Method, device and equipment for detecting abnormal coal rock structure area

Abstract

This application proposes a method, device, and apparatus for detecting structural anomalies in coal and rock masses, relating to the field of data processing technology. The method includes: obtaining a target velocity inversion map of the coal and rock mass; wherein the target velocity inversion map is used to indicate the target velocity of seismic wave propagation in each grid cell within the target detection area; for any grid cell, comparing the target velocity corresponding to the grid cell with a set velocity to obtain a comparison result; based on the comparison results corresponding to each grid cell, determining structural anomaly cells from each grid cell; and determining the scope of the structural anomaly zone of the coal and rock mass in the target velocity inversion map based on the structural anomaly cells. Thus, the scope of the structural anomaly zone of the coal and rock mass can be effectively and accurately determined based on the velocity distribution of seismic waves in the coal and rock mass.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a method, device and equipment for detecting abnormal areas in coal rock structures. Background Art

[0002] Geological exploration is essential throughout the entire lifecycle of coal mine safety production. To ensure safe coal mine production, a comprehensive geological survey is required before production begins. Folds, faults, and igneous rock intrusions are identified, and factors influencing safety are analyzed to develop effective mitigation strategies. However, during coal mining, the original stress state of the overburden is disrupted, stress is redistributed, and under external interference or self-organization, the overburden is disturbed by mining, causing the overburden to shift and deform, resulting in both continuous and discontinuous damage.

[0003] How to accurately monitor the all-round coal and rock structure of the mine working face throughout its life cycle is of great significance for guiding the solution of related problems of rock control in mining engineering. Summary of the Invention

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

[0005] The present application proposes a method, device and equipment for detecting abnormal coal rock structure areas, so as to effectively and accurately determine the scope of the abnormal coal rock structure areas based on the velocity distribution of seismic waves in the coal rock mass.

[0006] The first embodiment of the present application provides a method for detecting abnormal areas in coal rock structures, comprising:

[0007] Obtaining a target velocity inversion map of the coal rock mass; wherein the target velocity inversion map is used to indicate the target velocity of seismic wave propagation in each grid cell within the target detection area;

[0008] For any of the grid units, comparing the target speed corresponding to the grid unit with the set speed to obtain a comparison result;

[0009] Based on the comparison results corresponding to the grid cells, determining structural abnormality cells from the grid cells;

[0010] According to the structural anomaly unit, the range of the structural anomaly area of the coal rock mass is determined in the target velocity inversion map.

[0011] The method for detecting an abnormal structural area of a coal rock mass according to an embodiment of the present application obtains a target velocity inversion map of the coal rock mass; wherein the target velocity inversion map is used to indicate the target velocity of seismic wave propagation in each grid cell within the target detection area; for any of the grid cells, the target velocity corresponding to the grid cell is compared with a set velocity to obtain a comparison result; based on the comparison results corresponding to each of the grid cells, a structural abnormality unit is determined from each of the grid cells; and based on the structural abnormality unit, the scope of the abnormal structural area of the coal rock mass is determined in the target velocity inversion map. In this way, the scope of the abnormal structural area of the coal rock mass can be effectively and accurately determined based on the velocity distribution of seismic waves in the coal rock mass.

[0012] The second embodiment of the present application provides a device for detecting abnormal areas in coal and rock structures, comprising:

[0013] A first acquisition module is configured to acquire a target velocity inversion map of the coal rock mass; wherein the target velocity inversion map is configured to indicate a target velocity of seismic wave propagation in each grid cell within a target detection area;

[0014] a comparison module, configured to compare, for any of the grid cells, the target speed corresponding to the grid cell with the set speed to obtain a comparison result;

[0015] A first determining module is configured to determine a structurally abnormal unit from each of the grid units based on a comparison result corresponding to each of the grid units;

[0016] The second determining module is configured to determine the range of the structural anomaly area of the coal rock mass in the target velocity inversion map according to the structural anomaly unit.

[0017] The device for detecting structural anomalies in a coal-rock mass according to an embodiment of the present application obtains a target velocity inversion map of the coal-rock mass; wherein the target velocity inversion map is used to indicate the target velocity of seismic wave propagation in each grid cell within the target detection area; for any of the grid cells, the target velocity corresponding to the grid cell is compared with a set velocity to obtain a comparison result; based on the comparison results corresponding to each of the grid cells, a structural anomaly cell is determined from each of the grid cells; and based on the structural anomaly cell, the scope of the structural anomaly zone of the coal-rock mass is determined in the target velocity inversion map. Thus, the scope of the structural anomaly zone of the coal-rock mass can be effectively and accurately determined based on the velocity distribution of seismic waves in the coal-rock mass.

[0018] The third aspect embodiment of the present application proposes an electronic 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, it implements the method for detecting abnormal areas of coal rock structure proposed in the first aspect embodiment of the present application.

[0019] The fourth embodiment of the present application proposes a non-temporary computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, it implements the method for detecting abnormal areas of coal rock structure proposed in the first embodiment of the present application.

[0020] The fifth embodiment of the present application proposes a computer program product. When the instructions in the computer program product are executed by a processor, the method for detecting abnormal areas of coal rock structure proposed in the first embodiment of the present application is executed.

