A method, device and system for monitoring surface subsidence in coal mine filling

Abstract

The present invention relates to the field of mining area surface monitoring technology, and specifically to a surface subsidence monitoring method, device and system for coal mine filling. The method of the present invention obtains the elevation data of the current coal mine area and the historical elevation data of the historical filling subsidence area; based on the elevation data, analyzes the temporal changes of the terrain of the current coal mine area to obtain the suspected subsidence area of ​​the current coal mine area; analyzes the temporal stability of the elevation data in each suspected subsidence area to determine the suspected filling subsidence area of ​​the current coal mine area; establishes an elevation data change model based on the historical elevation data; analyzes the degree of consistency between the change trend of the elevation data in the suspected filling subsidence area and the elevation data change model to obtain the filling subsidence area. The present invention can accurately delineate the filling subsidence area to avoid misjudgment and missed judgment; can predict the terrain development trend of the filling subsidence area, adjust the filling strategy in a targeted manner, avoid overfilling, and thus reduce costs.

Description

Technical Field

[0001] The present invention relates to the technical field of mining area surface monitoring, and in particular to a surface subsidence monitoring method, device and system for coal mine filling. Background Art

[0002] The impact of coal mining on regional ecology mainly includes surface subsidence caused by coal mining, which manifests itself in the form of surface movement and deformation, which in turn affects land use, accelerates soil erosion, accelerates land desertification, and damages surface structures. With the development of science and technology and the improvement of environmental protection requirements, more and more coal mining methods have begun to focus on filling coal mining cavities. Backfilling coal mining cavities usually uses sand, slag, waste and other materials. These materials may not be fully compacted during the backfilling process. Over time, the filling materials will naturally sink, causing the surface to sink.

[0003] The existing technology detects the elevation data of multiple locations on the ground, analyzes the elevation data using clustering algorithms, and establishes a digital mine model to achieve real-time monitoring and early warning of ground deformation and subsidence, thereby better controlling ground subsidence. However, when the existing clustering algorithm clusters the surface subsidence caused by coal mine filling, the subsidence data of the coal mine filling area and the normal subsidence area data are similar, resulting in inaccurate identification of the surface subsidence area caused by coal mine filling. Summary of the invention

[0004] In order to solve the above technical problems, the object of the present invention is to provide a method, device and system for monitoring surface subsidence in coal mine filling.

[0005] According to the first aspect of the embodiment of the present application, a surface subsidence monitoring method for coal mine filling is provided, and the technical solution adopted is specifically as follows:

[0006] Obtaining elevation data of the current coal mine area, and obtaining historical elevation data of historical filling subsidence areas in historical coal mine areas;

[0007] Based on the elevation data, analyzing the temporal changes of the topography of the current coal mine area to obtain the suspected subsidence area of ​​the current coal mine area;

[0008] Analyzing the temporal stability of the elevation data in each suspected subsidence area to determine the suspected filling subsidence area in the current coal mine area;

[0009] Based on the historical elevation data, establishing an elevation data change model;

[0010] The degree of agreement between the change trend of the elevation data in the suspected filling and subsidence area and the elevation data change model is analyzed to obtain the filling and subsidence area.

[0011] In some embodiments of the present invention, obtaining elevation data of the current coal mine area includes:

[0012] Get the original elevation data of the current coal mine area;

[0013] Preprocessing the original elevation data to obtain elevation data of the current coal mine area;

[0014] The preprocessing includes: data conversion, outlier removal, data alignment and data denoising.

[0015] In some embodiments of the present invention, based on the elevation data, analyzing the temporal changes of the topography of the current coal mine area to obtain the suspected subsidence area of ​​the current coal mine area includes:

[0016] Based on the elevation data, the difference between the elevation value at the start time and the elevation value at the end time at any monitoring point in the current coal mine area is calculated to obtain the elevation change at all monitoring points in the current coal mine area;

[0017] Set the elevation change threshold;

[0018] Extract monitoring points corresponding to the elevation change amount being greater than or equal to the elevation change threshold to obtain subsidence points;

[0019] All the subsidence points are clustered with the minimum distance to obtain a plurality of clusters, and the clusters represent the suspected subsidence areas of the current coal mine area.

