Microseismic positioning method, device and electronic equipment based on underground non-physical space

Abstract

The present invention provides a method, device and electronic device for microseismic positioning based on underground non-physical space, which relates to the technical field of microseismic monitoring. The method includes: based on the pre-calculated reference position of the earthquake source and the position of the detector, the underground non-physical space is cut multiple times to generate multiple cut sections, and then the cut section with the largest area among the multiple cut sections is determined as the target cut section; the point on the boundary of the target cut section is the preliminary inflection point, and finally based on the reference position of the earthquake source, the position of the preliminary inflection point and the position of the detector, the microseismic wave propagation path is determined, and the actual position of the earthquake source is determined according to the microseismic wave propagation path. The method solves the technical problems of the current microseismic monitoring technology that the propagation path is difficult to determine and the positioning accuracy is low due to the underground non-physical space, and achieves the technical effect of improving the positioning accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of microseismic monitoring, and in particular to a microseismic positioning method, device and electronic equipment based on underground non-physical space. Background Art

[0002] Microseismicity refers to tiny vibrations caused by rock fractures or fluid disturbances. During underground mining, excessive excavation space often causes ground pressure problems such as roof falls, rock spalling, rock bursts, and landslides. In the process of these ground pressure phenomena, the generation, expansion, and friction of rock cracks will produce microseismic events.

[0003] Generally, the waveforms of microseismic events can be received by a network of microseismic detectors arranged underground. Combined with the microseismic positioning algorithm, the spatial position, time of occurrence and intensity of the microseismic event (seismic source) can be located, and the position and degree of deformation or damage in the rock mass of the mine can be inferred. Appropriate prevention and control measures such as evacuation, blocking and support can then be taken to ensure the safety of personnel and equipment underground in the mine.

[0004] Among them, the positioning accuracy of microseismic events is the technical focus of the microseismic monitoring system. Most of the existing positioning technologies are based on the calculation of physical space and homogeneous propagation media. In theory, microseismic waves propagate in a straight line, but the actual situation is that the underground mines are full of a large number of non-physical spaces (including shafts, horizontal tunnels, stopes, goafs, chambers, etc.), and the propagation speed of microseismic waves in physical spaces (such as rock masses) is much faster than in the air. Starting from the source, microseismic waves must actually bypass non-physical spaces to propagate to the microseismic detectors, rather than propagating in a straight line to reach the detectors. Therefore, the traditional method of calculating the distance by straight-line propagation will result in large errors in its positioning results. In other words, the current microseismic monitoring technology has technical problems such as difficulty in determining the propagation path and low positioning accuracy due to underground non-physical spaces. Summary of the invention

[0005] The purpose of the present invention is to provide a microseismic positioning method, device and electronic equipment based on underground non-physical space to alleviate the technical problems existing in the prior art of great difficulty in determining the microseismic propagation path and low positioning accuracy.

[0006] In order to achieve the above purpose, the technical solution adopted by the embodiment of the present invention is as follows:

[0007] In a first aspect, an embodiment of the present invention provides a microseismic positioning method based on an underground non-physical space, comprising: based on a pre-calculated reference position of a seismic source and a position of a geophone, performing multiple sectioning of the underground non-physical space to generate multiple section planes; wherein the sectioning direction is perpendicular to the direction of the line connecting the seismic source and the geophone;

[0008] Determine the section with the largest area among the plurality of the above-mentioned sections as the target section; and determine the point on the boundary of the above-mentioned target section as the preliminary inflection point;

[0009] Based on the reference position of the earthquake source, the position of the preliminary inflection point and the position of the detector, the microseismic wave propagation path is determined, and the actual position of the earthquake source is determined according to the microseismic wave propagation path.

[0010] In some possible implementations, the step of determining the microseismic wave propagation path based on the reference position of the seismic source, the position of the preliminary inflection point, and the position of the geophone includes: determining the position of the preliminary inflection point; calculating the first distance between the reference position of the seismic source and the position of each preliminary inflection point; the path from the reference position of the seismic source to the position of the preliminary inflection point is the first propagation path; calculating the second distance between the position of each preliminary inflection point and the position of the geophone; the path from the position of the preliminary inflection point to the position of the geophone is the second propagation path; calculating the sum of each of the first distances and each of the second distances, respectively, to generate a plurality of pseudo-propagation distances; determining the minimum value of the plurality of pseudo-propagation distances as the microseismic wave propagation distance; and determining the microseismic wave propagation path according to the first propagation path and the second propagation path corresponding to the microseismic wave propagation distance.

