Rock burst early warning method, device, equipment and storage medium

Abstract

The present disclosure provides a rock burst early warning method, device, equipment and storage medium, and relates to the technical field of coal mine monitoring and early warning. The method comprises: acquiring a coal rock surface image to be monitored; processing the coal rock surface image to obtain a coal rock surface displacement; calculating a surface strain and a surface elastic energy density of the coal rock based on the coal rock surface displacement; inputting the surface elastic energy density into a preset model to determine coal rock damage and internal elastic energy density of the coal rock. Thus, the full-field real-time sensing of the coal rock damage and internal elastic energy accumulation can be realized, the rock burst can be monitored and warned without direct contact with the coal rock body, the cost is low, the reliability is high, the arrangement is easy, the monitoring accuracy is improved, the safety of the coal mine underground is ensured, the intelligent degree is high, the danger can be found in time, and the crisis can be resolved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of coal mine monitoring and early warning, and particularly relates to a rock burst early warning method, device, equipment and storage medium. BACKGROUND

[0002] In recent years, with the increase of mining depth, the production environment of coal mines is more and more complex, and the threat of coal and rock dynamic disasters is increasing, which has become a major problem that plagues the safe and efficient production of coal mines. Rock burst is a common coal and rock dynamic disaster in underground coal mines, which generally shows that a large amount of elastic energy accumulated in the free rock mass is suddenly and violently released, destroying the rock mass and throwing a large amount of rock debris into the mining space accompanied by explosion sound and shock wave. Rock burst is a process of instantaneous energy release, which can destroy the equipment and facilities in the working space, even the roadway and ventilation system, and seriously threatens the safety of the workers.

[0003] In the related art, rock burst can be monitored by a contact monitoring method. However, with the increase of mining depth, the ground stress state is more complex, and the area where rock burst may occur is expanded. For the contact monitoring technology, increasing the monitoring range means that more monitoring systems and sensors need to be arranged, which not only increases the cost but also adversely affects the reliability of the monitoring system. Therefore, how to timely warn the possible rock burst without using the contact monitoring method to ensure the safety of the underground coal mine is a problem to be solved at present. SUMMARY

[0004] The present disclosure aims to at least solve one of the technical problems in the related art to some extent.

[0005] The first aspect of the present disclosure provides a rock burst early warning method, comprising:

[0006] obtaining a coal and rock surface image to be monitored;

[0007] processing the coal and rock surface image to obtain a coal and rock surface displacement;

[0008] calculating a surface strain and a surface elastic energy density of the coal and rock based on the coal and rock surface displacement;

[0009] inputting the surface elastic energy density into a preset model to determine a coal and rock damage and an internal elastic energy density of the coal and rock;

[0010] determining a danger resolution response strategy corresponding to the current coal and rock region according to the coal and rock damage and the internal elastic energy density. The second aspect of the present disclosure provides a rock burst early warning device, comprising:

[0011] The first obtaining module is configured to obtain a coal-rock surface image to be monitored.

[0012] The second obtaining module is configured to process the coal-rock surface image to obtain a coal-rock surface displacement.

[0013] The calculating module is configured to calculate a surface strain and a surface elastic energy density of the coal rock based on the coal-rock surface displacement.

[0014] The first determining module is configured to input the surface elastic energy density into a preset model to determine a coal-rock damage and an internal elastic density of the coal rock.

[0015] The second determining module is configured to determine a danger-resolving response strategy corresponding to a current coal-rock region according to the coal-rock damage and the internal elastic density.

[0016] The third aspect of the present disclosure provides a computer device, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the rock burst early warning method according to the first aspect of the present disclosure when executing the program.

[0017] The fourth aspect of the present disclosure provides a non-transitory computer readable storage medium, which stores a computer program, and the computer program is executable on a processor to implement the rock burst early warning method according to the first aspect of the present disclosure.

[0018] The rock burst early warning method, device, computer device and storage medium provided by the present disclosure have the following beneficial effects:

[0019] In the embodiments of the present disclosure, the coal-rock surface image to be monitored is first obtained, then the coal-rock surface image is processed to obtain the coal-rock surface displacement, then the surface strain and the surface elastic energy density of the coal rock are calculated based on the coal-rock surface displacement, then the surface elastic energy density is input into a preset model to determine the coal-rock damage and the internal elastic density of the coal rock, and then the danger-resolving response strategy corresponding to the current coal-rock region is determined according to the coal-rock damage and the internal elastic density. Thus, the coal-rock damage and the internal elastic energy accumulation of the coal rock can be sensed in real time, the rock burst can be monitored and warned without direct contact with the coal rock, the cost is low, the reliability is high, the arrangement is easy, the monitoring accuracy is improved, the safety of the coal mine underground is ensured, the intelligent degree is high, the danger can be found in time and the crisis can be resolved.

