Coal mass outburst elimination gas control method and system

Abstract

The invention provides a coal mass outburst elimination gas control method and system, and relates to the technical field of coal mine safety, and the method comprises the steps: determining a construction region image block in a coal seam panoramic image; detecting a coal seam bedding line; stress data and gas flow data are collected; determining a coal gas outburst data early warning coefficient according to the construction area image block, the coal seam bedding line, the stress data and the gas flow data; sound signals are collected, and a coal gas outburst sound early warning coefficient is determined; determining a coal body gas outburst early warning coefficient according to the coal body gas outburst data early warning coefficient and the coal body gas outburst sound early warning coefficient; according to the coal body gas outburst early warning coefficient, coal body gas pressure relief is controlled. According to the method, the characteristics of the coal seam can be identified in a visual detection manner, and the early omen of the coal and gas outburst event can be detected, so that the gas pressure relief of the coal body is controlled in time, the occurrence probability of the coal and gas outburst event is reduced, and the danger and the loss are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine safety, and in particular to a coal body gas sudden elimination control method and system. Background Art

[0002] CN104074545B discloses a coal and gas outburst monitoring system and a monitoring method. The scheme includes a ground monitoring system electrically connected to a coal and gas outburst monitoring substation, and is characterized in that: the coal and gas outburst monitoring substation is electrically connected to multiple coal and gas outburst monitoring devices, and the coal and gas outburst monitoring substation and multiple coal and gas outburst monitoring devices are powered by a flameproof and intrinsically safe power supply. At the same time, a monitoring method for a coal and gas outburst monitoring system is disclosed. The scheme can monitor the air pressure, gas concentration, and wind direction indicators when a coal and gas outburst occurs in real time, automatically alarm, and can determine the time and location of the coal and gas outburst accident. Combined with the monitoring method, the time and location of the coal and gas outburst accident can be determined in a timely and accurate manner, the scope of the outburst accident can be graphically displayed, the evacuation route of underground personnel can be determined, and specific measures for accident handling can be implemented in a timely manner, such as power off and evacuation, to avoid possible coal and gas explosions after the coal and gas outburst accident occurs, and minimize the losses caused by the accident.

[0003] CN102434208B discloses a coal and gas outburst prediction method and system. The coal and gas outburst prediction method and system of the scheme adopts a coal and gas outburst stress collector to detect the internal stress of the coal body near the mining face in real time, confirms the dangerous state of the mining face according to the detection data, and issues a corresponding alarm. The coal and gas outburst prediction system of the scheme includes a coal and gas outburst stress collector, an alarm instrument and a signal transmission line, which can effectively and real-time extract coal and gas outburst stress, confirm the dangerous state of the mining face according to the detection data, and issue different alarms for "safe", "basic safety" and "dangerous" states respectively.

[0004] Therefore, although the relevant technologies can monitor coal and gas outburst incidents, the relevant technologies usually adopt stress monitoring, gas concentration monitoring and other methods for monitoring. The timing when stress changes and gas concentration changes are monitored is usually late, that is, even if coal and gas outburst incidents are monitored, it is difficult to take timely response measures. Moreover, based on stress monitoring and gas concentration monitoring and other methods, it is difficult to monitor coal and gas outburst incidents at an earlier stage, and it is difficult to reduce the danger and reduce the losses.

[0005] The information disclosed in the background technology section of this application is only intended to deepen the understanding of the general background technology of this application, and should not be regarded as an admission or any form of suggestion that the information constitutes the prior art already known to those skilled in the art. Summary of the invention

[0006] The present invention provides a coal body gas outburst control method and system, which can solve the technical problem that related technologies are difficult to monitor coal and gas outburst events at an earlier stage.

[0007] According to a first aspect of the present invention, a coal body gas sudden control method is provided, comprising:

[0008] A camera capable of capturing a panoramic view of the coal seam is provided, and panoramic images of the coal seam are captured at multiple times during the current monitoring period;

[0009] In the coal seam panoramic image, determining a construction area image block;

[0010] Detecting coal seam bedding lines in the construction area image block by using an image processing model;

[0011] A plurality of stress sensors are arranged on the coal seam working face in the construction area, and stress data collected by the plurality of stress sensors are obtained at multiple times in the current monitoring cycle; a flow meter is arranged in the gas release channel, and gas flow data collected by the flow meter is obtained at multiple times in the current monitoring cycle;

[0012] Determine a coal body gas outburst data warning coefficient according to the construction area image block, the coal seam bedding line, the stress data and the gas flow data;

[0013] Set up sound sensors on the coal seam working face and continuously collect sound signals;

[0014] Determining a coal gas outburst sound warning coefficient according to the sound signal;

[0015] Determining a coal gas outburst warning coefficient according to the coal gas outburst data warning coefficient and the coal gas outburst sound warning coefficient;

[0016] According to the coal gas outburst warning coefficient, the coal gas pressure relief is controlled to eliminate the coal gas outburst.