[0021] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0023] Figure 1 A schematic flow chart of the method for detecting abnormal coal rock structure areas provided in Example 1 of the present application;

[0024] Figure 2 A schematic flow chart of a method for detecting abnormal coal rock structure areas provided in Example 2 of the present application;

[0025] Figure 3 A diagram showing the structure of the impact source provided in this application;

[0026] Figure 4 A schematic diagram of the structure of the transmitter assembly provided in this application;

[0027] Figure 5 A schematic diagram of the structure of the rotating platform provided in this application;

[0028] Figure 6 A schematic diagram of the structure of the impact protection device provided in this application;

[0029] Figure 7 This is a schematic diagram of the structure of the device for detecting abnormal areas in coal rock structure provided in Example 3 of the present application. DETAILED DESCRIPTION

[0030] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0031] The present application proposes a method, device and equipment for detecting abnormal areas in coal rock structure.

[0032] The following describes the method, device and equipment for detecting abnormal coal rock structure areas according to embodiments of the present application with reference to the accompanying drawings.

[0033] Figure 1 This is a flow chart of the method for detecting abnormal areas in coal rock structure provided in Example 1 of the present application.

[0034] The embodiment of the present application uses the method of detecting abnormal areas in coal rock structure as an example, in which the method is configured in a device for detecting abnormal areas in coal rock structure. The device for detecting abnormal areas in coal rock structure can be applied to any electronic device so that the electronic device can perform the function of detecting abnormal areas in coal rock structure.

[0035] Among them, the electronic device can be any device with computing capabilities, such as a PC (Personal Computer), a mobile terminal, a server, etc. The mobile terminal can be, for example, a mobile phone, a tablet computer, a personal digital assistant, a wearable device, and other hardware devices with various operating systems, touch screens and / or display screens.

[0036] like Figure 1 As shown, the method for detecting abnormal coal rock structure areas may include the following steps:

[0037] Step 101: Obtain a target velocity inversion map of the coal rock mass.

[0038] Among them, the target velocity inversion map can be used to indicate the target velocity of seismic wave propagation in each grid cell within the target detection area.

[0039] The target detection area may be an area of coal rock structure to be detected.

[0040] It should be noted that the target detection area can be divided into a regular grid to obtain multiple grid units, wherein the regular grid can be a square, rectangle, triangle, etc., and this application does not impose any restrictions on this.

[0041] It is understood that during coal mining, the working face is subjected to mining disturbances, resulting in continuous and discontinuous damage to the coal and rock mass, which may change its stability and require structural detection of the coal and rock mass. Therefore, in this application, a target velocity inversion map of the coal and rock mass can be obtained.

[0042] Step 102 : For any grid unit, compare the target speed corresponding to the grid unit with the set speed to obtain a comparison result.

[0043] The set speed may be pre-set, for example, 1000 km / s, 2000 km / s, etc., and this application does not impose any restrictions on this.

[0044] In an embodiment of the present application, for any grid unit, the target speed corresponding to the grid unit is compared with the set speed to obtain a comparison result. For example, the target speed corresponding to the grid unit is compared with the set speed, and the comparison result obtained is that the target speed corresponding to the grid unit matches (or is the same as) the set speed, or the comparison result obtained is that the target speed corresponding to the grid unit does not match the set speed.

[0045] In a possible implementation of the embodiment of the present application, multiple speeds may be set.

[0046] Step 103 : Based on the comparison results corresponding to the grid cells, determine the structural abnormality cells from the grid cells.

[0047] In the embodiment of the present application, for any grid unit, based on the comparison result corresponding to the grid unit, it can be determined whether the grid unit is a structurally abnormal unit.

[0048] Therefore, in the present application, the structural abnormality unit can be determined from each grid unit based on the comparison results corresponding to each grid unit.

[0049] In one possible implementation of an embodiment of the present application, when there are multiple set speeds, for any grid unit, the target speed corresponding to the grid unit is compared with each set speed to determine whether the target set speed exists among the multiple set speeds; wherein the target set speed matches (or is the same as) the target speed corresponding to the grid unit.

[0050] As an example, assuming that the set speeds include v1, v2, v3, and v4, and the target speed corresponding to the grid unit is v, the target speed v of the grid unit is compared with the above-mentioned set speeds respectively to determine whether there is a target set speed that matches (or is the same as) the target speed v corresponding to the grid unit from the above-mentioned four set speeds. For example, if the set speed v1 matches the target speed v corresponding to the grid unit, then the set speed v1 can be determined as the target set speed. Assuming that none of the above-mentioned four set speeds matches the target speed v corresponding to the grid unit, it is determined that there is no target set speed that matches the target speed v corresponding to the grid unit among the above-mentioned four set speeds.

[0051] Optionally, for any grid unit, when the grid unit has a target set speed among multiple set speeds, the grid unit can be determined to be a structurally abnormal unit; on the contrary, when the grid unit does not have a target set speed among multiple set speeds, it can be determined that the grid unit is not a structurally abnormal unit.

[0052] In this way, it is possible to effectively determine whether each grid unit in the target detection area is a structural abnormality unit.

[0053] It should be noted that, in practical applications, the set speed can be determined based on a large number of experiments.

[0054] Step 104: Determine the range of the structural anomaly area of the coal rock mass in the target velocity inversion map based on the structural anomaly unit.

[0055] In the embodiment of the present application, the range of the structural anomaly area of the coal rock mass can be determined in the target velocity inversion map based on the structural anomaly unit.

[0056] The method for detecting structural anomalies in a coal-rock mass according to an embodiment of the present application obtains a target velocity inversion map of the coal-rock mass; wherein the target velocity inversion map is used to indicate the target velocity of seismic wave propagation in each grid cell within the target detection area; for any grid cell, the target velocity corresponding to the grid cell is compared with the set velocity to obtain a comparison result; based on the comparison results corresponding to each grid cell, a structural anomaly cell is determined from each grid cell; and based on the structural anomaly cell, the scope of the structural anomaly zone of the coal-rock mass is determined in the target velocity inversion map. Thus, the scope of the structural anomaly zone of the coal-rock mass can be effectively and accurately determined based on the velocity distribution of seismic waves in the coal-rock mass.