[0020] The additional aspects and advantages of the present disclosure will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0021] The above mentioned and / or additional aspects and advantages of the present disclosure will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

[0022] Figure 1 A flowchart of the rock burst early warning method provided by the first embodiment of the present disclosure is shown in the figure.

[0023] Figure 2 A flowchart of the rock burst early warning method provided by the second embodiment of the present disclosure is shown in the figure.

[0024] Figure 3 A block diagram of the rock burst early warning device provided by the third embodiment of the present disclosure is shown in the figure.

[0025] Figure 4 A block diagram of an exemplary computer device suitable for implementing embodiments of the present disclosure is shown in the figure. DETAILED DESCRIPTION

[0026] Embodiments of the present disclosure are described in detail below, examples of which are shown in the accompanying drawings, in which the same or similar reference numbers represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the accompanying drawings are exemplary and are intended to explain the present disclosure, and cannot be understood as a limitation of the present disclosure.

[0027] It can be explained that the execution subject of the rock burst early warning method of the present embodiment is a storage reliability evaluation device of an edge computing system, which can be realized by software and / or hardware. The device can be configured in a computer device, which can include but is not limited to a terminal, a server end, etc. The rock burst early warning method proposed by the present disclosure will be described below with the rock burst early warning device as the execution subject, which is referred to as "the device" hereinafter.

[0028] The rock burst early warning method, device, computer device and storage medium of the embodiments of the present disclosure are described below with reference to the accompanying drawings.

[0029] Figure 1 A flowchart of the rock burst early warning method provided by the embodiments of the present disclosure is shown in the figure.

[0030] As shown in the figure, the rock burst early warning method can include the following steps: Figure 1

[0031] Step 101, obtaining a coal rock surface image to be monitored.

[0032] ​As a possible implementation manner, the device can be based on the mine optical cable and the working host, receive the coal rock surface image sent by the preset monitoring camera, wherein the coal rock surface image is an image taken of the current roadway coal rock surface, and the monitoring camera is arranged at each position in the coal mine underground.

[0033] It should be noted that the coal rock surface of the coal mine underground roadway can be image collected by the monitoring camera. Specifically, the automatic collection box can send a data collection command to each monitoring camera at the automatic collection time point to control the monitoring camera to collect based on the data collection command. Each monitoring camera can be electrically connected to the automatic collection box through the branch cable and the main cable, so that the automatic collection box can send a data collection command to each monitoring camera to control each monitoring camera to obtain the coal rock surface image.

[0034] In order to obtain more comprehensive and reliable coal rock surface images, the monitoring cameras can be reasonably arranged at various positions in the coal mine underground to obtain coal rock surface images from various angles. That is, the coal rock in the roadway can be photographed from multiple angles and at a distance, the coal rock surface image can be collected in real time, and the surface image information can be sent to the working host through the mine optical cable.

[0035] Further, the collected coal rock surface image can be sent to the working host through the mine optical cable, and then the device can obtain the shared coal rock surface image through the working host.

[0036] Step 102, processing the coal rock surface image to obtain the coal rock surface displacement.

[0037] As a possible implementation manner, the device can collect the coal rock surface image, and then use image processing technology to process the original image collected by the monitoring camera. The displacement vector of the same pixel point in the two images before and after the deformation of the coal rock surface is calculated by tracking (or matching) the position change of the pixel point, so as to determine the coal rock surface displacement field.

[0038] Alternatively, after obtaining the coal rock surface image, the coal rock surface image can be first image optimized and enhanced, and the coal rock surface bottom layer semantic information is extracted.

[0039] It should be noted that in order to improve the accuracy and integrity of the coal rock surface image feature extraction, in the present disclosure, wavelet transform can be used to enhance the information detectability and simplify the data to the maximum, effectively increase the image signal-to-noise ratio, reduce the gray scale variance, and optimize the coal rock surface image quality.

[0040] Afterwards, the interference targets possibly existing in the image, such as personnel or equipment, can be monitored, and a monitoring image template is removed to ensure the reliability of the monitoring image, and for the sudden coal and rock falling, rib spalling and slag dropping in the monitoring picture, background recognition and image capture can be used to filter the influence of interference objects.

[0041] Further, the coal and rock surface image can be subjected to coal and rock surface bottom layer semantic information extraction, such as using image edge monitoring to greatly reduce the data volume, eliminate irrelevant information, and retain important structural properties of the image.