[0020] In some embodiments of the present invention, analyzing the temporal stability of the elevation data in each suspected subsidence area to determine the suspected filling subsidence area of ​​the current coal mine area includes:

[0021] Analyze the entropy value of the elevation data in each of the suspected subsidence areas in time series to obtain the time series stability of the elevation data in each of the suspected subsidence areas;

[0022] Set stability thresholds;

[0023] Determining whether the timing stability is less than the stability threshold;

[0024] If so, the suspected subsidence area corresponding to the time series stability is the suspected filling subsidence area of ​​the current coal mine area.

[0025] In some embodiments of the present invention, analyzing the entropy value of the elevation data in each suspected subsidence area in time series to obtain the time series stability of the elevation data in each suspected subsidence area includes:

[0026] Dividing the elevation data in the suspected subsidence area into multiple intervals equally according to the range of values;

[0027] Count the number of data points in each interval and calculate the ratio of the number of data points in each interval to the total number of data points;

[0028] According to the ratio, the entropy value of the time series change of the elevation data in each of the suspected subsidence areas is calculated to obtain the time series stability of the elevation data in each of the suspected subsidence areas.

[0029] In some embodiments of the present invention, an elevation data change model is established based on the historical elevation data, including:

[0030] Based on the historical elevation data, an average elevation change curve of all monitoring points in the historical filling subsidence area is obtained;

[0031] The change trend characteristics of the average elevation change curve are analyzed, and an elevation data change model is established.

[0032] In some embodiments of the present invention, analyzing the degree of agreement between the change trend of the elevation data in the suspected filling and subsidence area and the elevation data change model to obtain the filling and subsidence area includes:

[0033] According to the elevation data corresponding to each monitoring point in the suspected filling subsidence area, the fitting formula of the elevation data change model is fitted using the least squares method to obtain parameter data of the fitting formula, and then the time-elevation formula corresponding to each monitoring point in the suspected filling subsidence area is obtained;

[0034] According to the time-elevation formula, the predicted elevation value at all times at each monitoring point in the suspected filling subsidence area is obtained;

[0035] Analyze the mean square error between the predicted elevation value and the actual elevation value of each monitoring point at all times to obtain the degree of consistency between the change trend of the elevation data of each monitoring point and the elevation data change model;

[0036] Traversing all monitoring points in the suspected filling subsidence area, obtaining the matching degree corresponding to all monitoring points, and calculating the average value to obtain the matching degree corresponding to the suspected filling subsidence area;

[0037] According to the matching degree, a filled depression area is obtained.

[0038] In some embodiments of the present invention, the filling of the sunken area is obtained according to the matching degree, including:

[0039] Set the matching degree threshold;

[0040] Determining whether the degree of fit is greater than the degree of fit threshold;

[0041] If yes, the suspected filling subsidence area corresponding to the matching degree is the filling subsidence area of ​​the current coal mine area;

[0042] The elevation change of the filled subsidence area during the entire detection time period is analyzed to generate a heat map to represent the subsidence amount of the filled subsidence area.

[0043] According to a second aspect of an embodiment of the present application, a surface subsidence monitoring device for coal mine filling is provided, the device comprising:

[0044] An elevation data acquisition module is used to acquire elevation data of the current coal mine area and to acquire historical elevation data of historical filling subsidence areas in historical coal mine areas;

[0045] A suspected subsidence area analysis module is used to analyze the temporal changes of the topography of the current coal mine area based on the elevation data to obtain the suspected subsidence area of ​​the current coal mine area;

[0046] A suspected filling subsidence area analysis module, used to analyze the temporal stability of the elevation data in each suspected subsidence area, and determine the suspected filling subsidence area in the current coal mine area;

[0047] The filling subsidence area analysis module is used to establish an elevation data change model based on the historical elevation data; and analyze the degree of consistency between the change trend of the elevation data in the suspected filling subsidence area and the elevation data change model to obtain the filling subsidence area.