[0057] It is understandable that coal mining requires the digital storage, display and application of coal rock structures in real engineering environments, and requires geological exploration methods and equipment that meet new demands such as stable and repeated excitation of seismic waves, controllable waveforms and propagation directions, and long-term continuous monitoring and imaging of specific areas.

[0058] However, seismic exploration is often used to monitor coal-rock structures underground in coal mines. The seismic sources used in seismic exploration are mainly divided into explosive sources and non-explosive sources. Explosive sources are the most widely used in seismic exploration. However, explosive sources pollute the environment to a certain extent, and the use and transportation of explosives are strictly controlled. Therefore, explosive sources cannot guarantee coal-rock structure monitoring throughout the mine's entire life cycle. Non-explosive seismic sources mainly include hammer sources, vibroseis vehicles, airgun sources, and spark sources. Hammer sources have limited excitation energy and are easily affected by the environment, making them inadequate for deep coal and rock structure monitoring. Vibroseis vehicles are heavy and difficult to transport underground, and their excitation signals are generally directed downward, making them inadequate for detecting coal and rock structures on both sides of the mine. Airgun sources highly compress gas and instantly release shock waves, generating pulse signals with high frequency and good repeatability. Spark sources primarily convert electrical energy stored in capacitors into mechanical energy through high-voltage discharge. They offer advantages such as environmental friendliness, energy scalability, and operational safety. However, airgun and spark sources are typically used in marine or land waters, limiting their use. Consequently, none of the aforementioned engineering geophysical exploration methods and equipment can accurately and reliably detect coal and rock structures underground in coal mines over extended periods of time.

[0059] In response to the problems existing in the above-mentioned engineering geophysical prospecting methods and equipment, this application also proposes a method for detecting abnormal areas of coal rock structure. Figure 2 This is a flow chart of the method for detecting abnormal coal rock structure areas provided in Example 2 of this application. Figure 2 In the embodiment shown, the impact source device provided in this application can be used to obtain a target velocity inversion map of the coal and rock mass.

[0060] like Figure 2 As shown, based on the above embodiment of the present application, the method for detecting abnormal coal rock structure areas may further include the following steps:

[0061] Step 201, determining a target detection area of the coal and rock mass and a target source energy corresponding to at least one impact source; wherein, a plurality of detectors are set on one side of the target detection area, and an excitation point corresponding to each impact source is set on the other side.

[0062] It should be noted that the explanation of the target detection area in step 101 is also applicable to this embodiment and will not be repeated here.

[0063] In a possible implementation of an embodiment of the present application, the impact source may include a launcher assembly, a rotating table, a hydraulic station, a vacuum pump, a high-pressure air bottle, a steel plate, and a supporting vehicle; wherein the launcher assembly may also include a bullet, an air chamber, a launcher cavity, a dust suction ring, a shock-absorbing pad, and a support.

[0064] As an example, Figure 3 This is the structure diagram of the impact source provided in this application. Figure 3 As shown, the shock source 300 may include a transmitter assembly 310, a rotating platform 320, a hydraulic station 330, a vacuum device 340, a high-pressure air bottle 350, a steel plate 360, and a distribution vehicle 370, wherein:

[0065] 1. The launcher assembly 310 can be used to launch a bullet toward a steel plate 360 located in front of the bullet, so as to generate seismic waves through the impact of the bullet on the steel plate 360; wherein the launcher assembly 310 includes the bullet, and the steel plate 360 is attached to the coal rock mass.

[0066] The steel plate 360 may be a rectangular parallelepiped steel plate and may be located in front of the bullet. Thus, during the impact operation, the steel plate may effectively prevent the coal rock mass from collapsing due to the impact of the bullet on the coal rock mass.

[0067] The shape of the bullet may be, but is not limited to, cylindrical, spindle-shaped, diamond-shaped, etc., and this application does not impose any restrictions on this.

[0068] Among them, such as Figure 4 As shown in (a) and (b), the transmitter assembly 310 may further include an air chamber 311, a transmitter cavity 312, a dust collecting ring 313, a shock absorbing pad 314 and a support 315; wherein, Figure 4 (a) is a three-dimensional diagram of the transmitter assembly. Figure 4 (b) is a cross-sectional view of the transmitter assembly.

[0069] The air chamber 311 may be connected to a high-pressure air bottle 350 so that the pressure energy of the compressed air input from the high-pressure air bottle 350 into the air chamber 311 is converted into the kinetic energy of the bullet.

[0070] The launcher cavity 312 can be used to provide a moving space for the bullet.

[0071] In some embodiments, the material of the emitter cavity 312 may be, but is not limited to, alloy steel, and this application does not impose any restrictions on this.

[0072] It should be noted that, in order to ensure the normal movement of the bullet, the inner wall of the launcher cavity can be smooth.

[0073] The dust collecting ring 313 is provided at the launch port of the launcher cavity 312 and can be used to absorb dust, thereby preventing dust generated by the bullet hitting the coal and rock from entering the launcher cavity 312.

[0074] The shock-absorbing pad 314 can be used to provide a shock-absorbing function when the bullet returns to the launching position in the launcher cavity 312, so as to protect the launcher cavity 312 from being damaged.

[0075] The support 315 can be used to fix the emitter cavity 312 on the rotating platform 320 .