[0017] According to a second aspect of the present invention, a coal body gas sudden elimination control system is provided, comprising:

[0018] A camera module is used to install a camera capable of capturing a panoramic view of the coal seam and capture panoramic images of the coal seam at multiple moments in the current monitoring cycle;

[0019] An image block module, used to determine the construction area image block in the coal seam panoramic image;

[0020] A coal seam bedding line module, used for detecting coal seam bedding lines in the construction area image block by using an image processing model;

[0021] A collection module, used to set a plurality of stress sensors on the coal seam working surface in the construction area, and obtain stress data collected by the plurality of stress sensors at multiple times in the current monitoring cycle, set a flow meter in the gas release channel, and obtain gas flow data collected by the flow meter at multiple times in the current monitoring cycle;

[0022] A coal body gas outburst data warning coefficient module, used to determine the coal body gas outburst data warning coefficient according to the construction area image block, the coal seam bedding line, the stress data and the gas flow data;

[0023] A sound signal module is used to set a sound sensor on the coal seam working face and continuously collect sound signals;

[0024] A coal gas outburst sound warning coefficient module, used to determine the coal gas outburst sound warning coefficient according to the sound signal;

[0025] A coal gas outburst warning coefficient module, used to determine a coal gas outburst warning coefficient according to the coal gas outburst data warning coefficient and the coal gas outburst sound warning coefficient;

[0026] The control module is used to control the coal gas pressure relief according to the coal gas outburst warning coefficient so as to eliminate the coal gas outburst.

[0027] Technical effect: According to the present invention, the panoramic image of the coal seam collected by the camera can be used to identify the characteristics of the coal seam through visual detection, including the appearance characteristics of the coal seam and the characteristics of the coal seam bedding line, to detect the early signs of coal and gas outburst events. The accuracy of detecting the early signs of coal and gas outburst events can also be further improved through stress detection, gas flow detection, sound detection and other methods. When early signs are detected in the panoramic image of the coal seam, the coal body gas pressure relief is controlled in time, giving the staff more time to react and handle, reducing the probability of coal and gas outburst events, and reducing danger and losses. When determining the risk coefficient of the coal seam bedding line, the deformation degree of the coal seam bedding line can be described from three aspects: the length of the coal seam bedding line, the direction of the coal seam bedding line and the thickness of the coal seam, and then the risk of coal and gas outburst events can be described, which improves the accuracy and objectivity of the coal seam bedding line risk coefficient in describing the risk of coal and gas outburst events. When determining the appearance risk coefficient of the coal seam, the sampling point can be set by the intersection of the first test line and the coal seam bedding line, and the sampling points in the same coal seam can be connected to obtain the trend line, so that the sampling point and the sampling trend line are located in the coal seam, which can accurately detect the change of the pixel value in the coal seam, and can describe the probability of coal and gas outburst events based on the stability of the average pixel value of each line segment in the trend line, thereby improving the accuracy and objectivity of the appearance risk coefficient of the coal seam. When determining the sound warning coefficient, the target sound signal can be collected to eliminate noise interference, and the amplitude and frequency of the target sound signal can be used to determine whether there is a risk of coal and gas outburst events by whether the frequency gradually increases and the amplitude of the sound wave also gradually increases. The characteristics of the sound warning coefficient of coal gas outburst are improved.

[0028] It should be understood that the above general description and the following detailed description are exemplary and explanatory only and do not limit the present invention. Other features and aspects of the present invention will become more apparent from the following detailed description of exemplary embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other embodiments can be obtained based on these drawings without creative work.

[0030] Figure 1 A schematic diagram of a flow chart of a method for controlling coal body gas outburst elimination according to an embodiment of the present invention is exemplarily shown;

[0031] Figure 2 A block diagram of a coal body gas sudden elimination control system according to an embodiment of the present invention is exemplarily shown. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0034] Figure 1 A flow chart of a method for controlling coal body gas outburst elimination according to an embodiment of the present invention is exemplarily shown, and the method comprises:

[0035] Step S101, setting a camera capable of capturing a panoramic view of the coal seam, and capturing panoramic images of the coal seam at multiple moments in the current monitoring cycle;

[0036] Step S102, determining a construction area image block in the coal seam panoramic image;

[0037] Step S103, detecting the coal seam bedding lines in the construction area image block by using an image processing model;

[0038] Step S104, setting a plurality of stress sensors on the coal seam working surface in the construction area, and obtaining stress data collected by the plurality of stress sensors at multiple times in the current monitoring cycle, setting a flow meter in the gas release channel, and obtaining gas flow data collected by the flow meter at multiple times in the current monitoring cycle;

[0039] Step S105, determining a coal body gas outburst data warning coefficient according to the construction area image block, the coal seam bedding line, the stress data and the gas flow data;

[0040] Step S106, setting a sound sensor on the coal seam working face and continuously collecting sound signals;

[0041] Step S107, determining a coal gas outburst sound warning coefficient according to the sound signal;

[0042] Step S108, determining a coal gas outburst warning coefficient according to the coal gas outburst data warning coefficient and the coal gas outburst sound warning coefficient;

[0043] Step S109, controlling the coal gas pressure relief according to the coal gas outburst warning coefficient to eliminate the coal gas outburst.

[0044] According to the coal body gas outburst control method of an embodiment of the present invention, the panoramic image of the coal seam captured by the camera can be used to identify the characteristics of the coal seam through visual detection, including the appearance characteristics of the coal seam and the characteristics of the coal seam bedding line, to detect the early signs of coal and gas outburst events. The accuracy of detecting the early signs of coal and gas outburst events can be further improved through stress detection, gas flow detection, sound detection and other methods. When early signs are detected in the panoramic image of the coal seam, the coal body gas pressure relief is controlled in time, giving the staff more reaction and processing time, reducing the probability of coal and gas outburst events, and reducing the danger and loss.

[0045] According to one embodiment of the present invention, in step S101, the duration of the current monitoring cycle may be 6 hours, 12 hours, 1 day, etc., and the present invention does not limit the duration of the monitoring cycle. The time interval between adjacent moments may be 5 minutes, 10 minutes, 30 minutes, etc., and the present invention does not limit the duration of the time interval between adjacent moments. The camera may be set in an open position far away from the coal seam, and may capture a panoramic view of the coal seam. The camera is a high-definition camera and may have a high resolution, so that details in the coal seam may be observed from the panoramic image of the coal seam captured by it. For example, the direction of the coal seam bedding line may be observed from the panoramic image of the coal seam.