[0048] According to a third aspect of an embodiment of the present application, a surface subsidence monitoring system for coal mine filling is provided, the system comprising a memory and a processor, wherein:

[0049] The memory is used to store program code;

[0050] The processor is used to read the program code stored in the memory and execute any one of the surface subsidence monitoring methods for coal mine filling.

[0051] Compared with the prior art, the present invention provides a method, device and system for monitoring surface subsidence in coal mine filling, which has the following beneficial effects:

[0052] The present invention firstly analyzes the temporal changes of the terrain in the current coal mine area to preliminarily identify the suspected subsidence area in the current coal mine area; then, according to the uniform settlement characteristics of the coal mine filling area, the coal mine filling settlement and normal ground settlement are distinguished to determine the suspected filling subsidence area in the current coal mine area; then, based on the historical elevation data, an elevation data change model is established; finally, according to the settlement resilience characteristics of the filling subsidence area, an elevation data change model is established for a single suspected filling subsidence area to judge the degree of agreement between the actual elevation value and the model predicted elevation value, thereby obtaining the filling subsidence area in the current coal mine area. The present invention establishes a model based on the settlement resilience characteristics of surface subsidence caused by coal mine filling to further screen the results of the clustering algorithm, thereby obtaining a more accurate surface subsidence area caused by coal mine filling (filling subsidence area), improving the detection accuracy of the filling subsidence area detected by the clustering algorithm, and more accurately delineating the filling subsidence area to avoid misjudgment and missed judgment; moreover, high-precision detection can timely discover the development trend of the filling subsidence area, adjust the filling strategy in a targeted manner, avoid excessive filling or waste of resources, and thus reduce costs; on the other hand, residents around the mining area are particularly sensitive to the risk of surface subsidence, and high-precision detection is helpful to maintain residents' safety and property stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0054] Figure 1 A basic flow chart of a method for monitoring ground subsidence during coal mine filling provided by one embodiment of the present invention;

[0055] Figure 2 A schematic diagram of an average elevation change curve of a historical filling subsidence area in a historical coal mine area provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0056] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of the surface subsidence monitoring method, device and system for coal mine filling proposed by the present invention, its specific implementation method, structure, characteristics and effects in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0057] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art to which the present invention belongs. Terms such as "comprises", "comprising" or any other variant thereof are intended to cover non-exclusive inclusion, so that a circuit structure, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such article or system. In the absence of further restrictions, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the article or system including the element.

[0058] A specific scheme of a surface subsidence monitoring method for coal mine filling provided by the present invention is described in detail below in conjunction with the accompanying drawings.

[0059] See also Figure 1 , which shows the basic process of a surface subsidence monitoring method for coal mine filling provided by an embodiment of the present invention.

[0060] like Figure 1 As shown, an embodiment of the present invention provides a surface subsidence monitoring method for coal mine filling, which specifically includes:

[0061] S100: Acquire elevation data of the current coal mine area, and acquire historical elevation data of historical filling subsidence areas in historical coal mine areas.

[0062] To monitor the surface subsidence area caused by coal filling in the current coal mine area, it is first necessary to obtain the elevation data of the current coal mine area. The specific method of obtaining the elevation data includes: obtaining the original elevation data of the current coal mine area; preprocessing the original elevation data to obtain the elevation data of the current coal mine area.

[0063] Among them, obtaining the original elevation data of the current coal mine area includes: first determining the monitoring scope and monitoring points, that is, determining the scope of the goaf and the area that may sink, obtaining basic data such as the mining area geology, mining history, and filling methods, and prioritizing the marking of surface areas that need to be protected (such as buildings, roads, and farmland), determining the monitoring points, and deploying GNSS measuring instruments at the monitoring points; then setting the monitoring accuracy, the accuracy requirement for elevation monitoring of the coal mine backfill area is centimeter-level, which can meet the needs of most scenarios; finally, obtaining the original elevation data, that is, from the GNSS measuring instruments deployed at the monitoring points in the current coal mine area, obtaining the original elevation data of all the monitoring points in the current coal mine area within a longer period of time, and dividing the original elevation data within this longer period of time into multiple time periods of equal time intervals.