[0076] 2. The rotating platform 320 is set on the distribution vehicle 370 and connected to the launcher assembly 310. It can be used to control the rotation of the launcher assembly 310 to adjust the launch direction of the launcher assembly 310.

[0077] Among them, such as Figure 5 As shown, Figure 5 FIG3 is a perspective view of a rotating platform. The rotating platform 320 may include a bracket 321 , a gear 322 , a turntable 323 , a hydraulic column 324 and a base 325 .

[0078] The bracket 321 is disposed on the turntable 323 and connected to the support 315 in the transmitter assembly 310 , and can be used to support the transmitter assembly 310 .

[0079] In some embodiments, the bracket 321 can be connected to the launcher assembly 310 via a screw rod. Thus, the distance between the launcher assembly and the coal and rock working surface can be controlled by moving the screw rod back and forth.

[0080] The turntable 323 can be used to control the rotation of the transmitter assembly 310 through the bracket 321 .

[0081] The gear 322 is connected to the turntable 323 and can be used to transmit power to the turntable 323 to realize the rotation of the turntable 323.

[0082] In the embodiment of the present application, the rotation angle of the turntable may range from 0° to 90°, 0° to 180°, etc., and the present application does not impose any limitation on this.

[0083] The hydraulic column 324 is disposed on the base 325 and connected to the turntable 323 . The hydraulic column 324 can be used to adjust the vertical height of the launcher assembly 310 by extending and retracting the hydraulic column 324 .

[0084] 3. The hydraulic station 330 is connected to the rotating platform 320 and can be used to provide power to the rotating platform 320 to drive the rotating platform 320 to rotate.

[0085] In some embodiments, the hydraulic station 330 may be connected to the gear 322 to drive the gear 322 to rotate; the hydraulic station 330 may also be connected to the hydraulic column 324 to control the extension and retraction of the hydraulic column 324 .

[0086] 4. The vacuum device 340 is connected to the launcher assembly 310 and can be used to extract the air in the launcher assembly 310 after the bullet is fired, so that the bullet returns to the launch position in the launcher assembly.

[0087] 5. The high-pressure air bottle 350 is connected to the launcher assembly 310 and can be used to provide power to the bullet through the compressed air in the high-pressure air bottle.

[0088] The shock source 300 may further include a control system, which may be connected to the transmitter assembly 310 and may be used to control the compressed air supplied from the high-pressure air bottle 350 to the transmitter assembly 310 .

[0089] In the embodiment of the present application, the number of impact sources may be, but is not limited to, one.

[0090] In an embodiment of the present application, a plurality of detectors may be provided on one side of the target detection area, and an excitation point corresponding to each shock source may be provided on the other side.

[0091] In an embodiment of the present application, a target detection area of the coal and rock mass and a target source energy corresponding to at least one impact source may be determined.

[0092] In order to determine the target source energy corresponding to at least one impact source, in a possible implementation method of an embodiment of the present application, when the impact source includes a transmitter assembly, a rotating table, a hydraulic station, a vacuum pumping device, a high-pressure air bottle, a steel plate and a base, wherein the transmitter assembly also includes an air chamber, an air inlet pipe, a launch tube, a support, and a control valve, the main frequency of the seismic wave can be obtained; for any impact source, the gas pressure of the air chamber of the impact source, the diameter of the transmitter cavity, the distance to be moved of the bullet and the efficiency of the transmitter assembly can be adjusted according to the main frequency of the seismic wave, so as to obtain the target source energy of the impact source.

[0093] Among them, the dominant frequency of the seismic wave refers to the frequency corresponding to the maximum value in the spectrum.

[0094] It should be noted that seismic wave signals with a high signal-to-noise ratio help to more accurately analyze the characteristics and patterns of seismic waves. However, the dominant frequency of the seismic wave is directly related to the signal-to-noise ratio of the seismic wave signal. That is, the greater the dominant frequency of the seismic wave, the higher the signal-to-noise ratio of the seismic wave.

[0095] In the present application, the main frequency of the seismic wave can be obtained. For example, the main frequency of the seismic wave can be obtained based on user input.

[0096] As an example, after obtaining the main frequency of the seismic wave, the target source energy corresponding to the main frequency is queried according to the main frequency of the seismic wave; based on the target source energy, the diameter of the launcher cavity, the distance the bullet needs to move, and the efficiency of the launcher assembly, the gas pressure of the air chamber is determined.

[0097] For example, a correspondence between the main frequency and the source energy can be established in advance and stored. Thus, when the main frequency is determined, the above correspondence can be queried to obtain the target source energy corresponding to the main frequency. Assuming that the target source energy is E, the diameter of the launcher cavity is D, the distance to be moved by the bullet is l, and the efficiency of the launcher assembly is η, the gas pressure P of the gas chamber can be determined according to the following formula:

[0098]

[0099] Thereby, the target pressure can be determined efficiently and accurately.

[0100] In this way, the gas pressure of the air chamber of the impact source, the diameter of the launcher cavity, the distance the bullet needs to move and the efficiency of the launcher assembly can be adjusted based on the main frequency of the seismic wave, so as to effectively obtain the target source energy of the impact source.

[0101] In some embodiments, the shock source may further include an shock protection device, wherein the shock protection device may include a first robotic arm, a telescopic device, a water tank, a water spray pipe, a water suction pump, a second robotic arm and a mobile device.

[0102] As an example, Figure 6 This is a schematic diagram of the structure of the impact protection device provided in this application. Figure 6 As shown, the impact protection device 600 may include a first robotic arm 601 , a telescopic device 602 , a water tank 603 , a water spray pipe 604 , a water suction pump 605 , a second robotic arm 606 and a mobile device 607 .

