A detection and analysis system for voids in overlying strata after coal seam mining in underground coal mines

Abstract

The present invention relates to the technical field of overburden void detection, and specifically relates to a detection and analysis system for overburden voids after coal seam mining in underground coal mines, including an overburden data acquisition unit, an overburden image recognition unit, a void data processing unit, a void state determination unit, and a void safety alarm unit; the present invention collects image data of the rock strata of the coal seam, identifies and matches the images of the rock strata, matches the voids in the rock strata, performs virtual imaging based on the void images of the rock strata, so as to facilitate the observation of the void conditions of the rock strata and the extraction of data, marks the coordinates of the void images of the imaged rock strata, divides the marked coordinates into regions, calculates the voids in different regions, calculates the volume values of different regions of the rock strata voids, converts the images of the rock strata into numerical values, thereby increasing the intuitiveness of the data, and judges whether it is safe or not based on the calculated numerical values, thereby increasing the safety of the rock strata.

Description

Technical Field

[0001] The present invention relates to the technical field of overburden void detection, and particularly to a detection and analysis system for voids in overburden after coal seam mining in underground coal mines. Background Technique

[0002] Using abandoned coal mines to construct pumped-storage power stations can improve China's efficient utilization of wind energy and solar energy, and at the same time realize the resource utilization of abandoned coal mines and water resource protection; after coal seam mining, the caving characteristics of overlying strata are closely related to factors such as coal seam geological conditions and mining methods.

[0003] However, there are few reports on the method for determining the storage capacity of underground reservoirs in abandoned mines at present. And using on-site surveys to measure the size of the water storage space in the goaf is time-consuming and laborious, and the survey results are inaccurate. At the same time, it is impossible to identify and calculate voids based on real-time images of rock strata, making the detection results more accurate, so it is impossible to accurately determine the safety of rock strata.

[0004] Therefore, we propose a detection and analysis system for voids in overburden after coal seam mining in underground coal mines. Summary of the Invention

[0005] The purpose of the present invention is to provide a detection and analysis system for voids in overburden after coal seam mining in underground coal mines. By collecting image data of the rock strata of the coal seam, identifying and matching the images of the rock strata, matching the voids in the rock strata, performing virtual imaging based on the void images of the rock strata, so as to facilitate observing the void situation of the rock strata and facilitating data extraction. Mark the coordinates of the void images of the imaged rock strata, divide the marked coordinates into regions, so as to calculate the voids in different regions, and thus calculate the volume values of different regions of the voids in the rock strata. Calculate the total value of the voids in the same image based on the volume values, convert the values of the rock strata images, so as to increase the intuitiveness of the data, judge whether it is safe or not based on the calculated values, so as to increase the safety of the rock strata, improve the working efficiency of processing, and save time.

[0006] The purpose of the present invention can be achieved through the following technical solutions: A detection and analysis system for voids in overburden after coal seam mining in underground coal mines, including an overburden data acquisition unit, an overburden image recognition unit, a void data processing unit, a void state determination unit, and a void safety alarm unit;

[0007] The overburden data acquisition unit is used to collect real-time data of the coal seam, and at the same time divide and mark the collected coal seam information to obtain a three-axis data group. The three-axis data group includes rock stratum void images, Z-axis difference sorting data, Z-axis selected coordinate points, Y-axis difference sorting data, Y-axis selected coordinate points, X-axis difference sorting data, and X-axis selected coordinate points;

[0008] The void data processing unit is used to perform void processing operations on the triaxial data set after overlying rock identification to obtain a void volume array, where the void volume array includes an intermediate volume value ZM, a Z right value, a Z left value, a Y right value, a Y left value, an X right value, and an X left value;

[0009] The void state determination unit is used to perform void state determination operations on the void volume array to obtain a void danger signal or a void safety signal;

[0010] The void safety alarm unit is used to identify the void danger signal or the void safety signal. When a void danger signal is identified, a void rework alarm is generated. When a void safety signal is identified, a void qualified prompt is generated.