[0046] According to one embodiment of the present invention, in step S102, the construction area image block can be determined in the coal seam panoramic image. For example, the construction area image block can be manually framed in the first coal seam panoramic image taken in each monitoring cycle. Then, in the subsequent multiple coal seam panoramic images, the construction area image blocks in the subsequent multiple coal seam panoramic images can be framed based on the framed position of the construction area image block in the first coal seam panoramic image.

[0047] According to one embodiment of the present invention, in step S103, the image processing model can be a deep learning neural network model, for example, a convolutional neural network model. In addition, in order to save computing power and improve processing efficiency, only the construction area image block can be processed, and there is no need to process the entire coal seam panoramic image. The image processing model can monitor the coal seam bedding lines in the construction area image block. Under normal circumstances, the coal seam bedding lines are clear and have a relatively regular trend, and the spacing between adjacent bedding lines varies little. In the case of a possible coal and gas outburst event, the coal seam bedding lines become irregular, unclear, or even messy due to changes in internal pressure. Therefore, visual features such as coal seam bedding lines can be used as a harbinger of a coal and gas outburst event. When it is detected that the coal seam bedding lines become irregular, unclear, or even messy, an early warning of the coal and gas outburst event can be made, so that the medium gas pressure relief can be controlled as early as possible, and the probability of the medium and gas outburst event can be reduced.

[0048] According to one embodiment of the present invention, in step S104, it is further possible to comprehensively judge whether a coal and gas outburst event is about to occur based on stress data detected by the stress sensor and gas flow data detected by the gas flow meter, thereby improving the accuracy of the judgment and providing more accurate warning information.

[0049] According to one embodiment of the present invention, in step S105, visual features such as the construction area image block and the coal seam bedding lines, as well as measured data such as stress data and the gas flow data, can be integrated to determine the coal gas outburst data warning coefficient, thereby comprehensively judging the possibility of coal and gas outburst events.

[0050] According to one embodiment of the present invention, a coal gas outburst data warning coefficient is determined based on the construction area image block, the coal seam bedding line, the stress data and the gas flow data, including: determining a coal gas outburst visual risk coefficient based on the construction area image block and the coal seam bedding line; determining a coal gas outburst physical monitoring risk coefficient based on the stress data and the gas flow data; determining a coal gas outburst data warning coefficient based on the coal gas outburst visual risk coefficient and the coal gas outburst physical monitoring risk coefficient.

[0051] According to one embodiment of the present invention, the visual risk factor of coal gas outburst can describe the possibility of coal and gas outburst events through visual features such as the construction area image block and the coal seam bedding line. According to the construction area image block and the coal seam bedding line, the visual risk factor of coal gas outburst is determined, including: determining the length of multiple coal seam bedding lines; uniformly setting multiple first sampling points on each coal seam bedding line, and determining the first position coordinates of the first sampling points in the construction area image block; uniformly setting multiple first test lines along the longitudinal direction of the construction area image block; determining the coal seam bedding line risk factor according to the length of multiple coal seam bedding lines, the first position coordinates and the first test line; determining the coal seam appearance risk factor according to the coal seam bedding line, the first test line and the construction area image block; determining the coal gas outburst visual risk factor according to the coal seam bedding line risk factor and the coal seam appearance risk factor.

[0052] According to one embodiment of the present invention, in the absence of a coal and gas outburst event, the coal seam bedding lines are clear and regular, and the bedding lines between different coal seams are close to parallel. When a coal and gas outburst event is about to occur, the coal seam bedding lines will become messy and unclear. Therefore, the lengths of the coal seam bedding lines detected by the image processing model will vary, that is, part of the coal seam bedding lines will become blurred and cannot be detected. Therefore, the deviation between the lengths of multiple coal seam bedding lines can reflect the possibility of a coal and gas outburst event.

[0053] According to one embodiment of the present invention, multiple first sampling points can be evenly set on the coal seam bedding line, that is, the distance between adjacent first sampling points on the same coal seam bedding line is fixed. The positions of the first sampling points can be used to describe the trend of the coal seam bedding line, so as to determine whether the coal seam bedding line shows signs of irregularity or even disorder.

[0054] According to one embodiment of the present invention, multiple first test lines can be evenly set along the longitudinal direction of the image block of the construction area. The first test line is a longitudinal straight line, and the direction of the coal seam bedding line is usually horizontal. Therefore, there is an intersection between the first test line and the coal seam bedding line. The thickness of the coal seam between adjacent coal seam bedding lines can be judged based on the distance between the intersections. Moreover, based on the intersections corresponding to the multiple first test lines, it is determined whether the thickness of the same coal seam at different positions is uniform. If it is not uniform, a coal and gas outburst event may occur.