[0064] The methods for preprocessing the original elevation data include: data conversion, outlier removal, data alignment and data denoising. The specific operation of data conversion is to combine the coordinate system for unified processing and convert it into coordinate elevation data; the specific operation of outlier removal is to set the elevation difference threshold, check the difference between the elevation value of each pixel at each monitoring point and the average elevation value or median elevation value of its neighborhood, and if the difference exceeds the set elevation difference threshold, mark it as an outlier and remove it; the specific operation of data alignment is to align the grid resolution and range of the original elevation data with outliers removed; the specific operation of data denoising is to use ArcGIS's "Smooth Raster" tool to apply a low-pass filter to the original elevation data after alignment to reduce small-scale noise, and finally obtain the elevation data of the current coal mine area.

[0065] The historical elevation data of the historical filling subsidence area in the historical coal mine area is obtained by consulting the data in preparation for the subsequent model building. It should be noted that if the historical elevation data is the original elevation data, it also needs to be pre-processed before use. If it is the processed elevation data, it can be used directly.

[0066] S200: Based on the elevation data, the temporal changes of the topography in the current coal mine area are analyzed to obtain the suspected subsidence area in the current coal mine area.

[0067] The surface elevation data of a normal coal mine area does not change much over a period of time. When the bottom of the coal mine collapses or the force on the ground soil above is not enough to support it to maintain its original posture, the local terrain will be lowered. The local area with lowered terrain is manifested in the elevation data as a greater degree of elevation data reduction compared with other normal areas around it over a period of time. Based on this feature, the local area where the terrain subsidence occurs in the current coal mine area can be preliminarily located.

[0068] Therefore, in this embodiment, based on the elevation data, the temporal changes of the terrain in the current coal mine area are analyzed to obtain the suspected subsidence area in the current coal mine area.

[0069] First, based on the elevation data, calculate the difference between the elevation value at the start time and the elevation value at the end time at any monitoring point in the current coal mine area to obtain the elevation change at all monitoring points in the current coal mine area; if the ground subsides, the obtained elevation change data should be greater than 0, so the data less than 0 in the obtained elevation change data is eliminated, and the remaining elevation change data are greater than or equal to 0, that is, the detection points corresponding to these elevation change data have not sunk, have slightly sunk, or have significantly sunk during this period of time.

[0070] Then, an elevation change threshold is set, which can be set to 5 cm; monitoring points corresponding to elevation changes greater than or equal to the elevation change threshold are extracted, that is, monitoring points corresponding to elevation changes greater than or equal to 5 cm are extracted to obtain subsidence points.

[0071] Finally, since surface subsidence often manifests itself as a large area of ​​terrain subsidence, that is, the elevation change data of these areas have regional characteristics in space. Therefore, all subsidence points are clustered with the minimum distance to obtain multiple clusters, each of which represents a suspected subsidence area, that is, the suspected subsidence area of ​​the current coal mine area is obtained.

[0072] S300: Analyze the temporal stability of elevation data in each suspected subsidence area to determine the suspected filling subsidence area in the current coal mine area.

[0073] Due to the strong compressibility, uneven distribution or insufficient strength of coal mine filling materials, they cannot fully support the overlying rock strata, which in turn causes surface subsidence. The above steps preliminarily screened the suspected subsidence areas in the current coal mine area by reducing the characteristics of surface elevation data. However, in these suspected subsidence areas, there are normal ground subsidence or collapse caused by loosening of rock mass during coal mining, and this collapse does not belong to the subsidence area caused by coal mine filling. Therefore, it is necessary to further distinguish between the suspected filling subsidence areas and the normal ground subsidence areas in the suspected subsidence areas.

[0074] For the filled subsidence areas in the current coal mining area, the filling materials support the goaf, reduce the violent fluctuations of the surface, and make the subsidence process smoother. Therefore, the elevation data of the filled subsidence area is often more uniform, showing fewer spike fluctuations, and the change in the elevation data is manifested as a relatively approximate change. For normal ground subsidence or collapse, irregular subsidence will occur after the collapse or loosening of the hollow structure, and large subsidence may occur in local areas. Therefore, the elevation data may show more spike fluctuations, which is manifested as a large change in the elevation data.