[0042] Optionally, a Sobel operator can be used for edge detection, the monitoring camera monitoring area is divided into grids, the same number of feature points are randomly selected in each grid, and an ORB algorithm (Oriented FAST and Rotated BRIEF, ORB) is used for feature point tracking and description to realize real-time monitoring of the coal and rock surface image feature points.

[0043] It can be understood that, for the dim and variable light in the underground environment, and the more water mist and dust, multi-scale coal and rock surface image feature extraction can also be performed. For example, a pyramid structure can be used for multi-scale expression of the image, and the characteristics that are not easy to see or obtain in one scale can be more easily extracted in other scales.

[0044] Afterwards, the coal and rock surface image can be subjected to feature matching and displacement calculation. It should be noted that in the real-time monitoring of the coal and rock surface feature points, the ORB algorithm can be used to obtain feature representation, Hamming Distance can be used for coal and rock surface feature point matching, and when it is less than a set threshold, it means that the feature point matching is successful. RANSAC algorithm and Huber loss function can also be used to eliminate or reduce false matching, and the three-dimensional coordinates of the feature points in the world coordinate system can be obtained through coordinate system transformation algorithm, Euclidean Distance can be used to calculate the real displacement between the matching feature points, and the coal and rock surface displacement field calculation can be realized.

[0045] It should be noted that due to the complexity of the underground environment and the frequent production activities, in order to avoid the movement of the monitoring camera causing monitoring result errors, SLAM (Simultaneous Localization and Mapping) simultaneous localization and mapping technology can be used to position itself according to the position and map during the movement of the monitoring camera, and at the same time, an incremental map is built on the basis of the self-positioning to realize the autonomous positioning of the monitoring camera. According to the position change of the monitoring camera, the monitoring data is corrected in time, that is, the coal and rock surface displacement is corrected.

[0046] Step 103, based on the displacement of the coal rock surface, the surface strain of the coal rock and the surface elastic energy density are calculated.

[0047] The surface elastic energy density can be the elastic energy accumulated in the unit volume of coal rock calculated based on the surface strain of the coal rock.

[0048] The strain of the coal rock refers to the relative deformation of the object. In the present disclosure, the strain of the coal rock in each direction can be determined based on the relationship between the displacement and the strain.

[0049] As a possible implementation, the device can average the strain components of each point in the calculation region corresponding to the current coal rock surface to represent the strain component value of the coal rock in this region, and regard the out-of-region area of the coal rock surface deformation as an elastic state, and substitute it into the solution of the surface elastic energy density. Optionally, the following formula can be used:

[0050]

[0051] Wherein, U is the surface elastic energy density of the coal rock, E and f represent the elastic modulus and Poisson's ratio respectively.

[0052] Wherein, A is the surface strain in the first direction, and B is the surface strain in the second direction.

[0053] Step 104, input the surface elastic energy density into a preset model to determine the coal rock damage and the internal elastic energy density of the coal rock.

[0054] The internal elastic energy density of the coal rock can be the elastic energy accumulated in the unit volume of coal rock, which can be calculated according to the integral area of the cyclic loading and unloading stress-strain curve, or can be calculated according to the surface elastic energy density of the coal rock.

[0055] The preset model can be an energy density-coal rock damage constitutive model.

[0056] It should be noted that based on the internal energy conversion and dissipation law of the coal rock, the gradual damage of the coal rock until deformation and destruction can be regarded as the energy dissipation process in the coal rock, that is, the internal energy dissipation of the coal rock can be used to represent the coal rock damage, and the energy density-coal rock damage constitutive model can be established.

[0057]

[0058] Wherein, U0 represents the internal elastic energy density of the coal rock under quasi-static state, U' is the internal elastic energy density of the coal rock, C represents the viscosity coefficient, D represents the coal rock damage, k represents the energy density loss coefficient, a represents the elastic modulus loss coefficient, Y represents the damage energy dissipation rate, and ε erepresents an elastic strain tensor, M0 represents an initial stiffness matrix, and m represents an energy potential coefficient.

[0059] It should be noted that by substituting the surface elastic energy density into the preset model, the coal rock damage and the internal elastic energy density corresponding to the current coal rock region can be calculated.

[0060] In step 105, according to the coal rock damage and the internal elastic energy density, a danger relieving response strategy corresponding to the current coal rock region is determined.

[0061] The danger relieving response strategy can be a coping strategy generated according to the coal rock damage and the internal elastic energy accumulation of the current coal rock region.