[0055] According to one embodiment of the present invention, the length of the above coal seam bedding line, the first position coordinates of the first sampling point and the first test line can be combined to determine whether the appearance characteristics of the coal seam bedding line have the characteristics of a coal and gas outburst event. According to the lengths of multiple coal seam bedding lines, the first position coordinates and the first test line, the risk coefficient of the coal seam bedding line is determined, including: obtaining the second position coordinates of the intersection of the first test line and the coal seam bedding line; according to formula (1), determining the risk coefficient C of the coal seam bedding line b ,

[0056]

[0057] Among them, L max is the maximum length of multiple coal seam bedding lines, L min is the minimum length of multiple coal seam bedding lines, n is the number of coal seam bedding lines, (x 1,i,j ,y 1,i,j ) is the first position coordinate of the jth first sampling point on the i-th coal seam bedding line, (x 1,i,j+1 ,y 1,i,j+1 ) is the first position coordinate of the j+1th first sampling point on the i-th coal seam bedding line, n i is the number of the first sampling points on the ith coal seam bedding line, y 2,S,t is the ordinate of the second position coordinate of the tth intersection point on the sth first test line, y 2,s,t+1 is the ordinate of the second position coordinate of the t+1th intersection point on the sth first test line, m is the number of first test lines, m s,max is the number of intersections with the coal seam bedding line on the first test line with the largest number of intersections, max is the maximum value function, min is the minimum value function, i, n, j, n i , s, m, t and m s,max All are positive integers.

[0058] According to one embodiment of the present invention, in formula (1), It is the ratio between the difference between the maximum length and the minimum length of multiple coal seam bedding lines and the maximum length. If there is no sign of coal and gas outburst, the multiple coal seam bedding lines are clear and regular, that is, the coal seam bedding lines can divide different coal seams, and different coal seams are evenly distributed. Therefore, multiple coal seam bedding lines are approximately parallel and their lengths are similar to each other. Therefore, the above ratio is small and close to 0. If there is a sign of coal and gas outburst, some sections of some coal seam bedding lines are not clear, making the length of the detected coal seam bedding lines shorter, resulting in a smaller minimum value among the lengths of multiple coal seam bedding lines, and a larger gap between the maximum value, which makes the above ratio larger. Therefore, the above ratio can be used to describe the probability of coal and gas outburst.

[0059] According to one embodiment of the present invention, in formula (1), It is the absolute value of the slope of the line between two adjacent first sampling points on the same coal seam bedding line. If there is no sign of a coal and gas outburst event, the different coal seams are evenly distributed, the shape of the coal seam bedding line is regular, and the direction will not change significantly. On the contrary, if there is a sign of a coal and gas outburst event, the direction of the coal seam bedding line will change significantly due to the influence of internal stress, causing the absolute value of the slope of the line between the two adjacent first sampling points to change. It is the ratio of the difference between the maximum and minimum values ​​of the absolute value of the slope to the maximum value of the absolute value of the slope. The larger the ratio is, the more serious the change in the shape of the coal seam bedding line, the greater the change in the direction of the coal seam bedding line, and the greater the possibility of coal and gas outburst events.

[0060] It represents the maximum value of the above ratios corresponding to multiple coal seam bedding lines, which is used to represent the degree of shape change of the coal seam bedding line with the most serious shape change, and is used to describe the probability of coal and gas outburst events.

[0061] According to one embodiment of the present invention, in formula (1), y 2,s,t+1 -y 2,s,t is the distance between the intersection of the sth first test line and the tth coal seam bedding line and the intersection of the t+1th coal seam bedding line, and can also represent the thickness of the coal seam between the tth coal seam bedding line and the t+1th coal seam bedding line at the position of the sth first test line, max s∈[1,m] (y 2,s,t+1 -y 2,s,t ) can represent the maximum thickness of the coal seam between the tth coal seam bedding line and the t+1th coal seam bedding line, and min s∈[1,m] (y 2,s,t+1 -y 2,s,t ) represents the minimum thickness of the coal seam between the tth coal seam bedding line and the t+1th coal seam bedding line. Therefore, It can represent the ratio of the difference between the maximum and minimum thickness of the coal seam between the tth coal seam bedding line and the t+1th coal seam bedding line to the maximum thickness. The larger the ratio is, the more serious the coal seam deformation is, the more uneven the coal seam thickness is, and the more likely coal and gas outburst events are.

[0062] It represents the maximum value of the above ratios corresponding to each coal seam, where m s,max is the number of intersections on the first test line with the largest number of intersections with the coal seam bedding line, so m s,max-1 is the maximum number of coal seams detected. In the case of a precursor to a coal and gas outburst, part of the coal seam bedding lines are unclear and may not be detected. Therefore, the number of coal seams detected at unclear locations is less than that at other locations. In order to accurately express the number of coal seams, the above maximum number of layers can be used as the number of layers used in the calculation. In addition, in the case of a precursor to a coal and gas outburst, part of the coal seam bedding lines are unclear, making the coal seam thickness at the unclear location thicker and making the above ratio larger. Therefore, the probability of a coal and gas outburst can be more objectively and accurately reflected.

[0063] According to one embodiment of the present invention, the ratios of the above three probabilities of coal and gas outburst events can be multiplied to obtain the coal seam bedding line risk coefficient, which is used to describe the risk of coal and gas outburst events from the perspective of coal seam bedding lines.

[0064] In this way, the deformation degree of the coal seam bedding line can be described from three aspects: the length of the coal seam bedding line, the direction of the coal seam bedding line and the thickness of the coal seam, and then the risk of coal and gas outburst events can be described, which improves the accuracy and objectivity of the coal seam bedding line risk coefficient in describing the risk of coal and gas outburst events.

[0065] According to one embodiment of the present invention, in addition to the change of coal seam bedding lines being able to reflect the risk of coal and gas outburst events, the appearance of the coal body itself can also reflect the risk of coal and gas outburst events. Sampling can be performed in the coal seam, and the risk of coal and gas outburst events can be reflected based on the change of pixel values ​​at the sampling points. In addition, in order to accurately locate the sampling points in the coal seam, sampling can be performed on the line segment between the first test line and the intersection of two adjacent coal seam bedding lines to obtain the above-mentioned sampling points, and then the changes in pixel values ​​at the sampling points can be analyzed.