[0011] In some possible implementations, the step of determining the section with the largest area among the multiple sections as the target section includes: calculating the areas of the multiple sections to generate a section area curve; determining the peak point of the section area curve; wherein the section in the non-physical space corresponding to the peak point is the target section.

[0012] In some possible implementations, the step of determining the peak point of the cross-sectional area curve includes: determining the peak point of the cross-sectional area curve according to a moving window and non-maximum suppression algorithm.

[0013] In some possible implementations, the step of precalculating the reference position of the seismic source includes: determining a first spatial distance between the seismic source and the seismic detector based on the position coordinates of the seismic detector and the seismic source parameters received by the seismic detector; wherein the seismic source parameters include: the first arrival time t i , the time t0 of microseismic occurrence and the P-wave velocity value V; based on the first spatial distance and the position coordinates of the detector, determine the reference position of the earthquake source.

[0014] In some possible implementations, the calculation formula for determining the first spatial distance between the seismic source and the geophone is:

[0015]

[0016] Among them, l i is the first spatial distance between the above-mentioned source and the above-mentioned detector, V is the velocity value of the P wave in the monitoring area, t i is the first arrival time of the P wave monitored by the above-mentioned detector, t0 is the occurrence time of the above-mentioned earthquake source, and m is the number of the above-mentioned detectors that receive the P wave in the above-mentioned monitoring area.

[0017] In some possible implementations, based on the first spatial distance and the position coordinates of the geophone, a calculation formula for determining the reference position of the seismic source is:

[0018]

[0019] Among them, l i is the first spatial distance between the above-mentioned source and the above-mentioned detector, (x i ,y i ,z i ) is the position coordinate of the ith detector, (x0, y0, z0) is the reference position coordinate of the above-mentioned earthquake source.

[0020] In some possible implementations, the step of determining the actual position of the earthquake source based on the microseismic wave propagation path includes: calculating a second spatial distance of the microseismic wave propagation path; and determining the actual position of the earthquake source based on the second spatial distance and the position coordinates of the detector.

[0021] In some possible implementations, the calculation formula for determining the second spatial distance between the seismic source, the target inflection point and the geophone is:

[0022]

[0023] Among them: j is the distance between the j-1th peak section and the target inflection point on the jth peak section, l1 is the distance between the above-mentioned earthquake source and the target inflection point on the first peak section; l n+1 is the distance from the target inflection point on the nth peak section to the above detector, V is the velocity value of the P wave in the monitoring area, t i is the first arrival time of the P wave monitored by the above detector, t0 is the occurrence time of the above earthquake source, and n is the number of the above peak section.

[0024] In a second aspect, an embodiment of the present invention provides a microseismic positioning device based on an underground non-physical space, comprising:

[0025] A section generation module is used to perform multiple sectioning of the underground non-solid space based on the pre-calculated reference position of the seismic source and the position of the geophone to generate multiple sectioning planes; wherein the sectioning direction is perpendicular to the connection direction of the seismic source and the geophone;

[0026] A target section determination module is used to determine the section with the largest area among the plurality of the above sections as the target section; points on the boundary of the above target section are preliminary inflection points;

[0027] The actual position determination module of the earthquake source is used to determine the microseismic wave propagation path based on the reference position of the earthquake source, the position of the preliminary inflection point and the position of the detector, and determine the actual position of the earthquake source according to the microseismic wave propagation path.

[0028] In a third aspect, an embodiment of the present invention provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program executable on the processor, and when the processor executes the computer program, the steps of any one of the methods described in the first aspect are implemented.

[0029] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores machine-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions cause the processor to execute any method described in the first aspect above.