[0011] Further, the specific process of data division marking is as follows:

[0012] Obtain coal seam information and divide and mark regional coal seam data, coal seam image data, and overlying rock image data;

[0013] Identify the regional coal seam data based on the coal seam image data, identify the number of occurrences of the coal seam image data and mark it as the overlying rock data of the coal seam, calibrate the overlying rock data of the coal seam, the coal seam image data, and the overlying rock image data in each regional coal seam data as a data set to be processed, and transmit the data set to be processed to the overlying rock image recognition unit;

[0014] Regional coal seam data refers to coal seams in different regions within the coal seam information. Coal seam image data refers to images of the overlying rock of the coal seam corresponding to the regional coal seam data within the coal seam information. Overlying rock image data refers to images of the overlying rock corresponding to the coal seam within the coal seam information.

[0015] Further, the specific operation process of the overlying rock identification and processing operation is as follows:

[0016] Establish a virtual space rectangular coordinate system, perform imaging marking on the coal seam image data and the overlying rock image data through three-dimensional imaging in the virtual space rectangular coordinate system, and match the overlying rock image data with the coal seam image data. Specifically:

[0017] When the matching result of the overlying rock image data and the coal seam image data is consistent, color mark the area as the overlying rock area. When the matching result of the overlying rock image data and the coal seam image data is inconsistent, color mark the area as the void area;

[0018] Match the coal seam image data in the virtual space rectangular coordinate system with the image marked with the color of the rock stratum area in this area. When the matching result of the coal seam image data and the image marked with the color of the rock stratum area in this area is consistent, the matching image is marked as the overlapping rock stratum image. When the matching result of the coal seam image data and the image marked with the color of the rock stratum area in this area is inconsistent, the mismatched image is marked as the void image of the rock stratum;

[0019] Mark the edge positions of the rock stratum space image in the virtual space rectangular coordinate system to obtain several rock stratum coordinate points. Perform coordinate selection processing based on the rock stratum coordinate points to obtain the Z-axis selection coordinate points and the Z-axis difference sorting data;

[0020] According to the selection method of the Z-axis selection coordinate points and the Z-axis difference sorting data, select the Y-axis selection coordinate points, the Y-axis difference sorting data, the X-axis difference sorting data, and the X-axis selection coordinate points;

[0021] Transmit the void image of the rock stratum, the Z-axis difference sorting data, the Z-axis selection coordinate points, the Y-axis difference sorting data, the Y-axis selection coordinate points, the X-axis difference sorting data, and the X-axis selection coordinate points to the void data processing unit.

[0022] Further, the specific process of coordinate selection processing is as follows:

[0023] Mark the rock stratum coordinate points with the same X-axis and Y-axis coordinates among several rock stratum coordinates as the Z-axis selection coordinate points. Calculate the difference between every two of the several Z-axis selection coordinate points to calculate the Z-axis differences of the several Z-axis selection coordinate points. Sort the Z-axis differences of the several Z-axis selection coordinate points from small to large to obtain the Z-axis difference sorting data. Select the first Z-axis difference in the Z-axis difference sorting data, and extract the corresponding two coordinate points according to the Z-axis difference. Mark the selected two coordinate points as the Z-axis selection coordinate points.

[0024] Further, the specific operation process of the void processing of the rock stratum is as follows:

[0025] Mark the first value in the Z-axis difference sorting data as Z 小 Mark the first value in the Y-axis difference sorting data as Y 小 Mark the first value in the X-axis difference sorting data as X 小 According to the calculation formula ZM = Z 小 *Y 小 *X 小 Calculate the intermediate volume value ZM;

[0026] Compare the X-axis values of the two Z-axis selected coordinate points, mark the Z-axis selected coordinate point closer to the origin as the Z-axis left selected coordinate point, and perform distance selection processing to obtain the first Z-axis left distance value, the second Z-axis left distance value, and the Nth Z-axis left distance value;

[0027] According to the calculation method of the Nth Z-axis left distance value, compare the X-axis values of the two coordinate points, mark the Z-axis selected coordinate point farther from the origin as the Z-axis right selected coordinate point, and calculate the first Z-axis right distance value, the second Z-axis right distance value,..., and the Nth Z-axis right distance value;

[0028] According to the processing method of the Nth Z-axis left distance value and the Nth Z-axis right distance value, process to obtain the Nth Y-axis left distance value, the Nth Y-axis right distance value, the Nth X-axis left distance value, and the Nth X-axis right distance value;

[0029] Unify the first Z-axis right distance value, the second Z-axis right distance value,..., and the Nth Z-axis right distance value and mark them as Z right values, and unify the first Z-axis left distance value, the second Z-axis left distance value,..., and the Nth Z-axis left distance value and mark them as Z left values;

[0030] According to the calibration method of the Z right value and the Z left value, calibrate the Y right value, the Y left value, the X right value, and the X left value;

[0031] Transmit the intermediate volume value ZM, the Z right value, the Z left value, the Y right value, the Y left value, the X right value, and the X left value to the void state determination unit.