[0066] According to one embodiment of the present invention, the coal seam appearance risk coefficient is determined based on the coal seam bedding line, the first test line and the construction area image block, including: obtaining multiple intersection points of the same first test line and multiple coal seam bedding lines; obtaining the midpoints of adjacent intersection points on the same first test line; connecting the jth intersection point and the midpoints of the j+1th adjacent intersection points on the multiple test lines to obtain the strike trend line of the coal seam between the jth coal seam bedding line and the j+1th coal seam bedding line; and determining the coal seam appearance risk coefficient based on the pixel values ​​of the pixel points of the construction area image block on the strike trend line.

[0067] According to one embodiment of the present invention, the midpoint of the intersection of the first test line and two adjacent coal seam bedding lines is in the coal seam and can be used as the above-mentioned sampling point. In addition, the sampling points between the jth coal seam bedding line and the j+1th coal seam bedding line (i.e., the midpoint of the jth intersection and the j+1th adjacent intersection on multiple test lines) can be connected to obtain the trend line of the coal seam between the jth coal seam bedding line and the j+1th coal seam bedding line, that is, a curve describing the direction of the coal seam, and all pixel points on the curve are in the coal seam.

[0068] According to an embodiment of the present invention, the coal seam appearance risk coefficient is determined according to the pixel value of the pixel point of the construction area image block on the trend line, including: determining the coal seam appearance risk coefficient C according to formula (2) o ,

[0069]

[0070] Among them, p [s,(j)-(j+1)]-[s+1,(j)-(j+1)] (h) is the pixel value of the hth pixel point on the line segment between the jth coal seam bedding line and the j+1th coal seam bedding line and between the sth first test line and the s+1th first test line, n s,j is the number of pixels on the line segment between the jth coal seam bedding line and the j+1th coal seam bedding line, m is the number of first test lines, m s,min is the number of intersections on the first test line with the least number of intersections with the coal seam bedding line, max is the maximum value function, min is the minimum value function, j, m s,min ,s,m,n s,j and h are both positive integers.

[0071] According to one embodiment of the present invention, It is the average pixel value of multiple pixel points on the line segment between the sth first test line and the s+1th first test line of the strike trend line between the jth coal seam bedding line and the j+1th coal seam bedding line, that is, the average pixel value of multiple pixel points on the line segment between the sth sampling point and the s+1th sampling point of the strike trend line. It is the ratio of the difference between the maximum and minimum values ​​of the pixel average values ​​of the pixels on each line segment of the trend line to the maximum value. If there is no sign of coal and gas outburst, the pixel values ​​of the pixels on each line segment are relatively uniform, and the ratio is small and close to 0. On the contrary, if there is a sign of coal and gas outburst, the color of part of the coal body will change, causing the pixel values ​​of the pixels on some line segments to change, thereby increasing the above ratio. Therefore, the above ratio describes the probability of coal and gas outburst from the perspective of the appearance of the coal body. The maximum value of the above ratio corresponding to each trend line can be used to calculate the probability of coal and gas outburst. To express the possibility of coal and gas outburst events, that is, the maximum value of the above ratio is used to describe the change of the pixel value of the trend line with the most serious color change, and then to describe the possibility of coal and gas outburst events. s,min is the number of intersections on the first test line with the least number of intersections with the coal seam bedding line. In the presence of a precursor to a coal and gas outburst event, some coal seam bedding lines are unclear and may not be detected. Therefore, the unclear coal seam bedding lines do not have intersections with the first test line, and the trend line cannot be obtained. Therefore, m s,min -1 can represent the number of complete trend lines, and the above maximum value represents the maximum value of the ratio corresponding to the complete trend line, which can more objectively describe the change of pixel value on the trend line and the probability of coal and gas outburst events.

[0075] In this way, the sampling points can be set by the intersection of the first test line and the coal seam bedding line, and the sampling points in the same coal seam can be connected to obtain the trend line, so that the sampling points and the sampling trend line are located in the coal seam, which can accurately detect the changes in the pixel values ​​in the coal seam, and can describe the probability of coal and gas outburst events based on the stability of the average pixel values ​​of each line segment in the trend line, thereby improving the accuracy and objectivity of the coal seam appearance risk factor.

[0076] According to one embodiment of the present invention, the visual risk coefficient of coal gas outburst can be determined based on the coal seam bedding line risk coefficient and the coal seam appearance risk coefficient. For example, the two can be multiplied to obtain the visual risk coefficient of coal gas outburst.

[0077] According to one embodiment of the present invention, a comprehensive judgment can also be made through measured data such as stress data and gas flow data. For example, the physical monitoring risk factor of coal gas outburst can be determined based on stress data and gas flow data. In the example, the average values ​​of stress data and gas flow data at each moment in the historical monitoring period can be obtained, and the stress hazard coefficient can be determined by using the deviation between the stress data detected by multiple stress sensors at multiple moments and the average value of the stress data and the ratio to the average value of the stress data, and the gas flow hazard coefficient can be determined by using the deviation between the gas flow data at each moment and the average value of the gas flow data and the ratio to the average value of the gas flow data, and then the stress hazard coefficient and the gas flow hazard coefficient are multiplied to obtain the physical monitoring risk coefficient of coal gas outburst, so as to describe the risk of coal and gas outburst events from the perspective of measured physical data, and can be used together with the visual risk coefficient of coal gas outburst to comprehensively describe the risk of coal and gas outburst events. For example, the visual risk coefficient of coal gas outburst and the physical monitoring risk coefficient of coal gas outburst can be multiplied to obtain the early warning coefficient of coal gas outburst data, so as to comprehensively describe the risk of coal and gas outburst events.