[0030] The present invention provides a microseismic positioning method, device and electronic device based on underground non-physical space, the method comprising: based on the pre-calculated reference position of the earthquake source and the position of the detector, the underground non-physical space is cut multiple times to generate multiple cut sections, and then the cut section with the largest area among the multiple cut sections is determined as the target cut section; the point on the boundary of the target cut section is the preliminary inflection point, and finally based on the reference position of the earthquake source, the position of the preliminary inflection point and the position of the detector, the microseismic wave propagation path is determined, and the actual position of the earthquake source is determined according to the microseismic wave propagation path. The method solves the technical problems of the current microseismic monitoring technology that the propagation path is difficult to determine and the positioning accuracy is low due to the underground non-physical space, and achieves the technical effect of improving the positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 A schematic flow chart of a microseismic positioning method based on underground non-physical space provided by an embodiment of the present invention;

[0033] Figure 2A schematic flow chart of another microseismic positioning method based on underground non-physical space provided by an embodiment of the present invention;

[0034] Figure 3 A schematic structural diagram of a microseismic positioning device based on an underground non-physical space provided by an embodiment of the present invention;

[0035] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0037] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0039] The positioning accuracy of microseismic events is the technical focus of microseismic monitoring systems. Most existing positioning technologies are based on the calculation of physical space and homogeneous propagation media. In theory, microseismic waves propagate in a straight line, but the actual situation is that the underground mines are filled with a large number of non-physical spaces (including shafts, horizontal tunnels, stopes, goafs, chambers, etc.), and the propagation speed of microseismic waves in physical spaces (such as rock masses) is much faster than in the air. Starting from the source, microseismic waves must actually bypass non-physical spaces to propagate to the microseismic detectors, rather than propagating in a straight line to reach the detectors. Therefore, the traditional method of calculating the distance by straight-line propagation will result in large errors in its positioning results. In other words, the current microseismic monitoring technology has technical problems such as difficulty in determining the propagation path and low positioning accuracy due to underground non-physical spaces.

[0040] Based on this, an embodiment of the present invention provides a microseismic positioning method, device and electronic device based on underground non-physical space to alleviate the technical problems of current microseismic monitoring technology such as difficulty in determining the propagation path and low positioning accuracy caused by underground non-physical space.

[0041] To facilitate understanding of this embodiment, firstly, a microseismic positioning method based on underground non-physical space disclosed in an embodiment of the present invention is described in detail, see Figure 1 The flowchart of a microseismic positioning method based on underground non-physical space is shown, and the method can be executed by an electronic device, and mainly includes the following steps S110 to S130:

[0042] S110: Based on the pre-calculated reference position of the seismic source and the position of the geophone, the underground non-physical space is cut and sliced ​​multiple times to generate multiple cut sections; wherein the cutting direction is perpendicular to the direction of the line connecting the seismic source and the geophone;

[0043] In one embodiment, the step of precalculating the reference position of the seismic source includes: determining the first spatial distance between the seismic source and the seismic detector based on the position coordinates of the seismic detector and the seismic source parameters received by the seismic detector; wherein the seismic source parameters include: the first arrival time t i , the time t0 of microseismic occurrence and the P-wave velocity value V; based on the first spatial distance and the position coordinates of the detector, determine the reference position of the earthquake source.

[0044] In the embodiment of the present invention, the source position can be calculated by using a traditional or other microseismic positioning algorithm as a reference source position W (x0, y0, z0); then the underground non-physical space within the monitoring range is completely scanned by a 3D laser scanner or other technical means to obtain point cloud data on the boundary of the non-physical space; the reference source position is connected to the i-th detector, and the underground non-physical space is cut along the direction perpendicular to the connecting line. The step length of the cut section depends on the accuracy of the point cloud data; the accuracy of the point cloud data can be determined according to the accuracy of the actual 3D laser scanning equipment.

[0045] S120: determining a section with the largest area among the multiple sections as a target section; a point on the boundary of the target section as a preliminary inflection point;

[0046] In one embodiment, the step of determining the target cross-section specifically includes: first calculating the areas of multiple cross-sections to generate a cross-section area curve; then determining the peak point of the cross-section area curve; wherein the cross-section of the non-solid space corresponding to the peak point is the target cross-section.

[0047] The peak point of the cross-sectional area curve may be determined according to a moving window and non-maximum suppression algorithm.