[0032] Furthermore, the specific process of the distance selection processing is as follows:

[0033] Select the coordinates between the origin and the Z-axis left selected coordinate point from the rock layer coordinate points with the same X-axis and Y-axis coordinates among several rock layer coordinates, and mark them as Z-axis calculation coordinates. Select the Z-axis calculation coordinate with the smallest distance between several Z-axis calculation coordinates and the Z-axis left selected coordinate point, and select the distance value and mark it as the first Z-axis left distance value;

[0034] According to the calculation method of the Z-axis left distance value, replace the Z-axis left selected coordinate point with the Z-axis calculation coordinate with the smallest distance between several Z-axis calculation coordinates and the Z-axis left selected coordinate point, calculate the second Z-axis left distance value, and repeat the process to calculate the third Z-axis left distance value, the fourth Z-axis left distance value, and the Nth Z-axis left distance value.

[0035] Furthermore, the specific operation process of the void determination operation is as follows:

[0036] Mark the Z right value as ZY j Mark the Y right value as YY j, mark the X rvalue as XY j , according to the calculation formula: calculate the right-side calculated volume value MV 右 , where u is the void calculation deviation adjustment factor corresponding to different positions;

[0037] Mark the Z lvalue as ZZ j , mark the Y lvalue as YZ j , mark the X lvalue as XZ j , according to the calculation formula: calculate the left-side calculated volume value MV 左 , where e is the void calculation deviation adjustment factor corresponding to different positions;

[0038] According to the calculation formula: Kx = (MV 左 *β1 + MV 右 *β2 + ZM*β3)*glc, calculate the void value Kx, where β1 represents the void calculation correction factor of the right-side calculated volume value MV 右 The void calculation correction factor of the left-side calculated volume value MV 左 The void calculation correction factor of the middle volume value, ZM represents the middle volume value, MV 右 represents the right-side calculated volume value, MV 左 represents the left-side calculated volume value;

[0039] Sum up the void values corresponding to the coal seam image data in it according to the regional coal seam data, calculate the total void value KM, compare the total void value KM with the void threshold M1, when KM≥M1, generate a void danger signal, when KM<M1, generate a void safety signal;

[0040] Transmit the void danger signal or the void safety signal to the void safety alarm unit.

[0041] Advantages of the present invention:

[0042] The present invention collects image data of the rock strata of the coal seam, identifies and matches the images of the rock strata, matches the voids in the rock strata, performs virtual imaging based on the void images of the rock strata, so as to facilitate the observation of the void conditions of the rock strata and the extraction of data, marks the coordinates of the void images of the imaged rock strata, divides the marked coordinates into regions, so as to calculate the voids in different regions, thereby calculating the volume values of the voids in different regions of the rock strata, calculates the total void value of the same image based on the volume values, converts the image of the rock strata into numerical values, thereby increasing the intuitiveness of the data, judges whether it is safe or not based on the calculated numerical values, thereby increasing the safety of the rock strata, improving the working efficiency of processing, and saving time. Description of the Drawings

[0043] The present invention will be further described below with reference to the accompanying drawings.

[0044] Figure 1 It is a system block diagram of the present invention. Specific embodiments

[0045] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0046] Please refer to Figure 1 As shown, the present invention is a detection and analysis system for voids in overlying strata after coal seam mining in underground coal mines, which is characterized by including an overlying strata data acquisition unit, an overlying strata image recognition unit, a void data processing unit, a void state determination unit, and a void safety alarm unit;

[0047] The overlying strata data acquisition unit is used to collect real-time data of the coal seam, mark the real-time data of the coal seam obtained by the collection as coal seam information, and perform data division and marking on the coal seam data. The specific process of the specific division and marking is as follows:

[0048] Obtain coal seam information, label the coal seams in different regions in the coal seam information as regional coal seam data, label the images of the overlying strata corresponding to the regional coal seam data in the coal seam information as coal seam image data, and label the images of the overlying strata corresponding to the coal seams in the coal seam information as strata image data;