[0078] According to one embodiment of the present invention, in step S106, the sound signal collected at the coal seam working face can also be used to determine the risk of coal and gas outburst events. For example, as the pressure of the gas increases, the frequency of the coal cannon sound generated by it gradually increases, and the amplitude of the sound wave also gradually increases. Therefore, the characteristics of the coal cannon sound can be used to describe the risk of coal and gas outburst events.

[0079] According to one embodiment of the present invention, in step S107, the sound warning coefficient of coal gas outburst is determined according to the sound signal, including: when it is detected that the amplitude of the sound signal is greater than or equal to the preset amplitude, continuously collecting the target sound signal of the preset time length; sampling the target sound signal to obtain multiple signal sampling points; determining the sampling amplitude of each signal sampling point; fitting the sampling amplitude once to obtain a fitting amplitude function; performing fast Fourier transform on the target sound signal to obtain target spectrum information of the target sound signal; sampling the target spectrum information to obtain multiple spectrum sampling points; fitting the multiple spectrum sampling points once to obtain a fitting spectrum function; determining the sound warning coefficient of coal gas outburst according to the fitting amplitude function and the fitting spectrum function.

[0080] According to one embodiment of the present invention, when the amplitude of the sound signal is detected to be greater than or equal to the preset amplitude, the target sound signal of the preset time length can be continuously collected, that is, other interference noises can be excluded, and only the sound signal of the coal cannon, that is, the target sound signal, can be collected. After the target sound signal is collected, it can be determined whether the target sound signal meets the characteristics of gradually increasing frequency and gradually increasing amplitude of the sound wave. Since the amplitude of the target sound signal may be unstable, the target sound signal can be sampled to obtain multiple signal sampling points, and the signal sampling points can be fitted once to obtain a fitting amplitude function, so as to determine whether the change trend of the amplitude of the sound wave is increasing or decreasing based on the fitting amplitude function. When determining whether the frequency meets the above characteristics, the target sound signal can be fast Fourier transformed to obtain the target spectrum information of the target sound signal, and then the target spectrum information can be sampled, and then the spectrum sampling points can be fitted once to determine the change trend of the fitting spectrum function, that is, whether the frequency increases with the increase of the amplitude. If the amplitude and frequency of the target sound signal meet the above characteristics, it can be determined that there is a risk of coal and gas outburst.

[0081] According to one embodiment of the present invention, the coal gas outburst sound warning coefficient is determined according to the fitting amplitude function and the fitting spectrum function, including: determining the coal gas outburst sound warning coefficient C according to formula (3): S ,

[0082] C S =if[f′ A (t)>0 and f′ F (ω)>0,1,0] (3)

[0083] Among them, f A (t) is the fitting amplitude function, f F (ω) is the fitting spectrum function, f′ A (t) is the first-order derivative of the fitted amplitude function, f′ F (ω) is the first-order derivative of the fitted spectrum function, if[*] is the conditional function, and is the logical operator of “and”.

[0084] According to one embodiment of the present invention, formula (3) indicates that if the first-order derivative value of the fitted amplitude function and the first-order derivative value of the fitted spectrum function are both greater than 0, that is, the frequency of the coal cannon sound gradually increases, and the amplitude of the sound wave also gradually increases, then there is a risk of a coal and gas outburst event, and the conditional function value is 1, otherwise it is 0. The conditional function value can be used as a coal gas outburst sound warning coefficient, which is used to describe whether there is a risk of a coal and gas outburst event from the perspective of sound signals.

[0085] In this way, noise interference can be eliminated by collecting target sound signals, and whether there is a risk of coal and gas outburst incidents can be described by whether the amplitude and frequency of the target sound signal conform to the characteristics of gradually increasing frequency and gradually increasing amplitude of the sound wave, thereby improving the accuracy and objectivity of the coal gas outburst sound warning coefficient.

[0086] According to an embodiment of the present invention, in step S108, the coal gas outburst data warning coefficient and the coal gas outburst sound warning coefficient can be multiplied to obtain the coal gas outburst warning coefficient. The calculation method of the coal gas outburst warning coefficient can indicate that when the target sound signal meets the characteristics of gradually increasing frequency and gradually increasing amplitude of the sound wave, the risk of coal and gas outburst events is described according to the coal gas outburst data warning coefficient. Otherwise, if the target sound signal does not meet the above characteristics, it means that there is no risk of coal and gas outburst events, that is, the gas pressure has not increased, and the risk of coal and gas outburst events determined by visual features and physical data may be wrong, or may indicate other risks, rather than the risk of coal and gas outburst events caused by increased gas pressure.

[0087] According to one embodiment of the present invention, in step S109, if the coal gas outburst warning coefficient is higher than the preset threshold, it means that the risk of coal and gas outburst events is high, and the media gas pressure relief can be controlled to reduce the gas pressure in advance and reduce the probability of more dangerous coal and gas outburst events. For example, the flow rate of the gas release channel can be increased, or a new gas release channel can be added to release the gas pressure in time and reduce the danger.