[0048] In the embodiment of the present invention, the area of ​​the cut section is calculated, and the peak point of the area curve and its corresponding non-physical space cut section are found out as the target cut section through algorithms such as moving window and non-maximum suppression.

[0049] S130: Determine the microseismic wave propagation path based on the reference position of the earthquake source, the position of the preliminary inflection point, and the position of the detector, and determine the actual position of the earthquake source according to the microseismic wave propagation path.

[0050] In one embodiment, the above step S130 includes:

[0051] (1) Determine the location of the initial turning point;

[0052] (2) calculating a first distance between a reference position of the earthquake source and the position of each preliminary inflection point; the path from the reference position of the earthquake source to the position of the preliminary inflection point is a first propagation path;

[0053] (3) calculating a second distance between the position of each preliminary inflection point and the position of the detector; the path from the position of the preliminary inflection point to the position of the detector is the second propagation path;

[0054] (4) respectively calculating the sum of each first distance and each second distance to generate multiple pseudo-propagation distances;

[0055] (5) determining that the minimum value among a plurality of simulated propagation distances is the microseismic wave propagation distance;

[0056] (6) Determine the microseismic wave propagation path according to the first propagation path and the second propagation path corresponding to the microseismic wave propagation distance. In other words, the microseismic wave propagation path is: from the source position to the target inflection point position to the position of the detector.

[0057] In one embodiment, the calculation formula for determining the first spatial distance between the source and the detector is:

[0058]

[0059] Among them, l i is the first spatial distance between the source and the detector, V is the velocity of the P wave in the monitoring area, t i is the first arrival time of the P wave detected by the detector, t0 is the occurrence time of the earthquake source, and m is the number of detectors that receive the P wave in the monitoring area.

[0060] Furthermore, based on the first spatial distance and the position coordinates of the detector, the calculation formula for determining the reference position of the earthquake source is:

[0061]

[0062] Among them, l i is the first spatial distance between the source and the detector, (x i ,y i ,z i ) is the position coordinate of the ith detector, and (x0, y0, z0) is the reference position coordinate of the earthquake source.

[0063] In one embodiment, the step of determining the actual position of the earthquake source according to the microseismic wave propagation path includes: calculating a second spatial distance of the microseismic wave propagation path; and determining the actual position of the earthquake source based on the second spatial distance and the position coordinates of the detector.

[0064] Furthermore, the calculation formula for determining the second spatial distance between the earthquake source, the target inflection point and the detector is:

[0065]

[0066] Where: l j is the distance between the j-1th peak section and the target inflection point on the jth peak section, l1 is the distance between the reference source and the target inflection point on the first peak section; l n+1 is the distance from the target inflection point to the detector on the nth peak section, V is the velocity of the P wave in the monitoring area, t i is the first arrival time of the P wave detected by the detector, t0 is the occurrence time of the earthquake source, and n is the number of peak section.

[0067] In the embodiment of the present invention, by traversing all points on the periphery of the non-physical space section corresponding to the first peak point, the distance L1 between each point and the reference source position is calculated; by traversing all points on the periphery of the non-physical space section corresponding to the first and second peak points, the distance L2 between any two points is calculated; until the distance Ln (n is the number of non-physical spaces) between all sections and from the last section to the i-th detector is calculated. The sum of all segment distances L1+L2+...+L n , select the set of points with the smallest sum. This set of points is the turning point where the microseismic wave bypasses the non-physical space, and the sum of the distances is the propagation distance between the microseismic wave and the i-th detector. Traverse all detectors and find the propagation distance of all detectors. Substitute it into the microseismic location formula (1) to get the microseismic location result.

[0068] The present invention provides a microseismic positioning method based on underground non-entity space, which adopts the method of finding the peak inflection point of the non-entity space section to find the minimum propagation distance, replacing the original linear propagation distance calculation method, thereby optimizing the microseismic positioning result. First, the source position is preliminarily calculated by the traditional microseismic positioning algorithm, and then the underground non-entity space is scanned to obtain the point cloud data on the boundary of the non-entity space, and then the underground non-entity space is cut perpendicular to the line connecting the reference source and the detector, and the area of ​​the section is calculated to find the peak point of the section, and the point on the periphery of the non-entity space corresponding to the peak point is used as the possible inflection point of the microseismic wave propagating from the source to the detector. After calculating the distance between the possible inflection points on adjacent sections of the non-entity space section by section, the shortest path between the reference source, the possible inflection point and the detector is traversed. The above method solves the technical problems of the current microseismic monitoring technology that the propagation path is difficult to determine and the positioning accuracy is low due to the underground non-entity space, and achieves the technical effect of improving the positioning accuracy.