[0075] Based on the above analysis, this embodiment determines the suspected filling subsidence area in the current coal mine area by analyzing the temporal stability of the elevation data in each suspected subsidence area. Further, it includes:

[0076] First, by analyzing the entropy value of the time series changes of the elevation data in each suspected subsidence area (the entropy of data is an indicator to measure the uniformity and uncertainty of data distribution, and is often used in probability distribution analysis), the time series stability of the elevation data in each suspected subsidence area is obtained. In the same time period, based on a single suspected subsidence area, the changes in the elevation data of all monitoring points in the area are relatively similar and stable. Therefore, the specific steps are to divide the elevation data in the suspected subsidence area into multiple intervals equally according to the range of values; count the number of data points in each interval, and calculate the proportion of the number of data points in each interval to the total number of data points; according to the proportion, calculate the entropy value of the time series changes of the elevation data in each suspected subsidence area, and obtain the time series stability of the elevation data in each suspected subsidence area. The temporal stability of the elevation data in the suspected subsidence area is expressed by the formula using the entropy value:

[0077]

[0078] In the formula, The value of entropy indicates the temporal stability of elevation data in the suspected subsidence area; Indicates that the elevation data in the suspected subsidence area is divided equally into intervals; Indicates The probability of the interval, that is, The ratio of the number of data points in an interval to the total number of data points; Expressing the The probability of the interval is taken logarithm, and the negative sign indicates that the entropy value is guaranteed to be positive, because is a negative number; It represents the weighted sum of the information content of all intervals.

[0079] Entropy Indicates the uncertainty of data or the complexity of distribution, entropy The larger the entropy value, the more uniform the data distribution is, that is, there are more categories of data distribution, the difference between data is larger, the similarity is lower, and the stability is lower; The smaller it is, the more likely it is that the data set is distributed in a minority of categories, or is close to being completely consistent, and has higher stability.

[0080] Then, a stability threshold is set, and the value of the stability threshold can be 0.5. It is determined whether the time series stability is less than the stability threshold; if so, it is considered that the elevation change data similarity in the suspected subsidence area corresponding to the time series stability is high, that is, the elevation change data stability in this suspected subsidence area is high, therefore, the suspected subsidence area corresponding to the time series stability is the suspected filling subsidence area of ​​the current coal mine area.

[0081] Similarly, the time series stability of all suspected subsidence areas is calculated, and the suspected subsidence areas corresponding to all time series stability less than 0.5 are extracted to obtain all the suspected filling subsidence areas in the current coal mine area.

[0082] S400: Establish an elevation data change model based on historical elevation data.

[0083] The suspected filling subsidence area is extracted by using the characteristic that the change in elevation data of the filling subsidence area is stable, which is different from the normal ground subsidence or collapse. However, the suspected filling subsidence area extracted by the above method will include normal ground subsidence or collapse areas that are about to collapse. The backfill mining area may experience a small subsidence in the early stage of compaction of the filling material, but as time goes by, the subsidence tends to stabilize and a certain recovery force appears; normal ground subsidence or collapse areas usually do not have this recovery effect and are difficult to recover after sinking. Based on the characteristic that the filling subsidence area has subsidence recovery force, an elevation data change model is established, and the suspected filling subsidence areas are further screened by analyzing the change trend of the elevation data.

[0084] Therefore, in this embodiment, an elevation data change model is established based on historical elevation data. The specific steps are as follows: first, based on the historical elevation data of the historical filling subsidence area in the historical coal mine area, the average elevation change curve of all monitoring points in the historical filling subsidence area is obtained, such as Figure 2 Then, by observing the average elevation change curve, it can be found that the initial settlement of the filling subsidence area is fast, then slows down, and finally stabilizes. According to the change trend characteristics of the average elevation change curve, the elevation data change model is established. The elevation data change model of the filling subsidence area is expressed as follows using the formula:

[0085]

[0086] In the formula, Indicates time The surface elevation at time ; It indicates the initial surface elevation value of the filling subsidence area within the monitoring time range; It indicates the maximum surface settlement in the filling subsidence area within the monitoring time range; represents the sedimentation rate parameter; Expressed as a natural constant.