[0088] According to the coal body gas outburst control method of the embodiment of the present invention, the panoramic image of the coal seam collected by the camera can be used to identify the characteristics of the coal seam through visual detection, including the appearance characteristics of the coal seam and the characteristics of the coal seam bedding line, to detect the early signs of coal and gas outburst events, and can also further improve the accuracy of detecting the early signs of coal and gas outburst events through stress detection, gas flow detection, sound detection and other methods, so that when early signs are detected in the panoramic image of the coal seam, the coal body gas pressure relief is controlled in time, giving the staff more reaction and processing time, reducing the probability of coal and gas outburst events, and reducing danger and loss. When determining the risk coefficient of the coal seam bedding line, the deformation degree of the coal seam bedding line can be described from three aspects: the length of the coal seam bedding line, the direction of the coal seam bedding line and the thickness of the coal seam, and then the risk of coal and gas outburst events is described, which improves the accuracy and objectivity of the coal seam bedding line risk coefficient in describing the risk of coal and gas outburst events. When determining the appearance risk coefficient of the coal seam, the sampling point can be set by the intersection of the first test line and the coal seam bedding line, and the sampling points in the same coal seam can be connected to obtain the trend line, so that the sampling point and the sampling trend line are located in the coal seam, which can accurately detect the change of the pixel value in the coal seam, and can describe the probability of coal and gas outburst events based on the stability of the average pixel value of each line segment in the trend line, thereby improving the accuracy and objectivity of the appearance risk coefficient of the coal seam. When determining the sound warning coefficient, the target sound signal can be collected to eliminate noise interference, and the amplitude and frequency of the target sound signal can be used to determine whether there is a risk of coal and gas outburst events by whether the frequency gradually increases and the amplitude of the sound wave also gradually increases. The characteristics of the sound warning coefficient of coal gas outburst are improved.

[0089] Figure 2 A block diagram of a coal body gas elimination control system according to an embodiment of the present invention is exemplarily shown, and the system includes:

[0090] A camera module is used to install a camera capable of capturing a panoramic view of the coal seam and capture panoramic images of the coal seam at multiple moments in the current monitoring cycle;

[0091] An image block module, used to determine the construction area image block in the coal seam panoramic image;

[0092] A coal seam bedding line module, used for detecting coal seam bedding lines in the construction area image block by using an image processing model;

[0093] A collection module, used to set a plurality of stress sensors on the coal seam working surface in the construction area, and obtain stress data collected by the plurality of stress sensors at multiple times in the current monitoring cycle, set a flow meter in the gas release channel, and obtain gas flow data collected by the flow meter at multiple times in the current monitoring cycle;

[0094] A coal body gas outburst data warning coefficient module, used to determine the coal body gas outburst data warning coefficient according to the construction area image block, the coal seam bedding line, the stress data and the gas flow data;

[0095] A sound signal module is used to set a sound sensor on the coal seam working face and continuously collect sound signals;

[0096] A coal gas outburst sound warning coefficient module, used to determine the coal gas outburst sound warning coefficient according to the sound signal;

[0097] A coal gas outburst warning coefficient module, used to determine a coal gas outburst warning coefficient according to the coal gas outburst data warning coefficient and the coal gas outburst sound warning coefficient;

[0098] The control module is used to control the coal gas pressure relief according to the coal gas outburst warning coefficient so as to eliminate the coal gas outburst.

[0099] It should be understood by those skilled in the art that the embodiments of the present invention described above and shown in the accompanying drawings are only examples and do not limit the present invention. The purpose of the present invention has been fully and effectively achieved. The functional and structural principles of the present invention have been demonstrated and explained in the embodiments, and the embodiments of the present invention may be deformed or modified in any way without departing from the principles.

[0100] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A coal body gas control method, characterized in that: include: A camera capable of capturing a panoramic view of the coal seam is provided, and panoramic images of the coal seam are captured at multiple times during the current monitoring period; In the coal seam panoramic image, determining a construction area image block; Detecting coal seam bedding lines in the construction area image block by using an image processing model; A plurality of stress sensors are arranged on the coal seam working face in the construction area, and stress data collected by the plurality of stress sensors are obtained at multiple times in the current monitoring cycle; a flow meter is arranged in the gas release channel, and gas flow data collected by the flow meter is obtained at multiple times in the current monitoring cycle; Determine a coal body gas outburst data warning coefficient according to the construction area image block, the coal seam bedding line, the stress data and the gas flow data; Set up sound sensors on the coal seam working face and continuously collect sound signals; Determining a coal gas outburst sound warning coefficient according to the sound signal; Determining a coal gas outburst warning coefficient according to the coal gas outburst data warning coefficient and the coal gas outburst sound warning coefficient; According to the coal body gas outburst warning coefficient, the coal body gas pressure relief is controlled to eliminate the coal body gas outburst.

2. The coal body gas control method according to claim 1, characterized in that: Determining a coal body gas outburst data warning coefficient according to the construction area image block, the coal seam bedding line, the stress data and the gas flow data, including: Determining a visual risk factor of coal gas outburst according to the construction area image block and the coal seam bedding line; Determining a physical monitoring risk coefficient of coal gas outburst according to the stress data and the gas flow data; The coal gas outburst data warning coefficient is determined according to the coal gas outburst visual risk coefficient and the coal gas outburst physical monitoring risk coefficient.

3. The coal body gas control method according to claim 2, characterized in that: Determining the visual risk factor of coal gas outburst according to the construction area image block and the coal seam bedding line includes: Determine the length of multiple coal seam bedding lines; Uniformly setting a plurality of first sampling points on each coal seam bedding line, and determining first position coordinates of the first sampling points in the construction area image block; A plurality of first test lines are evenly arranged along the longitudinal direction of the construction area image block; determining a coal seam bedding line risk coefficient based on the lengths of the plurality of coal seam bedding lines, the first position coordinates, and the first test line; Determining a coal seam appearance risk coefficient according to the coal seam bedding line, the first test line and the construction area image block; The visual risk coefficient of coal body gas outburst is determined based on the coal seam bedding line risk coefficient and the coal seam appearance risk coefficient.