[0049] Identify the coal seam image data in the regional coal seam data according to the regional coal seam data, identify the number of times the coal seam image data appears and label it as the overlying strata data of the coal seam, and label the overlying strata data of the coal seam, the coal seam image data, and the strata image data in each regional coal seam data as a data group to be processed;

[0050] Transmit the overlying strata data of the coal seam, the coal seam image data, and the strata image data in each regional coal seam data corresponding to the data group to be processed to the overlying strata image recognition unit;

[0051] The overlying strata image recognition unit is used to perform overlying strata recognition processing operations on the overlying strata data of the coal seam, the coal seam image data, and the strata image data in each regional coal seam data corresponding to the data group to be processed. The specific operation process of the overlying strata recognition processing operation is as follows:

[0052] Obtain coal seam image data and rock stratum image data, establish a virtual space rectangular coordinate system, image and mark the coal seam image data and the rock stratum image data in the virtual space rectangular coordinate system through three-dimensional imaging, and match the rock stratum image data with the coal seam image data. Specifically:

[0053] When the matching result of the rock stratum image data and the coal seam image data is consistent, it is determined that the area is a rock stratum area, and the area is marked with the color of the rock stratum area. When the matching result of the rock stratum image data and the coal seam image data is inconsistent, it is determined that the area is a void area, and the area is marked with the color of the void area;

[0054] Select the coal seam image data in the virtual space rectangular coordinate system, and match the coal seam image data with the image marked with the color of the rock stratum area in this area. When the matching result of the coal seam image data and the image marked with the color of the rock stratum area in this area is consistent, it is determined that the coal seam image data overlaps with the image marked with the color of the rock stratum area in this area, and the matching consistent images are marked as rock stratum overlapping images. When the matching result of the coal seam image data and the image marked with the color of the rock stratum area in this area is inconsistent, it is determined that the coal seam image data is missing from the image marked with the color of the rock stratum area in this area, and the mismatched images are marked as rock stratum void images;

[0055] Mark the coordinates of the edge positions of the rock stratum space image in the virtual space rectangular coordinate system to obtain several rock stratum coordinate points Ki(Xi, Yi, Zi). Combine the rock stratum coordinate points with the same X-axis and Y-axis coordinates among several rock stratum coordinates and mark them as Z-axis selected coordinate points. Perform pairwise difference calculations on several Z-axis selected coordinate points to calculate the Z-axis differences of several Z-axis selected coordinate points. Sort the Z-axis differences of several Z-axis selected coordinate points from smallest to largest to obtain Z-axis difference sorting data. Select the Z-axis difference ranked first in the Z-axis difference sorting data, and extract the corresponding two coordinate points based on the Z-axis difference. Mark the selected two punctuation points as Z-axis selected coordinate points;

[0056] Combine the rock stratum coordinate points with the same X-axis and Z-axis coordinates among several rock stratum coordinates and mark them as Y-axis selected coordinate points. Perform pairwise difference calculations on several Y-axis selected coordinate points to calculate the Y-axis differences of several Y-axis selected coordinate points. Sort the Y-axis differences of several Y-axis selected coordinate points from smallest to largest to obtain Y-axis difference sorting data. Select the Y-axis difference ranked first in the Y-axis difference sorting data, and extract the corresponding two coordinate points based on the Y-axis difference. Mark the selected two punctuation points as Y-axis selected coordinate points;

[0057] Among several rock layer coordinates, the rock layer coordinate points with the same Y-axis and Z-axis coordinates are marked as X-axis selection coordinate points. The X-axis differences of several X-axis selection coordinate points are calculated by pairwise difference calculation. The X-axis differences of several X-axis selection coordinate points are sorted from smallest to largest to obtain X-axis difference sorting data. The X-axis difference ranked first in the X-axis difference sorting data is selected, and the corresponding two coordinate points are extracted according to the X-axis difference. The two selected coordinate points are marked as X-axis selection coordinate points;

[0058] The rock layer void image, Z-axis difference sorting data, Z-axis selection coordinate points, Y-axis difference sorting data, Y-axis selection coordinate points, X-axis difference sorting data, and X-axis selection coordinate points are transmitted to the void data processing unit;

[0059] The void data processing unit is used to perform rock layer void processing operations on the rock layer void image, Z-axis difference sorting data, Z-axis selection coordinate points, Y-axis difference sorting data, Y-axis selection coordinate points, X-axis difference sorting data, and X-axis selection coordinate points. The specific operation process of the rock layer void processing operation is as follows:

[0060] The values ranked first in the Z-axis difference sorting data, Y-axis difference sorting data, and X-axis difference sorting data are extracted. According to the calculation formula ZM = Z 小 *Y 小 *X 小 , the intermediate volume value ZM is calculated. Z 小 represents the value ranked first in the Z-axis difference sorting data, and Y 小 represents the value ranked first in the Y-axis difference sorting data, and X 小 represents the value ranked first in the X-axis difference sorting data;

[0061] Two Z-axis selection coordinate points are selected, and the X-axis values of the two coordinate points are compared. The Z-axis selection coordinate point closer to the origin is marked as the left Z-axis selection coordinate point. The coordinates between the origin and the left Z-axis selection coordinate point are selected from the rock layer coordinate points with the same X-axis and Y-axis coordinates among several rock layer coordinates and marked as Z-axis calculation coordinates. The Z-axis calculation coordinate with the smallest distance between several Z-axis calculation coordinates and the left Z-axis selection coordinate point is selected, and the distance value is marked as the first left Z-axis distance value;

[0062] According to the calculation method of the left Z-axis distance value, the Z-axis calculation coordinate with the smallest distance between several Z-axis calculation coordinates and the left Z-axis selection coordinate point replaces the left Z-axis selection coordinate point, and the second left Z-axis distance value is calculated. The process is repeated to calculate the third left Z-axis distance value, the fourth left Z-axis distance value, and the Nth left Z-axis distance value;

[0063] According to the calculation method of the Nth distance value on the left side of the Z-axis, compare the X-axis values of two coordinate points, and label the coordinate point on the Z-axis that is farther from the origin as the coordinate point selected on the right side of the Z-axis, and calculate the first distance value on the right side of the Z-axis, the second distance value on the right side of the Z-axis,......, the Nth distance value on the right side of the Z-axis;

[0064] Select two coordinate points selected on the Y-axis, compare the Z-axis values of the two coordinate points, and label the coordinate point on the Y-axis that is closer to the origin as the coordinate point selected on the left side of the Y-axis. Select the coordinates between the origin and the coordinate point selected on the left side of the Y-axis from the rock layer coordinate points with the same X-axis and Z-axis coordinates among several rock layer coordinates, and label them as the Y-axis calculation coordinates. Select the Y-axis calculation coordinate with the smallest distance between several Y-axis calculation coordinates and the coordinate point selected on the left side of the Y-axis, and select the distance value and label it as the first distance value on the left side of the Y-axis;

[0065] According to the calculation method of the distance value on the left side of the Y-axis, replace the coordinate point selected on the left side of the Y-axis with the Y-axis calculation coordinate with the smallest distance between several Y-axis calculation coordinates and the coordinate point selected on the left side of the Y-axis, calculate the second distance value on the left side of the Y-axis, and repeat the process to calculate the third distance value on the left side of the Y-axis, the fourth distance value on the left side of the Y-axis, the Nth distance value on the left side of the Y-axis;

[0066] According to the calculation method of the Nth distance value on the left side of the Y-axis, compare the Y-axis values of two coordinate points, and label the coordinate point on the Y-axis that is farther from the origin as the coordinate point selected on the right side of the Y-axis, and calculate the first distance value on the right side of the Y-axis, the second distance value on the right side of the Y-axis,......, the Nth distance value on the right side of the Y-axis;

[0067] Select two coordinate points selected on the X-axis, compare the Z-axis values of the two coordinate points, and label the coordinate point on the X-axis that is closer to the origin as the coordinate point selected on the left side of the X-axis. Select the coordinates between the origin and the coordinate point selected on the left side of the X-axis from the rock layer coordinate points with the same Z-axis and Y-axis coordinates among several rock layer coordinates, and label them as the X-axis calculation coordinates. Select the X-axis calculation coordinate with the smallest distance between several X-axis calculation coordinates and the coordinate point selected on the left side of the X-axis, and select the distance value and label it as the first distance value on the left side of the X-axis;

[0068] According to the calculation method of the distance value on the left side of the X-axis, replace the coordinate point selected on the left side of the X-axis with the X-axis calculation coordinate with the smallest distance between several X-axis calculation coordinates and the coordinate point selected on the left side of the X-axis, calculate the second distance value on the left side of the X-axis, and repeat the process to calculate the third distance value on the left side of the X-axis, the fourth distance value on the left side of the X-axis, the Nth distance value on the left side of the X-axis;