[0103] Among them, the first robotic arm 601 is set on the telescopic device 602, and is used to clamp the steel plate and adjust the angle of the steel plate.

[0104] It should be noted that the number of axes of the first robotic arm can be but is not limited to 3, 4, etc., and this application does not impose any restrictions on this.

[0105] The telescopic device 602 is arranged on the mobile device 607 and is used to adjust the vertical height of the steel plate.

[0106] The water tank 603 is used to store water.

[0107] Among them, the water spray pipe 604 is used to spray water on the bullets.

[0108] The second robotic arm 606 is used to clamp the water pipe and adjust the angle of the water pipe.

[0109] It should be noted that this application does not limit the number of axes of the second robotic arm.

[0110] The water suction pump 605 is connected to the water spray pipe 604 and the water tank 603, and is used to provide power to the water spray pipe during the water suction process of the water spray pipe.

[0111] Optionally, when the shock source further includes a shock protection device, wherein the shock protection device may include a first robotic arm, a telescopic device, a water tank, a water spray pipe, a water suction pump, a second robotic arm, and a mobile device, for any shock source, the position of the excitation point of the shock source in the target detection area may be determined; and the shock protection device of the shock source may be used to move the steel plate corresponding to the shock source to the position of the excitation point of the shock source in the target detection area. For example, the shock protection device of the shock source may be moved to the vicinity of the excitation point of the shock source, and the first robotic arm of the shock protection device may be adjusted to move the steel plate to the position of the excitation point of the shock source in the target detection area via the first robotic arm.

[0112] Step 202 : Control each impact source to excite seismic waves through corresponding excitation points at corresponding target source energies, so that any geophone receives seismic waves excited from each excitation point.

[0113] In the embodiment of the present application, each impact source can be controlled to excite seismic waves through corresponding excitation points at corresponding target source energy, so that any detector can receive seismic waves excited from each excitation point.

[0114] Step 203: Acquire actual observation data of the seismic waves excited at each excitation point from each detector.

[0115] The actual observation data may include but is not limited to first arrival time, amplitude, displacement, etc.

[0116] In the embodiment of the present application, the first arrival time may be the actual time when any geophone picks up the first arrival of the seismic wave.

[0117] In the embodiment of the present application, after each geophone receives the seismic wave excited at each excitation point, actual observation data of the seismic wave excited at each excitation point can be acquired from any geophone.

[0118] Step 204 : Based on the actual observation data, a least squares reverse time migration imaging method is used to determine a target velocity inversion map of the coal and rock mass.

[0119] In an embodiment of the present application, the seismic wave velocity can be inverted and analyzed using a least squares reverse time migration imaging method based on actual observation data to determine the target velocity distribution of the seismic wave propagation on the grid cells in the target detection area, and a target velocity inversion map corresponding to the velocity distribution can be determined based on the velocity distribution of the seismic wave in the target detection area.

[0120] To clearly illustrate how to determine a target velocity inversion map of a coal rock mass using the least squares reverse time migration method based on actual observation data, in one possible implementation of the embodiment of the present application, the following steps may be used to determine the target velocity inversion map of the coal rock mass:

[0121] Step 2041: Obtain a reflection coefficient model based on a pre-constructed wave equation and velocity model; wherein the reflection coefficient model has a corresponding initial reflection coefficient.

[0122] In the embodiment of the present application, the reflection coefficient model can be obtained based on the pre-constructed wave equation and velocity model.

[0123] As an example, as shown in formula (2), the wave equation can be:

[0124]

[0125] Where p is the source wave field, v(x) represents the velocity model, x represents the coordinate of the cell grid in the target detection area, and x s represents the coordinates of the excitation point, f(t) is the source wavelet;

[0126] As shown in formula (3), the velocity model is:

[0127] v(x)=v0(x)+δv(x); (3)

[0128] Where v0(x) is the assumed background velocity model (or reference velocity model), δv(x) is the scattering velocity, and the wave field corresponding to the velocity model v(x) is shown in formula (4):

[0129] p(x,t;x s )=p0(x,t;x s )+p s (x,t;x s ); (4)

[0130] Among them, p0 is the background wave field, p s is the scattered wave field.

[0131] Substituting formulas (3) and (4) into formula (2), we can obtain formula (5):

[0132]

[0133] According to Taylor's formula, expanding formula (5) and omitting the high-order terms yields:

[0134]

[0135] Among them, the inverse coefficient model m(x) is defined as:

[0136]

[0137] In an embodiment of the present application, the reflection coefficient model may have an initial reflection coefficient, wherein the initial reflection coefficient may be pre-set, such as 1.5, 2, etc., and the present application does not impose any limitation on this.

[0138] Step 2042 : Based on the Born forward operator and the initial reflection coefficient, multiple rounds of iterative calculation of least squares reverse time migration imaging are performed to update the initial reflection coefficient to the target reflection coefficient.

[0139] In the embodiment of the present application, multiple rounds of iterative calculation processes of least squares reverse time migration imaging may be performed based on the Born forward operator and the initial reflection coefficient to update the initial reflection coefficient to the target reflection coefficient.

[0140] As a possible implementation method, for any round of iterative calculation process, the specific process may include the following steps:

[0141] 1. For any round of iterative calculation process, the seismic wave forward modeling data of this round is determined based on the Born forward modeling operator and the initial reflection coefficient used in this round.

[0142] As an example, assuming that the Born forward modeling operator is L and the initial reflection coefficient used in this round is m, the product Lm of the Born forward modeling operator and the initial reflection coefficient used in this round can be determined as the seismic wave forward modeling data of this round.