[0062] It should be noted that after the coal rock damage and the internal elastic energy density are determined, the coal rock damage and the elastic energy accumulation can be analyzed. It can be understood that the greater the internal elastic energy density of the coal rock is, the more the elastic energy accumulates, and there is a risk of sudden release of elastic energy, which may induce rock burst. It should be noted that the greater the coal rock damage is, the greater the attenuation of the mechanical properties of the coal rock is, and the higher the damage degree of the coal rock is. If the internal elastic energy of the coal rock is completely converted into damage dissipation energy without any excess elastic energy to release externally, it is not easy to produce rock burst. However, if the internal elastic energy of the coal rock accumulates without being converted into damage dissipation energy in time, it may induce rock burst.

[0063] Optionally, in the case that the coal rock damage is less than a first threshold value and the internal elastic energy density is less than a second threshold value, the danger relieving response strategy corresponding to the current coal rock region is determined to be maintaining continuous monitoring.

[0064] The first threshold value can be a coal rock damage threshold value, and the second threshold value can be an internal elastic energy density threshold value.

[0065] The first threshold value and the second threshold value can be set according to experience, which is not limited herein.

[0066] It should be noted that if the coal rock damage is less than the first threshold value, it indicates that the damage degree of the coal rock is low and the attenuation of the mechanical properties is small. If the internal elastic energy density is less than the second threshold value, it indicates that the elastic energy accumulation is small and there is no risk of sudden release. That is, the danger degree of the coal rock region at this time is low and the possibility of rock burst is small, so no measures are needed to relieve the danger at this time, and therefore the monitoring of the current coal rock region can be maintained to observe the state of the coal rock damage and the internal elastic energy density of the current coal rock region.

[0067] Alternatively, in the case that the coal rock damage is greater than the first threshold value and the internal elastic energy density is greater than the second threshold value, the danger relieving response strategy corresponding to the current coal rock region is determined to be delineating a rock burst danger zone and taking a preset danger relieving measure.

[0068] It should be noted that if the coal rock damage is greater than the first threshold value, it indicates that the coal rock damage is greater, and the mechanical property attenuation is greater. If the internal elastic energy density is greater than the second threshold value, it indicates that the elastic energy accumulates, and the possibility of rock burst is greater, so the existing rock burst monitoring technology needs to be used to monitor the region, to delineate the rock burst danger area, and to take local danger relief measures if necessary.

[0069] Alternatively, in the case that the coal rock damage is greater than the first threshold value and the internal elastic energy density is less than the second threshold value, or in the case that the coal rock damage is less than the first threshold value and the internal elastic energy density is greater than the second threshold value, a timely warning signal can be sent, and the rock burst monitoring technology and equipment, mining stress monitoring technology, microseismic monitoring system and acoustic emission monitoring system can be used to delineate the dangerous area that may occur, and to conduct danger investigation.

[0070] For example, electromagnetic radiation method can be used to monitor the working face and roadway near-field surrounding rock of the current coal rock region, and mine pressure monitoring method and drill cuttings method can be used to monitor the local area, and to delineate the dangerous area that may occur. Further, local danger relief measures can be taken if necessary, such as coal seam water injection, roof water pressure cracking, directional water pressure cracking, large-diameter borehole pressure relief, roof deep hole blasting and coal seam pressure relief blasting, etc., which are not limited here.

[0071] It should be noted that by analyzing and processing the image information collected by the monitoring camera, the coal rock damage and the internal elastic energy density of the coal rock can be calculated, the full-field real-time perception of the coal rock damage and the internal elastic energy accumulation of the coal rock can be realized, and on this basis, the existing contact rock burst monitoring technology can be used for local and key monitoring, which can realize the full-field auxiliary monitoring and early warning of rock burst, so that the monitoring technologies have different focuses, high and low arrangement, point and surface combination, to save cost and improve efficiency.

[0072] In the embodiments of the present disclosure, the coal rock surface image to be monitored is first acquired, and then the coal rock surface image is processed to obtain the coal rock surface displacement. Then, based on the coal rock surface displacement, the surface strain and the surface elastic energy density of the coal rock are calculated. Then, the surface elastic energy density is input into a preset model to determine the coal rock damage and the internal elastic energy density of the coal rock. Then, according to the coal rock damage and the internal elastic energy density, the danger relief response strategy corresponding to the current coal rock region is determined. In this way, the coal rock damage and the internal elastic energy accumulation of the coal rock can be perceived in full field and in real time, and the rock burst can be monitored and warned without direct contact with the coal rock body, which is low in cost, high in reliability, easy to arrange, improves the monitoring accuracy, ensures the safety of the coal mine underground, and has high intelligence, can timely discover danger and relieve crisis.

[0073] Figure 2 is a flowchart of a rock burst early warning method according to a second embodiment of the present disclosure.