[0069] As a specific example, the embodiment of the present invention provides a microseismic positioning method based on underground non-physical space. Taking two non-physical spaces (V1, V2) as an example, referring to Figure 2 The method comprises:

[0070] S21: Preliminary microseismic location, calculation of reference source position;

[0071] That is, the source position is first calculated using traditional or other microseismic location algorithms and used as the reference source position.

[0072] S22: Non-physical space scanning;

[0073] All underground non-solid spaces (V1, V2) within the monitoring range are scanned to obtain the outer boundary point cloud data of the non-empty space.

[0074] S23: connecting the source to the i-th detector, vertically sectioning the space;

[0075] Connect the reference source position with the i-th detector and cut the underground non-solid space along the direction perpendicular to the connecting line.

[0076] S24: Calculate the area of ​​the cross section and find the cross section corresponding to the peak point;

[0077] Calculate the area of ​​the cross-section and find the peak point of the area curve and its corresponding non-solid space cross-section.

[0078] S25: Determine a point G on the section from the earthquake source W to the peak aWhether the connecting line belongs to the non-entity space; if not, calculate the distance L3 between the two points and execute S26; if it does, return to S25 to determine the next point;

[0079] Determine the earthquake source W to the first peak section M1 boundary point G a 1 (a is the number of point cloud data of the first peak section M1, the initial value is 1) whether all the points on the line do not belong to the non-entity space (V1, V2). If so, calculate the source W to point G a 1 The distance between Jump to S26. If not, add 1 to a and start from S25.

[0080] S26: Judgment point G a To a point G on the second peak section b Whether the connecting line belongs to the non-entity space, if not, calculate the distance L2 between the two points and execute S27; if it does, return to S26 to determine the next point;

[0081] Judgment point G a 1 To the first point on the boundary of the second peak section M2 (b is the number of point cloud data of the second peak section M2, the initial value is 1) Are all the points on the line not in the non-entity space (V1, V2). If so, calculate point G a 1 Solstice The distance between Jump to S27. If not, increase b by 1 and start from S26.

[0082] S27: Judgment point G b Check whether each point on the line connecting the i-th detector belongs to the non-physical space; if not, calculate the distance L3 between the two points and execute S28; if yes, return to S25;

[0083] Judgment Point To the i-th detector U i Do all the points on the line not belong to the non-physical space (V1, V2). If so, calculate the point SolsticeU i The distance between If not, start from S25.

[0084] S28: Calculate the sum of L1, L2, and L3, and find the minimum value in the set;

[0085] Calculate the three Sum i, and the path The sum of the distances S i Add to collection Tail, find S in the set i The element with the smallest value. It is the shortest propagation path from the reference source position to the i-th detector. The sum of the distances S i It is the distance that the microseismic wave propagates from the earthquake source to the i-th detector.

[0086] S29: traverse all detectors and calculate all propagation distances;

[0087] Repeat S23 to S28, traverse all geophones, and calculate the minimum distance S between the source and all geophones. i .

[0088] S210: Substitute the distance into the microseismic positioning algorithm, and use the microseismic positioning result as the optimization result.

[0089] The distance S calculated above i Substitute into the microseismic location algorithm formula (1) i , recalculate the earthquake source position and use it as the final microseismic location optimization result.

[0090] An embodiment of the present invention provides a microseismic positioning method based on underground non-physical space. Through the above method, the propagation path distance calculation of the non-linear propagation of microseismic waves is realized, so that the propagation velocity model is more in line with the actual situation of complex rock masses in underground mines (there are many non-physical spaces underground such as mine tunnels, empty areas, chambers, etc.), making the propagation path of microseismic waves more realistic, thereby improving the accuracy of source positioning.