[0143] 2. Based on the actual observation data and the seismic wave forward modeling data of this round, determine the data residuals of this round.

[0144] Still using the above example to illustrate, assuming that the actual observation data is d0, the difference between the actual observation data and the seismic wave forward modeling data of this round can be determined as the data residual C of this round according to the following formula:

[0145] C=d0-Lm; (9)

[0146] 3. If the data residual of this round is greater than the set threshold, determine the update gradient and update step size of the least squares reverse time migration of this round of seismic waves.

[0147] The threshold value may be preset.

[0148] Still using the above example, if the data residual of this round is greater than the set threshold, the update gradient Δm and update step size Δm of the least squares reverse time migration of this round of seismic waves can be determined according to the following formula:

[0149] Δm=L T Cm; (10)

[0150]

[0151] 4. Based on the updated gradient and update step size of the least squares reverse time migration of the current round of seismic waves, the initial reflection coefficient is updated and used as the initial reflection coefficient for the next round.

[0152] In the embodiment of the present application, the initial reflection coefficient can be updated based on the update gradient and update step size of the least squares reverse time migration of the current round of seismic waves, and the updated initial reflection coefficient can be used as the initial reflection coefficient used in the next round.

[0153] Still using the above example, the initial reflection coefficient can be updated according to the following formula based on the update gradient Δm and update step size k of the least squares reverse time migration of this round of seismic waves to obtain the updated initial reflection coefficient m':

[0154] m'=m+kΔm; (12)

[0155] 5. If the data residual of this round is not greater than the set threshold, the iterative calculation process is stopped and the initial reflection coefficient used in this round is used as the target reflection coefficient.

[0156] In an embodiment of the present application, if the data residual of this round is not greater than the set threshold, the iterative calculation process can be stopped, and the initial reflection coefficient used in this round can be used as the target reflection coefficient.

[0157] Step 2043: Determine the target velocity corresponding to each grid cell based on the velocity model, the reflection coefficient model, and the target reflection coefficient.

[0158] As an example, assuming that the target reflection coefficient is a and the reflection coefficient model is shown in formula (8), the scattering velocity δv(x) of the grid cell corresponding to the coordinate x can be determined according to formula (8):

[0159] δv(x)=av0(x); (13)

[0160] After obtaining the scattering velocity δv(x) of the grid cell with coordinate x, the target velocity v(x) of the grid cell with coordinate x can be determined according to formula (3).

[0161] The method for detecting abnormal areas of coal rock structure in an embodiment of the present application is to determine a target detection area of the coal rock and a target source energy corresponding to at least one impact source; wherein, a plurality of detectors are set on one side of the target detection area and an excitation point corresponding to each impact source is set on the other side; each impact source is controlled to excite seismic waves through the corresponding excitation point at the corresponding target source energy, so that any detector receives the seismic waves excited from each excitation point; the actual observation data of the seismic waves excited at each excitation point is obtained from each detector; and based on the actual observation data, a least squares reverse time migration imaging method is used to determine a target velocity inversion map of the coal rock. Thus, on the one hand, the impact source can be used to stably excite seismic waves to achieve dynamic monitoring or detection of the coal rock structure, thereby providing relevant personnel with a velocity inversion map of the coal rock structure in the coal mine, so as to assist in solving related problems of rock layer control in mining engineering; on the other hand, the least squares reverse time migration method can be used to effectively obtain the velocity inversion map and the velocity distribution of seismic waves in the coal rock.

[0162] With the above Figures 1 to 2 Corresponding to the method for detecting abnormal coal rock structure area provided in the embodiment, the present application also provides a device for detecting abnormal coal rock structure area. Since the device for detecting abnormal coal rock structure area provided in the embodiment of the present application is similar to the above-mentioned method, Figures 1 to 2 The method for detecting abnormal coal rock structure areas provided in the embodiment corresponds to the embodiment, so the implementation method of the method for detecting abnormal coal rock structure areas is also applicable to the device for detecting abnormal coal rock structure areas provided in the embodiment of the present application, and will not be described in detail in the embodiment of the present application.

[0163] Figure 7 This is a schematic diagram of the structure of the device for detecting abnormal areas in coal rock structure provided in Example 3 of the present application.

[0164] like Figure 7 As shown, the device 700 for detecting abnormal coal rock structure areas may include: a first acquisition module 701 , a comparison module 702 , a first determination module 703 and a second determination module 704 .

[0165] The first acquisition module 701 is used to acquire a target velocity inversion map of the coal rock mass; wherein the target velocity inversion map is used to indicate the target velocity of seismic wave propagation in each grid cell within the target detection area.

[0166] The comparison module 702 is configured to compare the target speed corresponding to any grid unit with the set speed to obtain a comparison result.

[0167] The first determining module 703 is configured to determine structurally abnormal cells from among the grid cells based on the comparison results corresponding to the grid cells.

[0168] The second determining module 704 is used to determine the range of the structural anomaly area of the coal rock mass in the target velocity inversion map according to the structural anomaly unit.

[0169] In one possible implementation of an embodiment of the present application, there are multiple set speeds; the comparison module 702 is used to: for any grid unit, compare the target speed corresponding to the grid unit with each set speed respectively to determine whether there is a target set speed among the multiple set speeds; wherein the target set speed matches the target speed corresponding to the grid unit.

[0170] In a possible implementation of an embodiment of the present application, the first determination module 703 is used to: for any grid unit, in response to the grid unit having a target set speed among multiple set speeds, determine that the grid unit is a structurally abnormal unit; in response to the grid unit not having a target set speed among multiple set speeds, determine that the grid unit is not a structurally abnormal unit.