[0087] Represents surface elevation and time Each monitoring point in each filling subsidence area corresponds to a specific functional relationship. , ,and Three parameters, based on a monitoring point in the filling subsidence area, It represents the initial surface elevation value of the filling subsidence area within the monitoring time range, and directly takes the first elevation value of the time series; It indicates the maximum surface settlement of the filling subsidence area within the monitoring time range, that is, the difference between the initial elevation value and the elevation value after stabilization; It represents the sedimentation rate parameter, which is automatically solved through the fitting process and is usually determined by the speed of exponential decay. The sedimentation rate parameter reflects the rate of change of sedimentation. The larger the value, the faster the sedimentation reaches a stable state. Indicates that over time Increase, initial stage: Approaching 0, Approaching 1, the settlement changes rapidly; in the later stage: Approaching ∞, As the value approaches 0, the settlement tends to be stable. This model indicates that the settlement changes dramatically in the early stage (in a short period of time), reflecting the rapid impact of mining activities on the surface. As time goes by, the filling effect becomes apparent, the settlement rate gradually decreases, and finally stabilizes.

[0088] S500: Analyze the degree of agreement between the change trend of the elevation data in the suspected filling subsidence area and the elevation data change model to obtain the filling subsidence area.

[0089] In order to further screen the suspected filling subsidence area, this embodiment obtains the filling subsidence area by analyzing the degree of consistency between the change trend of the elevation data in the suspected filling subsidence area and the elevation data change model. Further, it includes:

[0090] According to the elevation data corresponding to each monitoring point in the suspected filling subsidence area, the fitting formula of the elevation data change model is fitted using the least squares method to obtain the parameter data of the fitting formula, and then the time elevation formula corresponding to each monitoring point in the suspected filling subsidence area is obtained. In , ,and The three parameters are obtained based on a monitoring point in the suspected filling subsidence area. It indicates the initial surface elevation value of the suspected filling subsidence area within the monitoring time range, and directly takes the first elevation value of the time series; It indicates the maximum surface settlement of the suspected filling subsidence area within the monitoring time range, that is, the difference between the initial elevation value and the elevation value after stabilization; represents the sedimentation rate parameter, which is automatically solved by the fitting process and is usually determined by the speed of exponential decay.

[0091] After obtaining the time-elevation formula corresponding to each monitoring point in the suspected filling subsidence area, the predicted elevation value at all times at each monitoring point in the suspected filling subsidence area can be calculated according to the time-elevation formula. And the mean square error between the predicted elevation value and the actual elevation value at all times of the monitoring point is analyzed to obtain the degree of consistency between the change trend of the elevation data of the monitoring point and the elevation data change model. The calculation formula for the degree of consistency is:

[0092]

[0093] In the formula, Indicates the degree of consistency between the change trend of the elevation data of the monitoring points in the suspected filling subsidence area and the elevation data change model; It represents the mean square error between the predicted elevation value and the actual elevation value of the monitoring point at all times.

[0094] Mean square error The smaller the value, the more accurate the model prediction. It indicates the degree of consistency between the elevation data change trend of the monitoring points in this suspected filling subsidence area and the elevation data change model. The larger the value, the greater the consistency.

[0095] Traverse all monitoring points in the suspected filling subsidence area to obtain the corresponding degree of fit of all monitoring points, that is, calculate the degree of fit of all monitoring points in the suspected filling subsidence area, and then calculate the average value of the degree of fit of all monitoring points to obtain the corresponding degree of fit of the suspected filling subsidence area .

[0096] According to the matching degree, the filled subsidence area is obtained. The specific method is as follows: first, a matching degree threshold is set, and the matching degree threshold can be set to 0.8. Then, it is determined whether the matching degree is greater than the matching degree threshold; if so, the matching degree , then the suspected filling subsidence area corresponding to the matching degree is the filling subsidence area of ​​the current coal mine area; extract all The corresponding suspected filling subsidence area is obtained to obtain all the filling subsidence areas in the current coal mine area. Finally, by analyzing the elevation change of the filling subsidence area obtained during the entire detection period, a heat map is generated, and different colors are used to represent the subsidence amount of the filling subsidence area, and the color is used to intuitively reflect the severity of the subsidence, that is, the darker the color, the more serious the subsidence.