[0091] In addition, the above method further realizes the dimensionality reduction calculation of the number of traversal times for the shortest path in multidimensional space. By calculating and sorting the area of ​​the cross-sections of the non-solid space and then traversing them, a new method for finding the shortest path is provided. Taking the ball as an example, its calculation complexity is reduced from O(n6) to O(n3).

[0092] The present invention also provides a microseismic positioning device based on an underground non-physical space, see Figure 3 The device includes: a section generation module 310, which is used to perform multiple sectioning of the underground non-physical space based on the pre-calculated reference position of the seismic source and the position of the geophone, and generate multiple sectioning; wherein the direction of the sectioning is perpendicular to the direction of the line connecting the seismic source and the geophone;

[0093] The target section determination module 320 is used to determine the section with the largest area among the multiple sections as the target section; the point on the boundary of the target section is the preliminary inflection point;

[0094] The actual earthquake source position determination module 330 is used to determine the microseismic wave propagation path based on the reference position of the earthquake source, the position of the preliminary inflection point and the position of the detector, and determine the actual position of the earthquake source according to the microseismic wave propagation path.

[0095] The microseismic positioning device based on underground non-physical space provided in the embodiment of the present application can be specific hardware on the device or software or firmware installed on the device, etc. The implementation principle and technical effect of the device provided in the embodiment of the present application are the same as those of the aforementioned method embodiment. For the sake of brief description, the parts not mentioned in the device embodiment can refer to the corresponding contents in the aforementioned method embodiment. Technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, devices and units described above can all refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. The microseismic positioning device based on underground non-physical space provided in the embodiment of the present application has the same technical features as the microseismic positioning method based on underground non-physical space provided in the above embodiment, so it can also solve the same technical problems and achieve the same technical effects.

[0096] An embodiment of the present application further provides an electronic device. Specifically, the electronic device includes a processor and a storage device. The storage device stores a computer program, and when the computer program is executed by the processor, it executes the method described in any one of the above-mentioned embodiments.

[0097] Figure 4 A structural schematic diagram of an electronic device provided in an embodiment of the present application, the electronic device 400 includes: a processor 40, a memory 41, a bus 42 and a communication interface 43, wherein the processor 40, the communication interface 43 and the memory 41 are connected via the bus 42; the processor 40 is used to execute an executable module stored in the memory 41, such as a computer program.

[0098] The memory 41 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 43 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0099] The bus 42 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0100] Among them, the memory 41 is used to store programs, and the processor 40 executes the program after receiving the execution instruction. The method executed by the device for flow process definition disclosed in any embodiment of the above-mentioned embodiment of the present invention can be applied to the processor 40 or implemented by the processor 40.

[0101] The processor 40 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 40. The above processor 40 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiments of the present invention can be directly embodied as a hardware decoding processor to execute, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 41, and the processor 40 reads the information in the memory 41 and completes the steps of the above method in combination with its hardware.

[0102] Corresponding to the above method, an embodiment of the present application also provides a computer-readable storage medium, which stores machine-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to execute the steps of the above method.

[0103] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0104] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0105] In addition, each functional unit in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0106] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, electronic device, or network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program codes.

[0107] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0108] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0109] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A microseismic positioning method based on underground non-physical space, characterized in that: include: Based on the pre-calculated reference position of the seismic source and the position of the geophone, the underground non-physical space is cut multiple times to generate multiple cut sections; wherein the cutting direction is perpendicular to the direction of the line connecting the seismic source and the geophone; Determine the section with the largest area among the plurality of section planes as the target section plane; and determine the point on the boundary of the target section plane as the preliminary inflection point; Based on the reference position of the earthquake source, the position of the preliminary inflection point and the position of the detector, a microseismic wave propagation path is determined, and the actual position of the earthquake source is determined according to the microseismic wave propagation path.