4. The coal body gas control method according to claim 3 is characterized in that: Determining a coal seam bedding line risk coefficient according to the lengths of the plurality of coal seam bedding lines, the first position coordinates and the first test line includes: obtaining a second position coordinate of an intersection of the first test line and the coal seam bedding line; According to the formula Determine the risk factor C of coal seam layer organization b , where L max is the maximum length of multiple coal seam bedding lines, L min is the minimum length of multiple coal seam bedding lines, n is the number of coal seam bedding lines, (x 1,i,j ,y 1,i,j 0 is the first position coordinate of the jth first sampling point on the i-th coal seam bedding line, 9x 1,i,j+1 ,y 1,i,j+1 ) is the first position coordinate of the j+1th first sampling point on the i-th coal seam bedding line, n i is the number of the first sampling points on the ith coal seam bedding line, y 2,s,t is the ordinate of the second position coordinate of the tth intersection point on the sth first test line, y 2,s,t+1 is the ordinate of the second position coordinate of the t+1th intersection point on the sth first test line, m is the number of first test lines, m s,max is the number of intersections with the coal seam bedding line on the first test line with the largest number of intersections, max is the maximum value function, min is the minimum value function, i, n, j, n i , s, m, t and m s,max All are positive integers.

5. The coal body gas control method according to claim 3 is characterized in that: Determining a coal seam appearance risk factor according to the coal seam bedding line, the first test line and the construction area image block includes: obtaining multiple intersection points of the same first test line and multiple coal seam bedding lines; Get the midpoints of adjacent intersection points on the same first test line; Connect the jth intersection point on the multiple test lines with the midpoint of the j+1th adjacent intersection point to obtain the strike trend line of the coal seam between the jth coal seam bedding line and the j+1th coal seam bedding line; The coal seam appearance risk coefficient is determined according to the pixel values ​​of the pixel points of the construction area image block on the strike trend line.

6. The coal body gas control method according to claim 5, characterized in that: Determining the coal seam appearance risk factor according to the pixel values ​​of the pixel points of the construction area image block on the strike trend line includes: According to the formula Determine the coal seam appearance risk factor C o , where p [s,(j)-(j+1)]-[s+1,(j)-(j+1)] (h) is the pixel value of the hth pixel point on the line segment between the jth coal seam bedding line and the j+1th coal seam bedding line and between the sth first test line and the s+1th first test line, n s,j is the number of pixels on the line segment between the jth coal seam bedding line and the j+1th coal seam bedding line, m is the number of first test lines, m s,min is the number of intersections on the first test line with the least number of intersections with the coal seam bedding line, max is the maximum value function, min is the minimum value function, j, m s,min ,s,m,n s,j and h are both positive integers.

7. The coal body gas control method according to claim 1, characterized in that: According to the sound signal, the coal gas outburst sound warning coefficient is determined, including: When it is detected that the amplitude of the sound signal is greater than or equal to the preset amplitude, continuously collecting the target sound signal for a preset time period; Sampling the target sound signal to obtain a plurality of signal sampling points; Determine the sampling amplitude of each signal sampling point; Performing a fitting on the sampled amplitude to obtain a fitting amplitude function; Performing a fast Fourier transform on the target sound signal to obtain target frequency spectrum information of the target sound signal; Sampling the target spectrum information to obtain a plurality of spectrum sampling points; Perform a fitting on multiple spectrum sampling points to obtain a fitting spectrum function; The coal gas outburst sound warning coefficient is determined according to the fitting amplitude function and the fitting spectrum function.

8. The coal body gas control method according to claim 7, characterized in that: Determining the coal gas outburst sound warning coefficient according to the fitting amplitude function and the fitting spectrum function includes: According to the formula C S =if[f′ A (t)>0 and f′ F (ω)>0,1,0] Determine the sound warning coefficient C of coal gas outburst S , where f A (t) is the fitting amplitude function, f F (ω) is the fitting spectrum function, f′ A (t) is the first-order derivative of the fitted amplitude function, f′ F (ω) is the first-order derivative of the fitted spectrum function, if[*] is the conditional function, and is the logical operator of "and".

9. A coal body gas sudden elimination control system, characterized in that: include: A camera module is used to install a camera capable of capturing a panoramic view of the coal seam and capture panoramic images of the coal seam at multiple moments in the current monitoring cycle; An image block module, used to determine the construction area image block in the coal seam panoramic image; A coal seam bedding line module, used for detecting coal seam bedding lines in the construction area image block by using an image processing model; A collection module, used to set a plurality of stress sensors on the coal seam working surface in the construction area, and obtain stress data collected by the plurality of stress sensors at multiple times in the current monitoring cycle, set a flow meter in the gas release channel, and obtain gas flow data collected by the flow meter at multiple times in the current monitoring cycle; A coal body gas outburst data warning coefficient module, used to determine the coal body gas outburst data warning coefficient according to the construction area image block, the coal seam bedding line, the stress data and the gas flow data; A sound signal module is used to set a sound sensor on the coal seam working face and continuously collect sound signals; A coal gas outburst sound warning coefficient module, used to determine the coal gas outburst sound warning coefficient according to the sound signal; A coal gas outburst warning coefficient module, used to determine a coal gas outburst warning coefficient according to the coal gas outburst data warning coefficient and the coal gas outburst sound warning coefficient; The control module is used to control the coal gas pressure relief according to the coal gas outburst warning coefficient so as to eliminate the coal gas outburst.

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