[0171] In a possible implementation of an embodiment of the present application, the first acquisition module 701 is used to: determine a target detection area of the coal rock mass and a target source energy corresponding to at least one impact source; wherein, multiple detectors are set on one side of the target detection area, and an excitation point corresponding to each impact source is set on the other side; control each impact source to excite seismic waves through the corresponding excitation point under the corresponding target source energy, so that any detector receives the seismic waves excited from each excitation point; obtain actual observation data of the seismic waves excited at each excitation point from each detector; and determine the target velocity inversion map of the coal rock mass based on the actual observation data using the least squares reverse time migration imaging method.

[0172] In one possible implementation of the embodiment of the present application, the first acquisition module 701 is configured to: acquire a reflection coefficient model based on a pre-established wave equation and velocity model; wherein the reflection coefficient model has a corresponding initial reflection coefficient; perform multiple rounds of iterative calculations of least squares reverse time migration imaging based on a Born forward operator and the initial reflection coefficient to update the initial reflection coefficient to a target reflection coefficient; and determine a target velocity corresponding to each grid cell based on the velocity model, the reflection coefficient model, and the target reflection coefficient.

[0173] In a possible implementation of the embodiment of the present application, the first acquisition module 701 is used to: for any round of iterative calculation process, obtain the seismic wave forward modeling data of this round based on the Born forward modeling operator and the initial reflection coefficient used in this round; determine the data residual of this round based on the actual observation data and the seismic wave forward modeling data of this round; if the data residual of this round is greater than a set threshold, determine the update gradient and update step size of the seismic wave least squares reverse time migration of this round; update the initial reflection coefficient based on the update gradient and update step size of the seismic wave least squares reverse time migration of this round, and use the updated initial reflection coefficient as the initial reflection coefficient used in the next round; if the data residual of this round is not greater than the set threshold, stop the iterative calculation process, and use the initial reflection coefficient used in this round as the target reflection coefficient.

[0174] In a possible implementation of an embodiment of the present application, the impact source includes a transmitter assembly, a rotating table, a hydraulic station, a vacuum equipment, a high-pressure air bottle, a steel plate and a base; wherein, the transmitter assembly also includes a bullet, an air chamber, a transmitter cavity, a dust suction ring, a shock-absorbing pad and a support; the first acquisition module 701 is used to: obtain the main frequency of the seismic wave; for any impact source, according to the main frequency, adjust the gas pressure of the air chamber of the impact source, the diameter of the transmitter cavity, the distance to be moved of the bullet and the efficiency of the transmitter assembly to obtain the target source energy.

[0175] In one possible implementation of the embodiment of the present application, the impact source further includes an impact protection device, which includes a first robotic arm, a telescopic device, a water tank, a water spray pipe, a water suction pump, a second robotic arm, and a mobile device. The device 700 for detecting abnormal coal and rock structure areas may further include:

[0176] The third determination module is used to determine the position of the excitation point of any impact source in the target detection area.

[0177] The moving module is used to move the steel plate corresponding to the impact source to the position of the excitation point of the impact source in the target detection area through the impact protection device of the impact source.

[0178] The device for detecting structural anomalies in a coal rock mass according to an embodiment of the present application obtains a target velocity inversion map of the coal rock mass; wherein the target velocity inversion map is used to indicate the target velocity of seismic wave propagation in each grid cell within the target detection area; for any grid cell, the target velocity corresponding to the grid cell is compared with the set velocity to obtain a comparison result; based on the comparison results corresponding to each grid cell, a structural anomaly cell is determined from each grid cell; and based on the structural anomaly cell, the scope of the structural anomaly zone of the coal rock mass is determined in the target velocity inversion map. Thus, the scope of the structural anomaly zone of the coal rock mass can be effectively and accurately determined based on the velocity distribution of seismic waves in the coal rock mass.

[0179] In order to implement the above embodiments, the present application also proposes an electronic device, wherein the electronic device can be the server or detection device in the aforementioned embodiments; it includes: a memory, a processor, and a computer program stored in the memory and run on the processor. When the processor executes the program, it implements the method for detecting abnormal areas of coal rock structure proposed in any of the aforementioned embodiments of the present application.

[0180] In order to implement the above embodiments, the present application also proposes a non-temporary computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, it implements the method for detecting abnormal areas of coal rock structure proposed in any of the above embodiments of the present application.

[0181] In order to implement the above embodiments, the present application also proposes a computer program product. When the instructions in the computer program product are executed by a processor, the method for detecting abnormal coal rock structure areas proposed in any of the above embodiments of the present application is executed.

[0182] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0183] 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 the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0184] 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 application includes alternative 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 application belong.

[0185] 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.