[0069] According to the calculation method of the Nth distance value on the left side of the X-axis, compare the X-axis values of two coordinate points, select the coordinate point on the X-axis farther from the origin as the coordinate point selected on the right side of the X-axis, and calculate the first distance value on the right side of the X-axis, the second distance value on the right side of the X-axis,......, the Nth distance value on the right side of the X-axis;

[0070] Unify the first distance value on the right side of the Z-axis, the second distance value on the right side of the Z-axis,......, the Nth distance value on the right side of the Z-axis and label them as the Z right value, and mark the Z right value as ZY j , where j takes positive integer values, unify the first distance value on the left side of the Z-axis, the second distance value on the left side of the Z-axis,......, the Nth distance value on the left side of the Z-axis and label them as the Z left value, and mark the Z left value as ZZ j , j = 1, 2, 3......N;

[0071] Unify the first distance value on the right side of the Y-axis, the second distance value on the right side of the Y-axis,......, the Nth distance value on the right side of the Y-axis and label them as the Y right value, and mark the Y right value as YY j , where j takes positive integer values, unify the first distance value on the left side of the Y-axis, the second distance value on the left side of the Y-axis,......, the Nth distance value on the left side of the Y-axis and label them as the Y left value, and mark the Y left value as YZ j , j = 1, 2, 3......N;

[0072] Unify the first distance value on the right side of the X-axis, the second distance value on the right side of the X-axis,......, the Nth distance value on the right side of the X-axis and label them as the X right value, and mark the X right value as XY j , where j takes positive integer values, unify the first distance value on the left side of the X-axis, the second distance value on the left side of the X-axis,......, the Nth distance value on the left side of the X-axis and label them as the X left value, and mark the X left value as XZ j , where j takes positive integer values;

[0073] Transmit the intermediate volume value ZM, Z right value, Z left value, Y right value, Y left value, X right value and X left value to the void state determination unit;

[0074] The void state determination unit is used to perform void state determination operations on the intermediate volume value ZM, Z right value, Z left value, Y right value, Y left value, X right value and X left value. The specific operation process of the void determination operation is as follows:

[0075] Substitute the Z right value, Y right value and X right value into the calculation formula: Calculate the right-side calculated volume value MV 右 , where u is the void calculation deviation adjustment factor corresponding to different positions, ZY j Represents the Z right value, YY j Represents the Y right value, XY jDenoted as the right value of X, and u is a preset value;

[0076] Substitute the left value of Z, the left value of Y, and the left value of X into the calculation formula: Calculate the left calculated volume value MV 左 , e is the void calculation deviation adjustment factor corresponding to different positions, ZZ j Denoted as the left value of Z, YZ j Denoted as the left value of Y, XZ j Denoted as the left value of X, and e is a preset value;

[0077] Extract the intermediate volume value ZM, and compare it with the right calculated volume value MV 右 And the left calculated volume value MV 左 Substitute into the calculation formula: Kx = (MV 左 *β1 + MV 右 *β2 + ZM*β3) * glc, calculate the void value Kx, β1 is denoted as the void calculation correction factor of the right calculated volume value MV 右 β2 is denoted as the void calculation correction factor of the left calculated volume value MV 左 β3 is denoted as the void calculation correction factor of the intermediate volume value;

[0078] Sum up the void values corresponding to the coal seam image data in the regional coal seam data, calculate the total void value, compare the total void value with the void threshold. When the total void value is greater than or equal to the void threshold, it is determined that the void space is large, and a void danger signal is generated. When the total void value is less than the void threshold, it is determined that the void space is small, and a void safety signal is generated;

[0079] Transmit the void danger signal or the void safety signal to the void safety alarm unit;

[0080] The void safety alarm unit is used to receive the void danger signal or the void safety signal, and identify the void danger signal or the void safety signal. When the void danger signal is identified, a void rework alarm is generated. When the void safety signal is identified, a void qualified prompt is generated.

[0081] The above content is only an example and explanation of the structure of the present invention. Those skilled in the art of this technology make various modifications or supplements to the described specific embodiments or use similar methods to replace them. As long as they do not deviate from the structure of the invention or exceed the scope defined by this claim book, they should all fall within the protection scope of the present invention.

