Mining area concealed karst cave position identification and three-dimensional reconstruction method and system

Abstract

The invention discloses a mining area concealed karst cave position identification and three-dimensional reconstruction method and system, and relates to the technical field of geological exploration such as rock soil and mining. The method comprises the following steps: arranging a sound wave transmitting device and a sound wave receiving device at a measuring point of a mining area; positioning data of a sound wave transmitting device and positioning data of each sound wave receiving device are obtained to obtain corresponding space coordinate information, the sound wave transmitting device transmits sound wave signals, and the sound wave receiving devices receive the sound wave signals transmitted along the rock mass; drawing a section energy distribution diagram between the measuring points where the sound wave transmitting device and each sound wave receiving device are located, obtaining a section energy distribution diagram containing space coordinate information, identifying an abnormal region, and obtaining final boundary information of the hidden karst cave; drawing a three-dimensional space distribution diagram of the mining area; and obtaining a three-dimensional stereogram of the hidden karst cave, and calculating the volume of the hidden karst cave based on the three-dimensional stereogram of the hidden karst cave. The precision of geological exploration in the early stage of mineral resource exploitation can be greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of geological exploration technologies such as rock, soil and mining, and in particular to a method and system for identifying and three-dimensionally reconstructing the position of hidden karst caves in mining areas. Background Art

[0002] With the rapid development of my country's economy, the investment in infrastructure projects has increased, and the demand for resources has expanded. Concealed caves in the fields of geotechnical, geology, mining, etc. have occurred from time to time. Concealed caves greatly weaken the strength and bearing capacity of geological bodies and have strong concealment. The resulting safety issues are increasing. They are a large potential source of danger in the fields of geotechnical, mining, etc., which has greatly restricted their development. Therefore, the accurate detection of concealed caves is an important link and basic work to achieve safe mining of mining resources.

[0003] In the existing technology, the geological exploration of mines mainly adopts the combination of geophysical exploration and drilling. For example, although geophysical exploration can detect the cross-sectional position of the hidden cave body, its excitation wave receiving accuracy is not high and is greatly affected by the detection environment. It can only preliminarily infer whether the hidden cave exists in the detection area, and cannot form the spatial distribution information of the hidden cave; drilling can accurately detect the spatial position of the hidden cave, but it is affected by the control of the drilling grid, and it is difficult to accurately obtain the spatial distribution of the hidden cave boundary. Both methods have their own advantages, but they cannot accurately obtain the spatial distribution of the hidden cave, resulting in unreasonable mining of mineral resources and threats to the safe mining of mines.

[0004] Chinese invention patent CN114595497A discloses a method and system for intelligent detection of hidden caves, the method comprising: obtaining the hidden cave detection target area and its attribute information; pre-detection of hidden caves to obtain pre-detection results; detection of hidden caves to obtain detection results. However, the invention ignores the most essential characteristics of hidden caves, that is, according to the filling state of the cave, it can be divided into fully filled caves, partially filled caves and unfilled caves. Its detection equipment, laser rangefinder, is based on the constant propagation speed of light. The distance between the target object and the measuring instrument is calculated by the time required from the emission to the reception of the laser beam. It is mainly suitable for unfilled caves and is greatly affected by the intensity of the light in the measurement environment. It cannot be realized in the detection of fully filled caves and partially filled caves, and the application surface is limited. At the same time, the invention improves the detection accuracy by machine learning and increasing the detection points (drilling). This method requires more detection points (drilling) for the case of a complex internal structure of the cave, which increases the drilling workload of the detection project, and the data collection and processing are cumbersome, which puts great economic pressure. Summary of the invention

[0005] In order to solve at least one of the deficiencies of the prior art and realize safe and efficient mining of mines, the present invention provides a system and method for identifying and three-dimensionally reconstructing the position of hidden caves in mining areas, which is used to solve the problem of accurately locating the positions of hidden caves in mining areas, and can achieve the goals of three-dimensional reconstruction and volume calculation of hidden caves. It can solve the technical difficulties of accurate detection of hidden caves in safe mining projects in mines and improve the accuracy of geological exploration work.