[0097] Based on the same inventive concept as the above method, this embodiment also provides a surface subsidence monitoring device for coal mine filling.

[0098] A surface subsidence monitoring device for coal mine filling includes: an elevation data acquisition module, a suspected subsidence area analysis module, a suspected filling subsidence area analysis module and a filling subsidence area analysis module. Among them:

[0099] An elevation data acquisition module is used to acquire elevation data of the current coal mine area and to acquire historical elevation data of historical filling subsidence areas in historical coal mine areas;

[0100] The suspected subsidence area analysis module is used to analyze the temporal changes of the terrain in the current coal mine area based on the elevation data, and obtain the suspected subsidence area in the current coal mine area;

[0101] Suspected filling subsidence area analysis module, used to analyze the temporal stability of elevation data in each suspected subsidence area and determine the suspected filling subsidence area in the current coal mine area;

[0102] The filling subsidence area analysis module is used to establish an elevation data change model based on historical elevation data; and to analyze the degree of consistency between the change trend of elevation data in the suspected filling subsidence area and the elevation data change model to obtain the filling subsidence area.

[0103] Based on the same inventive concept as the above method, this embodiment also provides a surface subsidence monitoring system for coal mine filling.

[0104] A surface subsidence monitoring system for coal mine filling includes a memory and a processor, wherein: the memory is used to store program codes; the processor is used to read the program codes stored in the memory and execute to obtain the elevation data of the current coal mine area and the historical elevation data of the historical filling subsidence areas in the historical coal mine area; based on the elevation data, the temporal changes of the terrain in the current coal mine area are analyzed to obtain the suspected subsidence area in the current coal mine area; the temporal stability of the elevation data in each suspected subsidence area is analyzed to determine the suspected filling subsidence area in the current coal mine area; based on the historical elevation data, an elevation data change model is established; the change trend of the elevation data in the suspected filling subsidence area is analyzed to determine the filling subsidence area.

[0105] It should be noted that the sequence of the above embodiments of the present invention is only for description and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0106] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

Claims

1. A surface subsidence monitoring method for coal mine filling, characterized in that: The method comprises: Obtaining elevation data of the current coal mine area, and obtaining historical elevation data of historical filling subsidence areas in historical coal mine areas; Based on the elevation data, analyzing the temporal changes of the topography of the current coal mine area to obtain the suspected subsidence area of ​​the current coal mine area; Analyzing the temporal stability of the elevation data in each suspected subsidence area to determine the suspected filling subsidence area in the current coal mine area; Based on the historical elevation data, establishing an elevation data change model; Analyze the degree of agreement between the change trend of the elevation data in the suspected filling and subsidence area and the elevation data change model to obtain the filling and subsidence area; Among them, the method for obtaining the suspected filling subsidence area is: analyzing the entropy value of the time series change of the elevation data in each suspected subsidence area, and obtaining the time series stability of the elevation data in each suspected subsidence area; setting a stability threshold; judging whether the time series stability is less than the stability threshold; if so, the suspected subsidence area corresponding to the time series stability is the suspected filling subsidence area of ​​the current coal mine area.

2. The surface subsidence monitoring method for coal mine filling according to claim 1 is characterized in that: Get the elevation data of the current coal mine area, including: Get the original elevation data of the current coal mine area; Preprocessing the original elevation data to obtain elevation data of the current coal mine area; The preprocessing includes: data conversion, outlier removal, data alignment and data denoising.

3. The surface subsidence monitoring method for coal mine filling according to claim 1 is characterized in that: Based on the elevation data, the temporal changes of the topography of the current coal mine area are analyzed to obtain the suspected subsidence area of ​​the current coal mine area, including: Based on the elevation data, the difference between the elevation value at the start time and the elevation value at the end time at any monitoring point in the current coal mine area is calculated to obtain the elevation change at all monitoring points in the current coal mine area; Set the elevation change threshold; Extract monitoring points corresponding to the elevation change amount being greater than or equal to the elevation change threshold to obtain subsidence points; All the subsidence points are clustered with the minimum distance to obtain a plurality of clusters, and the clusters represent the suspected subsidence areas of the current coal mine area.