Claims

1. A detection and analysis system for voids in overlying strata after coal seam mining in underground coal mines, characterized in that, it includes an overlying strata data acquisition unit, an overlying strata image recognition unit, a void data processing unit, a void state determination unit, and a void safety alarm unit; The overlying strata data acquisition unit is used to collect real-time data of the coal seam, and at the same time, the coal seam information obtained by the collection is divided and marked to obtain a three-axis data group, and the three-axis data group includes rock stratum void images, Z-axis difference sorting data, Z-axis selected coordinate points, Y-axis difference sorting data, Y-axis selected coordinate points, X-axis difference sorting data, and X-axis selected coordinate points; The void data processing unit is used to perform void processing operations on the three-axis data group after overlying strata recognition to obtain a void volume array, and the void volume array includes an intermediate volume value ZM, a Z right value, a Z left value, a Y right value, a Y left value, an X right value, and an X left value; The void state determination unit is used to perform void state determination operations on the void volume array to obtain a void danger signal or a void safety signal; The void safety alarm unit is used to identify the void danger signal or the void safety signal. When a void danger signal is identified, a void rework alarm is generated, and when a void safety signal is identified, a void qualified prompt is generated.

2. The detection and analysis system for voids in overlying strata after coal seam mining in underground coal mines according to claim 1, characterized in that, The specific process of data division and marking is as follows: Obtain coal seam information, and divide and mark regional coal seam data, coal seam image data, and rock stratum image data; Identify the regional coal seam data based on the coal seam image data, identify the number of occurrences of the coal seam image data and mark it as the coal seam overlying strata secondary data, calibrate the coal seam overlying strata secondary data, coal seam image data, and rock stratum image data in each regional coal seam data as a data group to be processed, and transmit the data group to be processed to the overlying strata image recognition unit; Regional coal seam data refers to coal seams in different regions within the coal seam information, coal seam image data refers to the images of the coal seam overlying strata corresponding to the regional coal seam data within the coal seam information, and rock stratum image data refers to the overlying strata images corresponding to the coal seam within the coal seam information.

3. The detection and analysis system for voids in overlying strata after coal seam mining in underground coal mines according to claim 1, characterized in that, The specific operation process of overlying strata recognition and processing operations is as follows: Establish a virtual space rectangular coordinate system, image and mark the coal seam image data and the rock stratum image data through three-dimensional imaging in the virtual space rectangular coordinate system, and match the rock stratum image data with the coal seam image data. Specifically: When the matching result of the rock stratum image data and the coal seam image data is consistent, the area is marked with the color of the rock stratum area. When the matching result of the rock stratum image data and the coal seam image data is inconsistent, the area is marked with the color of the void area; Match the coal seam image data in the virtual space rectangular coordinate system with the image marked with the color of the rock stratum area in this area. When the matching result of the coal seam image data and the image marked with the color of the rock stratum area in this area is consistent, the matching images are calibrated as rock stratum overlapping images. When the matching result of the coal seam image data and the image marked with the color of the rock stratum area in this area is inconsistent, the non-matching images are calibrated as rock stratum void images; Mark the coordinates of the edge positions of the rock stratum space image in the virtual space rectangular coordinate system to obtain several rock stratum coordinate points. Perform coordinate selection processing based on the rock stratum coordinate points to obtain the Z-axis selected coordinate points and the Z-axis difference sorting data; According to the selection method of the Z-axis selected coordinate points and the Z-axis difference sorting data, select the Y-axis selected coordinate points, the Y-axis difference sorting data, the X-axis difference sorting data, and the X-axis selected coordinate points; Transmit the rock stratum void image, the Z-axis difference sorting data, the Z-axis selected coordinate points, the Y-axis difference sorting data, the Y-axis selected coordinate points, the X-axis difference sorting data, and the X-axis selected coordinate points to the void data processing unit.

4. An underground coal mining post-mining overlying rock void detection and analysis system according to claim 3, characterized in that, The specific process of performing coordinate selection processing is: Mark the rock stratum coordinate points with the same X-axis and Y-axis coordinates among several rock stratum coordinates as the Z-axis selected coordinate points. Calculate the difference between every two of the several Z-axis selected coordinate points to calculate the Z-axis differences of the several Z-axis selected coordinate points. Sort the Z-axis differences of the several Z-axis selected coordinate points from small to large to obtain the Z-axis difference sorting data. Select the first Z-axis difference in the Z-axis difference sorting data, and extract the corresponding two coordinate points according to the Z-axis difference. Mark the selected two coordinate points as the Z-axis selected coordinate points.