[0074] As shown in Figure 2 , the rock burst early warning method can include the following steps:

[0075] Step 201: Obtain a coal rock surface image to be monitored.

[0076] It should be noted that the specific implementation of step 201 can refer to the above-mentioned embodiments, which will not be described here.

[0077] Step 202: Perform image enhancement on the coal rock surface image by using wavelet transform, and perform de-interference processing on the coal rock surface image after image enhancement by using a monitoring image template.

[0078] It should be noted that in order to improve the accuracy and integrity of the coal rock surface image, wavelet transform can be used to enhance the data of the coal rock surface image, which can not only improve the detectability of the image and simplify the data to the maximum extent, but also effectively increase the signal-to-noise ratio of the image, reduce the gray scale variance, and optimize the quality of the coal rock surface image.

[0079] Specifically, since there may be interference targets such as personnel, equipment, etc. in the coal rock surface image, or coal rock caving, rib spalling, slag dropping, etc. suddenly appear in the monitoring picture, the monitoring object template can be used to remove the interference objects, that is, to perform de-interference processing, such as background filtering, so as to ensure the reliability of the current image and filter the influence of the interference objects.

[0080] Step 203: Perform edge detection and feature extraction on the coal rock surface image after de-interference processing to determine each feature point in the coal rock surface image.

[0081] It should be noted that for the coal rock surface image after de-interference processing, the Sobel operator can be used for edge detection in the present disclosure, the coal rock surface image is divided into grids, and the same number of feature points are randomly selected in each grid, so that the data amount can be greatly reduced, irrelevant information can be removed, and important structural properties of the image can be retained.

[0082] Then, the ORB algorithm (Oriented FAST and Rotated BRIEF, ORB) can be used to track and describe the feature points of the image after edge detection, so as to realize real-time monitoring of the feature points of the coal rock surface image.

[0083] It should be noted that, for the downhole environment light is dim and changeable, and there are more water mist and dust, the coal rock surface image can be subjected to multi-scale coal rock surface image feature extraction. It should be noted that, by adopting the pyramid structure to perform multi-scale expression on the image, the characteristics that are not easy to see or obtain in one scale can be more easily extracted in other scales.

[0084] In step 204, the coal rock surface displacement data is determined according to the displacement between each feature point in the coal rock surface image and each feature point in the reference image.

[0085] In the present disclosure, the image monitored by the monitoring camera can be multiple, the current coal rock surface image and the last frame image can be subjected to feature point matching, or the historical reference image can be selected for feature point matching.

[0086] It should be noted that, Hamming Distance can be used for coal rock surface feature point matching, when the distance between two feature points is less than a set threshold, it means that the feature point matching is successful. In addition, RANSAC algorithm and Huber loss function can also be used to eliminate or reduce false matching. Then, the three-dimensional coordinates of the feature points in the world coordinate system can be obtained through the coordinate system transformation algorithm, the Euclidean Distance is used to calculate the real displacement between the matched feature points, and the coal rock surface displacement field calculation is realized.

[0087] In step 205, the surface strain of the coal rock in the first direction and the surface strain of the coal rock in the second direction are determined according to the coal rock surface displacement.

[0088] The first direction can be the horizontal direction, and the second direction can be the vertical direction.

[0089] Specifically, the coal rock surface displacement can be subjected to mechanical calculation according to the relationship between the displacement and the strain, so as to determine the coal rock surface strain. The coal rock surface strain can include the strain in the first direction and the strain in the second direction.

[0090] In step 206, the surface elastic energy density of the coal rock is determined according to the elastic modulus, Poisson's ratio, the surface strain in the first direction and the surface strain in the second direction of the coal rock.

[0091] The first direction can be the horizontal direction, and the second direction can be the vertical direction.

[0092] Specifically, the surface elastic energy density of the coal rock can be determined based on the elastic modulus, Poisson's ratio, the surface strain in the first direction and the surface strain in the second direction of the coal rock, and a preset formula. Optionally, the following formula can be used:

[0093]

[0094] Among them, U is the elastic energy density of the coal rock surface, E and f represent the elastic modulus and Poisson's ratio, respectively.

[0095] Wherein, A is the surface strain in the first direction, and B is the surface strain in the second direction.

[0096] Step 207: Input the surface elastic energy density into a preset model to determine the coal rock damage and the internal elastic energy density of the coal rock.

[0097] Step 208: Determine a crisis response strategy corresponding to the current coal rock region based on the coal rock damage and the internal elastic energy density.

[0098] It should be noted that the specific implementation of steps 207 and 208 can refer to the above embodiment and will not be described in detail here.