[0186] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0187] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0188] In addition, the functional units in the various embodiments of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into a module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0189] The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application. Persons skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A method for detecting abnormal areas of coal rock structure, characterized in that: The method comprises: Obtaining a target velocity inversion map of the coal rock mass; wherein the target velocity inversion map is used to indicate the target velocity of seismic wave propagation in each grid cell within the target detection area; For any of the grid units, comparing the target speed corresponding to the grid unit with the set speed to obtain a comparison result; Based on the comparison results corresponding to the grid cells, determining structural abnormality cells from the grid cells; Determining the range of the structural anomaly area of the coal rock mass in the target velocity inversion map according to the structural anomaly unit; The step of obtaining a target velocity inversion map of the coal rock mass includes: Determining a target detection area of the coal and rock mass and a target source energy corresponding to at least one impact source; wherein a plurality of geophones are provided on one side of the target detection area and an excitation point corresponding to each impact source is provided on the other side; Controlling each of the impact sources to excite seismic waves through corresponding excitation points at corresponding target source energies, so that any of the geophones receives the seismic waves excited from each of the excitation points; Acquiring actual observation data of seismic waves excited at each of the excitation points from each of the geophones, the actual observation data including: first arrival time, amplitude, and displacement; Determine a target velocity inversion map of the coal rock mass using a least squares reverse time migration imaging method based on the actual observation data; Determining a target velocity inversion map of the coal rock mass using a least squares reverse time migration imaging method based on the actual observation data includes: Obtaining a reflection coefficient model according to a pre-constructed wave equation and velocity model; wherein the reflection coefficient model has a corresponding initial reflection coefficient; Based on the Born forward operator and the initial reflection coefficient, performing multiple rounds of iterative calculation process of least squares reverse time migration imaging to update the initial reflection coefficient to a target reflection coefficient; Determining the target velocity corresponding to each grid cell according to the velocity model, the reflection coefficient model, and the target reflection coefficient; The shock source includes a launcher assembly, a rotating platform, a hydraulic station, a vacuum pump, a high-pressure air bottle, a steel plate, and a base; wherein the launcher assembly also includes a bullet, an air chamber, a launcher cavity, a dust collection ring, a shock-absorbing pad, and a support; wherein the rotating platform is used to control the rotation of the launcher assembly to adjust the launch direction of the launcher assembly; The shock source further includes a shock protection device, which includes a first mechanical arm, a telescopic device, a water tank, a water spray pipe, a water suction pump, a second mechanical arm, and a mobile device, wherein the first mechanical arm is arranged on the telescopic device and is used to clamp the steel plate and adjust the angle of the steel plate, and the second mechanical arm is used to clamp the water spray pipe and can adjust the angle of the water spray pipe; The method further comprises: For any of the shock sources, determining the position of the excitation point of the shock source in the target detection area; The steel plate corresponding to the shock source is moved to the position where the excitation point of the shock source is in the target detection area through the shock protection device of the shock source.

2. The method according to claim 1, characterized in that The set speed is multiple; For any of the grid units, comparing the target speed corresponding to the grid unit with the set speed to obtain a comparison result includes: For any of the grid units, the target speed corresponding to the grid unit is compared with each of the set speeds to determine whether a target set speed exists among the multiple set speeds; wherein the target set speed matches the target speed corresponding to the grid unit.

3. The method according to claim 2, characterized in that The determining of the structural abnormality unit from each of the grid units based on the comparison results corresponding to each of the grid units includes: For any of the grid units, in response to the grid unit having the target set speed among the multiple set speeds, determining the grid unit as a structurally abnormal unit; In response to the grid cell not having the target set speed among the plurality of set speeds, it is determined that the grid cell is not a structurally abnormal cell.

4. A device for detecting abnormal areas of coal rock structure, characterized in that: The device comprises: A first acquisition module is configured to acquire a target velocity inversion map of the coal rock mass; wherein the target velocity inversion map is configured to indicate a target velocity of seismic wave propagation in each grid cell within a target detection area; a comparison module, configured to compare, for any of the grid cells, the target speed corresponding to the grid cell with the set speed to obtain a comparison result; A first determining module is configured to determine a structurally abnormal unit from each of the grid units based on a comparison result corresponding to each of the grid units; A second determining module is configured to determine the range of the structural anomaly area of the coal rock mass in the target velocity inversion map according to the structural anomaly unit; The second determination module is further configured to determine a target detection area of the coal and rock mass and a target source energy corresponding to at least one impact source; wherein a plurality of geophones are provided on one side of the target detection area and an excitation point corresponding to each impact source is provided on the other side; Controlling each of the impact sources to excite seismic waves through corresponding excitation points at corresponding target source energies, so that any of the geophones receives the seismic waves excited from each of the excitation points; Acquiring actual observation data of seismic waves excited at each of the excitation points from each of the geophones, the actual observation data including: first arrival time, amplitude, and displacement; Determine a target velocity inversion map of the coal rock mass using a least squares reverse time migration imaging method based on the actual observation data; Determining a target velocity inversion map of the coal rock mass using a least squares reverse time migration imaging method based on the actual observation data includes: Obtaining a reflection coefficient model according to a pre-constructed wave equation and velocity model; wherein the reflection coefficient model has a corresponding initial reflection coefficient; Based on the Born forward operator and the initial reflection coefficient, performing multiple rounds of iterative calculation process of least squares reverse time migration imaging to update the initial reflection coefficient to a target reflection coefficient; Determining the target velocity corresponding to each grid cell according to the velocity model, the reflection coefficient model, and the target reflection coefficient; The shock source includes a launcher assembly, a rotating platform, a hydraulic station, a vacuum pump, a high-pressure air bottle, a steel plate, and a base; wherein the launcher assembly also includes a bullet, an air chamber, a launcher cavity, a dust collection ring, a shock-absorbing pad, and a support; wherein the rotating platform is used to control the rotation of the launcher assembly to adjust the launch direction of the launcher assembly; The impact source also includes an impact protection device, which includes a first robotic arm, a telescopic device, a water tank, a water pipe, a water suction pump, a second robotic arm and a mobile device, wherein the first robotic arm is arranged on the telescopic device, and is used to clamp the steel plate and adjust the angle of the steel plate, and the second robotic arm is used to clamp the water pipe and can adjust the angle of the water pipe.

5. An electronic device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method according to any one of claims 1 to 3 is implemented.

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