4. The surface subsidence monitoring method for coal mine filling according to claim 1 is characterized in that: Analyzing the entropy value of the elevation data in each suspected subsidence area in time series to obtain the time series stability of the elevation data in each suspected subsidence area, including: Dividing the elevation data in the suspected subsidence area into multiple intervals equally according to the range of values; Count the number of data points in each interval and calculate the ratio of the number of data points in each interval to the total number of data points; According to the ratio, the entropy value of the time series change of the elevation data in each of the suspected subsidence areas is calculated to obtain the time series stability of the elevation data in each of the suspected subsidence areas.

5. The surface subsidence monitoring method for coal mine filling according to claim 1 is characterized in that: Based on the historical elevation data, an elevation data change model is established, including: Based on the historical elevation data, an average elevation change curve of all monitoring points in the historical filling subsidence area is obtained; The change trend characteristics of the average elevation change curve are analyzed, and an elevation data change model is established.

6. The surface subsidence monitoring method for coal mine filling according to claim 5 is characterized in that: Analyzing the degree of agreement between the change trend of the elevation data in the suspected filling and subsidence area and the elevation data change model to obtain the filling and subsidence area, including: According to the elevation data corresponding to each monitoring point in the suspected filling subsidence area, the fitting formula of the elevation data change model is fitted using the least squares method to obtain parameter data of the fitting formula, and then the time-elevation formula corresponding to each monitoring point in the suspected filling subsidence area is obtained; According to the time-elevation formula, the predicted elevation value at all times at each monitoring point in the suspected filling subsidence area is obtained; Analyze the mean square error between the predicted elevation value and the actual elevation value of each monitoring point at all times to obtain the degree of consistency between the change trend of the elevation data of each monitoring point and the elevation data change model; Traversing all monitoring points in the suspected filling subsidence area, obtaining the matching degree corresponding to all monitoring points, and calculating the average value to obtain the matching degree corresponding to the suspected filling subsidence area; According to the matching degree, a filled depression area is obtained.

7. The surface subsidence monitoring method for coal mine filling according to claim 6 is characterized in that: According to the matching degree, the filled subsidence area is obtained, including: Set the matching degree threshold; Determining whether the degree of fit is greater than the degree of fit threshold; If yes, the suspected filling subsidence area corresponding to the matching degree is the filling subsidence area of ​​the current coal mine area; The elevation change of the filled subsidence area during the entire detection time period is analyzed to generate a heat map to represent the subsidence amount of the filled subsidence area.

8. A surface subsidence monitoring device for coal mine filling, characterized in that: The device comprises: An elevation data acquisition module is used to acquire elevation data of the current coal mine area and to acquire historical elevation data of historical filling subsidence areas in historical coal mine areas; A suspected subsidence area analysis module is used to analyze the temporal changes of the topography of the current coal mine area based on the elevation data to obtain the suspected subsidence area of ​​the current coal mine area; A suspected filling subsidence area analysis module, used to analyze the temporal stability of the elevation data in each suspected subsidence area, and determine the suspected filling subsidence area in the current coal mine area; Among them, the method for obtaining the suspected filling subsidence area is: analyzing the entropy value of the elevation data in each suspected subsidence area in time series, and obtaining the time series stability of the elevation data in each suspected subsidence area; setting a stability threshold; judging whether the time series stability is less than the stability threshold; if so, the suspected subsidence area corresponding to the time series stability is the suspected filling subsidence area of ​​the current coal mine area; The filling subsidence area analysis module is used to establish an elevation data change model based on the historical elevation data; and analyze the degree of consistency between the change trend of the elevation data in the suspected filling subsidence area and the elevation data change model to obtain the filling subsidence area.

9. A surface subsidence monitoring system for coal mine filling, characterized in that: The system comprises a memory and a processor, wherein: The memory is used to store program code; The processor is configured to read the program code stored in the memory and execute the method according to any one of claims 1 to 7.

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