[0099] In the disclosed embodiment, a surface image of a coal rock to be monitored is first acquired. The coal rock surface image is then enhanced using a wavelet transform, and the enhanced coal rock surface image is subjected to interference removal processing using a monitoring image template. Edge detection and feature extraction are then performed on the coal rock surface image after interference removal processing to determine characteristic points in the coal rock surface image. Surface displacement data of the coal rock is then determined based on the displacement between the characteristic points in the coal rock surface image and the characteristic points in a reference image. Surface strain of the coal rock in a first direction and a surface strain in a second direction are then determined based on the surface displacement. Surface elastic energy density of the coal rock is then determined based on the elastic modulus, Poisson's ratio, surface strain in the first direction, and surface strain in the second direction of the coal rock. The surface elastic energy density is then input into a preset model to determine coal rock damage and internal elastic energy density of the coal rock. Finally, a crisis response strategy corresponding to the current coal rock area is determined based on the coal rock damage and the internal elastic energy density. In this way, real-time perception of coal rock damage and elastic energy accumulation can be achieved. Non-contact measurement is adopted, which does not require direct contact with the coal rock mass. It has low requirements for the monitoring environment and has little impact on production operations. It can provide timely auxiliary monitoring and early warning of impact ground pressure.

[0100] Figure 3 This is a schematic structural diagram of the rock burst warning device provided in the third embodiment of the present disclosure.

[0101] like Figure 3 As shown, the rock burst warning device 300 may include: a first acquisition module 310 , a second acquisition module 320 , a calculation module 330 , a first determination module 340 , and a second determination module 350 .

[0102] The first acquisition module 310 is configured to acquire a coal rock surface image to be monitored.

[0103] The second acquisition module 320 is configured to process the coal rock surface image to acquire a coal rock surface displacement.

[0104] The calculation module 330 is configured to calculate a surface strain and a surface elastic energy density of the coal rock based on the coal rock surface displacement.

[0105] The first determination module 340 is configured to input the surface elastic energy density into a preset model to determine a coal rock damage and an internal elastic energy density of the coal rock.

[0106] The second determination module 350 is configured to determine a danger resolution response strategy corresponding to a current coal rock region according to the coal rock damage and the internal elastic energy density.

[0107] Optionally, the first acquisition module is specifically configured to:

[0108] receive a coal rock surface image sent by a preset monitoring camera based on a mine optical cable and a working host, wherein the coal rock surface image is an image captured by the monitoring camera on a current roadway coal rock surface.

[0109] Optionally, the second acquisition module is specifically configured to:

[0110] perform image enhancement on the coal rock surface image by using wavelet transform, and perform anti-interference processing on the coal rock surface image after image enhancement by using a monitoring image template.

[0111] perform edge detection and feature extraction on the coal rock surface image after the anti-interference processing to determine each feature point in the coal rock surface image.

[0112] determine coal rock surface displacement data according to a displacement between each feature point in the coal rock surface image and each feature point in a reference image.

[0113] Optionally, the calculation module is specifically configured to:

[0114] determine a surface strain of the coal rock in a first direction and a surface strain of the coal rock in a second direction according to the coal rock surface displacement.

[0115] determine the surface elastic energy density of the coal rock according to an elastic modulus, a Poisson's ratio, the surface strain in the first direction, and the surface strain in the second direction of the coal rock.

[0116] Optionally, the second determination module is specifically configured to:

[0117] When the coal rock damage is less than a first threshold value and the internal elastic energy density is less than a second threshold value, determining that the crisis response strategy corresponding to the current coal rock area is to maintain continuous monitoring;

[0118] When the coal rock damage is greater than the first threshold and the internal elastic energy density is greater than the second threshold, the crisis response strategy corresponding to the current coal rock area is determined to be to delineate the impact danger area and take preset crisis relief measures.

[0119] In the disclosed embodiment, first, an image of the coal rock surface to be monitored is obtained, and then the coal rock surface image is processed to obtain the coal rock surface displacement. Then, based on the coal rock surface displacement, the surface strain and surface elastic energy density of the coal rock are calculated. Then, the surface elastic energy density is input into a preset model to determine the coal rock damage and the internal elastic energy density of the coal rock. Then, based on the coal rock damage and the internal elastic energy density, the corresponding emergency response strategy for the current coal rock area is determined. In this way, the coal rock damage and the accumulation of internal elastic energy of the coal rock can be perceived in real time. Without direct contact with the coal rock body, rock burst can be monitored and warned. This is low-cost, highly reliable, easy to deploy, and improves the accuracy of monitoring, ensuring the safety of coal mines. It is highly intelligent and can detect dangers in a timely manner and resolve crises.