2. The microseismic positioning method based on underground non-physical space according to claim 1, characterized in that: The step of determining the microseismic wave propagation path based on the reference position of the seismic source, the position of the preliminary inflection point and the position of the geophone comprises: determining the position of the preliminary inflection point; Calculating a first distance between the reference position of the earthquake source and the position of each of the preliminary inflection points; the path from the reference position of the earthquake source to the position of the preliminary inflection point is a first propagation path; Calculating a second distance between the position of each of the preliminary inflection points and the position of the detector; the path from the position of the preliminary inflection point to the position of the detector is a second propagation path; respectively calculating the sum of each of the first distances and each of the second distances to generate a plurality of pseudo-propagation distances; Determine the minimum value among the plurality of simulated propagation distances as the microseismic wave propagation distance; A microseismic wave propagation path is determined according to the first propagation path and the second propagation path corresponding to the microseismic wave propagation distance.

3. The microseismic positioning method based on underground non-physical space according to claim 1, characterized in that: The step of determining the section with the largest area among the plurality of sections as the target section comprises: Calculating the areas of the plurality of cross-sections to generate a cross-section area curve; Determine the peak point of the cross-sectional area curve; wherein the cross-sectional plane of the non-solid space corresponding to the peak point is the target cross-sectional plane.

4. The microseismic positioning method based on underground non-physical space according to claim 3 is characterized in that: The step of determining the peak point of the cross-sectional area curve comprises: The peak point of the cross-sectional area curve is determined according to a moving window and non-maximum suppression algorithm.

5. The microseismic positioning method based on underground non-physical space according to claim 1, characterized in that: The steps of precalculating the reference position of the earthquake source include: Based on the position coordinates of the detector and the source parameters received by the detector, the first spatial distance between the source and the detector is determined; wherein the source parameters include: the first arrival time of the P wave t i , the time when the microseism occurs t0 and the P-wave velocity value V; Based on the first spatial distance and the position coordinates of the detector, a reference position of the seismic source is determined.

6. The microseismic positioning method based on underground non-physical space according to claim 5, characterized in that: The calculation formula for determining the first spatial distance between the seismic source and the geophone is: Among them, l i is the first spatial distance between the seismic source and the detector, V is the velocity value of the P wave in the monitoring area, t i is the first arrival time of the P wave monitored by the detector, t0 is the occurrence time of the earthquake source, and m is the number of the detectors that receive the P wave in the monitoring area.

7. The microseismic positioning method based on underground non-physical space according to claim 6, characterized in that: Based on the first spatial distance and the position coordinates of the geophone, the calculation formula for determining the reference position of the earthquake source is: Among them, l i is the first spatial distance between the source and the detector, (x i ,y i ,z i ) is the position coordinate of the ith detector, (x0, y0, z0) is the reference position coordinate of the source.

8. The microseismic positioning method based on underground non-physical space according to claim 1, characterized in that: The step of determining the actual position of the earthquake source according to the microseismic wave propagation path comprises: Calculating a second spatial distance of the microseismic wave propagation path; Based on the second spatial distance and the position coordinates of the detector, the actual position of the seismic source is determined.

9. The microseismic positioning method based on underground non-physical space according to claim 8, characterized in that: The calculation formula for determining the second spatial distance between the earthquake source, the target inflection point and the detector is: Where: l j is the distance between the j-1th peak section and the target inflection point on the jth peak section, l1 is the distance between the earthquake source and the target inflection point on the first peak section; l n+1 is the distance from the target inflection point on the nth peak section to the detector, V is the velocity of the P wave in the monitoring area, t i is the first arrival time of the P wave monitored by the detector, t0 is the occurrence time of the earthquake source, and n is the number of the peak section.

10. A microseismic positioning device based on underground non-physical space, characterized in that: include: A section generation module is used to perform multiple sectioning of the underground non-physical space based on the pre-calculated reference position of the seismic source and the position of the geophone to generate multiple sectioning planes; wherein the sectioning direction is perpendicular to the connection direction of the seismic source and the geophone; A target section determination module is used to determine the section with the largest area among the multiple sections as the target section; the point on the boundary of the target section is the preliminary inflection point; The actual position determination module of the earthquake source is used to determine the microseismic wave propagation path based on the reference position of the earthquake source, the position of the preliminary inflection point and the position of the detector, and determine the actual position of the earthquake source according to the microseismic wave propagation path.

11. An electronic device comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 9 are implemented.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores machine executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions cause the processor to execute the method according to any one of claims 1 to 9.

Images