitoring and early warning method based on ground sound time series characteristics according to claim 3 is characterized in that: The determining the first interval by using the historical ground sound frequency data includes: Obtaining the second maximum frequency value each time rock burst occurs in the mining area where the coal mine target monitoring area is located, and the cumulative frequency value of the mining area; For each second frequency maximum value, determining a proportion of the second frequency maximum value in the frequency cumulative value to obtain a first ratio; The first ratio corresponding to the first occurrence of rock burst is selected as the frequency target ratio; Calculating the frequency standard deviation of all first ratios, calculating the sum of the frequency target ratio and the frequency standard deviation to obtain an upper limit value of the first interval, and calculating the difference between the frequency target ratio and the frequency standard deviation to obtain a lower limit value of the first interval; The determining the second interval by using the historical geosound energy data includes: Obtaining the second maximum energy value each time rock burst occurs in the mining area where the target monitoring area of ​​the coal mine is located, and the accumulated energy value of the mining area; For each second energy maximum value, determining a proportion of the second energy maximum value in the energy cumulative value to obtain a second ratio; The second ratio corresponding to the first occurrence of rock burst is selected as the energy target ratio; Calculate the energy standard deviation of all second ratios, calculate the sum of the energy target ratio and the energy standard deviation to obtain the upper limit value of the second interval, calculate the difference between the energy target ratio and the energy standard deviation to obtain the lower limit value of the second interval.

5. The rock burst monitoring and early warning method based on ground sound time series characteristics according to claim 1 is characterized in that: Determining the warning level according to the first judgment result, the second judgment result, and the third judgment result includes: If the first judgment result is that the first preset condition is not met, determining the warning level as no danger; When the first judgment result is that the first preset condition is satisfied, the second judgment result is that the second preset condition is satisfied, and the third judgment result is that the third preset condition is not satisfied, determining that the warning level is a medium impact risk; When the first judgment result is that the first preset condition is satisfied, the second judgment result is that the second preset condition is not satisfied, and the third judgment result is that the third preset condition is satisfied, determining that the warning level is a medium impact risk; When the first judgment result satisfies the first preset condition, the second judgment result satisfies the second preset condition, and the third judgment result satisfies the third preset condition, the warning level is determined to be a strong impact hazard.

6. A rock burst monitoring and early warning device based on the temporal characteristics of ground sounds, characterized in that: include: An acquisition unit, configured to acquire ground sound frequency data and ground sound energy data of a target monitoring area of ​​a coal mine according to a preset frequency; an updating unit, configured to update a frequency time series sequence using the ground sound frequency data, and to update an energy time series sequence using the ground sound energy data; a first judgment unit, configured to generate a frequency change gradient sequence based on the frequency time series sequence, and generate an energy change gradient sequence based on the energy time series sequence, and determine whether the frequency change gradient sequence and the energy change gradient sequence meet a first preset condition, to obtain a first judgment result; a second judgment unit, configured to determine a first frequency maximum value in the frequency time series sequence and a first energy maximum value in the energy time series sequence, and determine whether the first frequency maximum value and the first energy maximum value meet a second preset condition to obtain a second judgment result; a third judgment unit, configured to determine a first difference between a first time node corresponding to the first frequency maximum value and a second time node corresponding to the first energy maximum value, determine whether the first difference satisfies a third preset condition, and obtain a third judgment result; an early warning unit, configured to determine an early warning level according to the first, second, and third judgment results, and issue an early warning of rock burst risk according to the early warning level; The third judgment unit is specifically configured to: Obtaining a third time node corresponding to the second frequency maximum value each time a rock burst occurs in the mining area where the target monitoring area of ​​the coal mine is located, and a fourth time node corresponding to the second energy maximum value each time a rock burst occurs; For each occurrence of rock burst, calculating a second difference between a third time node corresponding to the rock burst and a fourth time node corresponding to the rock burst; The absolute value of the second difference corresponding to the first occurrence of rock burst is selected as the target difference; Calculate the standard deviation of the time intervals of all second differences; The sum of the target difference and the time interval standard deviation is taken as the upper limit, the difference between the target difference and the time interval standard deviation is taken as the lower limit, and the third interval is obtained according to the upper limit and the lower limit; When the first difference falls within the third interval, it is determined that the third judgment result satisfies the third preset condition.

7. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

9. A computer program product comprising a computer program, characterized in that The computer program implements the method according to any one of claims 1 to 5 when executed by a processor.

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