[0120] In order to implement the above embodiments, the present disclosure also proposes a computer device, including: a memory, a processor, and a computer program stored in the memory and runnable on the processor. When the processor executes the program, the impact ground pressure warning method proposed in the above embodiments of the present disclosure is implemented.

[0121] In order to implement the above embodiments, the present disclosure also proposes a non-temporary computer-readable storage medium storing a computer program, which, when executed by a processor, implements the rock burst warning method proposed in the above embodiments of the present disclosure.

[0122] Figure 4 A block diagram of an exemplary computer device suitable for implementing embodiments of the present disclosure is shown. Figure 4 The computer device 12 shown is only an example and should not bring any limitation to the functionality and scope of use of the embodiments of the present disclosure.

[0123] like Figure 4 As shown, computer device 12 is implemented as a general-purpose computing device. Components of computer device 12 may include, but are not limited to, one or more processors or processing units 16, system memory 28, and a bus 18 that connects various system components (including system memory 28 and processing unit 16).

[0124] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. Examples of such architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnection (PCI) bus.

[0125] The computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0126] The memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be configured to read and write non-removable, non-volatile magnetic media ( Figure 4 Not shown, often called a "hard drive"). Although Figure 4 Although not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a Compact Disc Read Only Memory (hereinafter referred to as: CD-ROM), a Digital Video Disc Read Only Memory (hereinafter referred to as: DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the various embodiments of the present disclosure.

[0127] Program / utility 40 having a set of program modules 42 can be stored in memory 28 by way of example, such program modules 42 include an operating system, one or more application programs, other program modules, and program data, each or some combination thereof, which can include implementation of the network environment as in each of the above examples or some combination thereof. Program modules 42 generally carry out the functions and / or methodologies of embodiments of the disclosure as described herein.

[0128] Computer device 12 can also communicate with one or more external devices 14 such as a keyboard or pointing device, a display 24, etc. One or more devices enabling a user to interact with computer device 12 and / or one or more devices enabling computer device 12 to communicate with one or more other computing devices. Such communication can be via input / output (I / O) interfaces 22. Further, computer device 12 can communicate with one or more networks such as a local area network (LAN), a wide area network (WAN), and / or the Internet through network adapter 20. As an example, network adapter 20 can include a modem, a network card (wireless or wired), or other well-known interface devices. As depicted, network adapter 20 communicates with the other components of computer device 12 via bus 18. It should be appreciated that although not shown, other hardware and / or software components could be used in conjunction with computer device 12. These include, but are not limited to, microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage systems, etc.

[0129] Processing unit 16 executes various program applications and data processing by running programs stored in system memory 28, such as implementing the methods mentioned in the foregoing embodiments.

[0130] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0131] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Throughout the present disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0132] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present disclosure includes additional implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present disclosure belong.

[0133] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0134] It should be understood that portions of the present disclosure can be realized with hardware, software, firmware or a combination thereof. In the above embodiments, a plurality of steps or methods can be realized with software or firmware stored in a memory and executed by a suitable instruction execution system. As such, if realized with hardware and in another embodiment, any one or a combination of the following technologies known in the art can be used: discrete logic circuit with logic gate circuit for implementing logic functions of data signals, application specific integrated circuit with suitable combination logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA), etc.

[0135] Those skilled in the art of the present technology can understand that all or part of the steps carried out by the above-mentioned embodiment method can be completed by a program instructing the relevant hardware, and the program can be stored in a computer readable storage medium. When the program is executed, it includes one of the steps of the method embodiment or a combination thereof.

[0136] In addition, each functional unit in each embodiment of the present disclosure can be integrated into one processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above-mentioned integrated module can be realized in the form of hardware or in the form of a software functional module. When the integrated module is realized in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0137] The above-mentioned storage medium can be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present disclosure have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and cannot be understood as limiting the present disclosure, and those skilled in the art can make changes, modifications, replacements and variations to the above-mentioned embodiments within the scope of the present disclosure.