5. An underground coal mining post-mining overlying rock void detection and analysis system according to claim 4, characterized in that, The specific operation process of the rock stratum void processing operation is: Mark the first value in the sorted Z-axis difference data as Z 小 , mark the first value in the sorted Y-axis difference data as Y 小 , mark the first value in the sorted X-axis difference data as X 小 , according to the calculation formula ZM = Z 小 *Y 小 *X 小 , calculate the intermediate volume value ZM; Compare the X-axis values of the two Z-axis selected coordinate points, mark the Z-axis selected coordinate point closer to the origin as the Z-axis left selected coordinate point, and perform distance selection processing to obtain the first Z-axis left distance value, the second Z-axis left distance value, the Nth Z-axis left distance value; According to the calculation method of the Nth Z-axis left distance value, compare the X-axis values of the two coordinate points, mark the Z-axis selected coordinate point far from the origin as the Z-axis right selected coordinate point, and calculate the first Z-axis right distance value, the second Z-axis right distance value,..., the Nth Z-axis right distance value; According to the processing method of the Nth Z-axis left distance value and the Nth Z-axis right distance value, process to obtain the Nth Y-axis left distance value, the Nth Y-axis right distance value, the Nth X-axis left distance value, and the Nth X-axis right distance value; Unify the first Z-axis right distance value, the second Z-axis right distance value,..., the Nth Z-axis right distance value and mark them as the Z right value, and unify the first Z-axis left distance value, the second Z-axis left distance value,..., the Nth Z-axis left distance value and mark them as the Z left value; According to the calibration method of the right Z value and the left Z value, calibrate the right Y value, the left Y value, the right X value, and the left X value; Transmit the intermediate volume value ZM, the right Z value, the left Z value, the right Y value, the left Y value, the right X value, and the left X value to the void state determination unit.

6. A goaf overburden void detection and analysis system for underground coal mining according to claim 5, characterized in that, The specific process of distance selection processing is as follows: Select the coordinates between the origin and the coordinate points selected on the left side of the Z axis from the rock layer coordinate points with the same X-axis and Y-axis coordinates among several rock layer coordinates, and mark them as the Z-axis calculation coordinates. Select the Z-axis calculation coordinate with the smallest distance between several Z-axis calculation coordinates and the coordinate points selected on the left side of the Z axis, and select the distance value and calibrate it as the first distance value on the left side of the Z axis; According to the calculation method of the distance value on the left side of the Z axis, replace the coordinate points selected on the left side of the Z axis with the Z-axis calculation coordinates with the smallest distance between several Z-axis calculation coordinates and the coordinate points selected on the left side of the Z axis, calculate the second distance value on the left side of the Z axis, and repeat the process to calculate the third distance value on the left side of the Z axis, the fourth distance value on the left side of the Z axis, and the Nth distance value on the left side of the Z axis.

7. A goaf overburden void detection and analysis system for underground coal mining according to claim 1, characterized in that, The specific operation process of void determination operation is as follows: Mark the Z rvalue as ZY j , mark the Y rvalue as YY j , mark the X rvalue as XY j , according to the calculation formula: Calculate the right-side calculated volume value MV 右 , where u is the void calculation deviation adjustment factor corresponding to different positions; Mark the Z lvalue as ZZ j , mark the Y lvalue as YZ j , mark the X lvalue as XZ j , according to the calculation formula: Calculate the left-side calculated volume value MV 左 , where e is the void calculation deviation adjustment factor corresponding to different positions; According to the calculation formula: Kx = (MV 左 *β1 + MV 右 *β2 + ZM * β3) * glc, the void value Kx is calculated. β1 represents the void calculation correction factor for the right-side calculated volume value MV 右 ; β2 represents the void calculation correction factor for the left-side calculated volume value MV 左 ; β3 represents the void calculation correction factor for the middle volume value, and ZM represents the middle volume value. MV 右 represents the right-side calculated volume value, and MV 左 represents the left-side calculated volume value; Sum up the void values corresponding to the coal seam image data in the area according to the regional coal seam data to calculate the total void value KM. Compare the total void value KM with the void threshold M1. When KM≥M1, generate a void danger signal. When KM<M1, generate a void safety signal; Transmit the void danger signal or the void safety signal to the void safety alarm unit.

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