Claims

1. A rock burst warning method, characterized in that: include: Acquire the surface image of the coal rock to be monitored; Processing the coal rock surface image to obtain coal rock surface displacement; Calculating the surface strain and surface elastic energy density of the coal rock based on the surface displacement of the coal rock; Inputting the surface elastic energy density into a preset model to determine the coal rock damage and the internal elastic energy density of the coal rock; Determining a crisis response strategy corresponding to the current coal rock area based on the coal rock damage and the internal elastic energy density; The calculating of the surface strain and surface elastic energy density of the coal rock based on the surface displacement of the coal rock includes: determining a surface strain of the coal rock in a first direction and a surface strain of the coal rock in a second direction according to the surface displacement of the coal rock; determining the surface elastic energy density of the coal rock according to the elastic modulus, Poisson's ratio, the surface strain in the first direction, and the surface strain in the second direction of the coal rock; The preset model is expressed as follows: Among them, U0 represents the internal elastic energy density of coal rock under quasi-static conditions, U′ represents the internal elastic energy density of the coal rock, C represents the viscosity coefficient, D represents the damage of the coal rock, k represents the energy density loss coefficient, α represents the elastic modulus loss coefficient, Y represents the damage energy consumption rate, ε e represents the elastic strain tensor, M0 represents the initial stiffness matrix, and m represents the energy potential coefficient.

2. The method according to claim 1, characterized in that The step of obtaining the coal rock surface image to be monitored includes: Based on the mining optical cable and the working host, the coal rock surface image sent by the preset monitoring camera is received, wherein the coal rock surface image is an image taken by the monitoring camera of the coal rock surface of the current tunnel.

3. The method according to claim 1, characterized in that The processing of the coal rock surface image to obtain coal rock surface displacement data includes: Performing image enhancement on the coal rock surface image using wavelet transform, and performing interference removal processing on the enhanced coal rock surface image using a monitoring image template; Performing edge detection and feature extraction on the coal rock surface image after the interference removal process to determine each feature point in the coal rock surface image; Coal rock surface displacement data is determined based on the displacement between each feature point in the coal rock surface image and each feature point in the reference image.

4. The method according to claim 1, wherein The determining of a crisis response strategy corresponding to the current coal rock region based on the coal rock damage and the internal elastic energy density includes: When the coal rock damage is less than a first threshold value and the internal elastic energy density is less than a second threshold value, determining that the crisis response strategy corresponding to the current coal rock area is to maintain continuous monitoring; When the coal rock damage is greater than the first threshold and the internal elastic energy density is greater than the second threshold, the crisis response strategy corresponding to the current coal rock area is determined to be to delineate the impact danger area and take preset crisis relief measures.

5. A rock burst warning device, characterized in that: include: A first acquisition module is used to acquire the surface image of the coal rock to be monitored; A second acquisition module is used to process the coal rock surface image to obtain the coal rock surface displacement; a calculation module, configured to calculate the surface strain and surface elastic energy density of the coal rock based on the surface displacement of the coal rock; A first determination module is configured to input the surface elastic energy density into a preset model to determine coal rock damage and the internal elastic energy density of the coal rock; A second determination module is configured to determine a crisis response strategy corresponding to the current coal rock region based on the coal rock damage and the internal elastic energy density; The computing module is specifically configured to: determining a surface strain of the coal rock in a first direction and a surface strain of the coal rock in a second direction according to the surface displacement of the coal rock; determining the surface elastic energy density of the coal rock according to the elastic modulus, Poisson's ratio, the surface strain in the first direction, and the surface strain in the second direction of the coal rock; The preset model is expressed as follows: Among them, U0 represents the internal elastic energy density of coal rock under quasi-static conditions, U′ represents the internal elastic energy density of the coal rock, C represents the viscosity coefficient, D represents the damage of the coal rock, k represents the energy density loss coefficient, α represents the elastic modulus loss coefficient, Y represents the damage energy consumption rate, ε e represents the elastic strain tensor, M0 represents the initial stiffness matrix, and m represents the energy potential coefficient.

6. The device according to claim 5, characterized in that The first acquisition module is specifically used to Based on the mining optical cable and the working host, the coal rock surface image sent by the preset monitoring camera is received, wherein the coal rock surface image is an image taken by the monitoring camera of the coal rock surface of the current tunnel.

7. The device according to claim 5, characterized in that The second acquisition module is specifically configured to: Performing image enhancement on the coal rock surface image using wavelet transform, and performing interference removal processing on the enhanced coal rock surface image using a monitoring image template; Performing edge detection and feature extraction on the coal rock surface image after the interference removal process to determine each feature point in the coal rock surface image; Coal rock surface displacement data is determined based on the displacement between each feature point in the coal rock surface image and each feature point in the reference image.

8. The device according to claim 5, characterized in that The second determining module is specifically configured to: When the coal rock damage is less than a first threshold value and the internal elastic energy density is less than a second threshold value, determining that the crisis response strategy corresponding to the current coal rock area is to maintain continuous monitoring; When the coal rock damage is greater than the first threshold and the internal elastic energy density is greater than the second threshold, the crisis response strategy corresponding to the current coal rock area is determined to be to delineate the impact danger area and take preset crisis relief measures.

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