[0006] To achieve the purpose of the present invention, the present invention provides a method for identifying the location of hidden caves in mining areas and reconstructing them in three dimensions, which is characterized by comprising the following steps:

[0007] Step 1: multiple boreholes, i.e. multiple measuring points, are set in the mining area, a sonic wave transmitting device is set in one of the boreholes, and sonic wave receiving devices are set in the other boreholes;

[0008] Step 2: Acquire the positioning data of the sound wave transmitting device and each sound wave receiving device to obtain corresponding spatial coordinate information, the sound wave transmitting device transmits the sound wave signal, and the sound wave receiving device receives the sound wave signal after propagating along the rock mass;

[0009] Step 3: calibrate each positioning data to the actual detection space position, extract the sound wave signal, convert the sound wave signal into readable energy data, preliminarily draw a cross-sectional energy distribution diagram between the measuring points where the sound wave transmitting device and each sound wave receiving device are located, and calibrate the spatial coordinate information of the sound wave transmitting device and each sound wave receiving device to the cross-sectional energy distribution diagram to obtain a cross-sectional energy distribution diagram containing the spatial coordinate information;

[0010] Step 4: If there is a hidden cave between the measuring points where the sound wave transmitting device and the sound wave receiving device are located, the sound wave signal received by the sound wave receiving device will be attenuated to form an abnormal area. The abnormal area is identified based on the cross-sectional energy distribution diagram containing spatial coordinate information, the spatial coordinate information data of the hidden cave close to the side of the sound wave transmitting device is determined, and the boundary information of the abnormal area is marked and extracted, and the boundary information includes point and line information;

[0011] Step 5: swap the sound wave receiving device whose received sound wave signal has been attenuated with the sound wave transmitting device, and perform detection again to obtain the cross-sectional energy distribution diagram containing the spatial coordinate information between the corresponding swapped measuring points, and then determine the spatial coordinate information data of the hidden cave close to the original sound wave receiving device, and mark and extract the boundary information of the abnormal area;

[0012] Step 6: Integrate and overlay the boundary information of the abnormal area marked and extracted in Steps 4 and 5, and obtain the final boundary information of the hidden cave by adjusting the depth position of the acoustic wave transmitting device and the acoustic wave receiving device in the borehole;

[0013] Step 7: Based on all the cross-sectional energy distribution maps and combined with the spatial coordinate information data of the measuring points, the three-dimensional spatial distribution map of the mining area is drawn using the interpolation method;

[0014] Step 8: Based on the final boundary information of the hidden cave obtained in step 6, extract the boundary information data of the hidden cave, combine it with the three-dimensional spatial distribution map of the mining area in step 7, use the interpolation method to obtain the three-dimensional stereogram of the hidden cave, and calculate the volume of the hidden cave based on the three-dimensional stereogram of the hidden cave.

[0015] Preferably, the interpolation method is any one of Kriging interpolation and inverse distance interpolation.

[0016] The present invention also provides a system for identifying the location of hidden caves in mining areas and for three-dimensional reconstruction, which is used to implement the above method. The system comprises:

[0017] Sound wave transmitting device, used for transmitting sound wave signals:

[0018] Multiple sound wave receiving devices, used to receive the sound wave signals emitted by the sound wave transmitting devices:

[0019] A ground control and data acquisition system, used for receiving and storing the sound wave signals emitted by the sound wave transmitting device and the sound wave signals received by the sound wave receiving device;

[0020] The data processing and drawing system is used to pre-process and draw the acoustic wave signals received by the ground control and data acquisition system.

[0021] Preferably, a plurality of boreholes are opened in the mining area, a sound wave transmitting device is arranged in one of the boreholes, and sound wave receiving devices are arranged in the other boreholes.

[0022] Preferably, both the sound wave transmitting device and the sound wave receiving device are equipped with a built-in locator for acquiring positioning data of the sound wave transmitting device and each sound wave receiving device.

[0023] Preferably, both the sound wave transmitting device and the sound wave receiving device are provided with a cone protection structure.

[0024] Preferably, the outer walls of the sound wave transmitting device and the sound wave receiving device are fixed to the borehole wall via a retractable tripod.

[0025] Preferably, the acoustic wave transmitting device is fixed by four retractable tripods and remotely controlled by an acoustic wave transmitting / receiving control system. The acoustic waves are transmitted to the borehole wall through the retractable tripods to reduce the acoustic wave attenuation rate and improve the detection accuracy.

[0026] Preferably, the sound wave receiving device is fixed by four retractable tripods and remotely controlled by a sound wave transmitting / receiving control system. The sound waves are transmitted to the sound wave receiving device through the retractable tripods to improve the sound wave collection and reception effect.

[0027] Preferably, the telescopic tripod comprises a tube sleeve, a telescopic tube, a telescopic rod, a leg fixing ring, a leg, a support rod and a rotating ball, the tube sleeve is built in the sound wave transmitting device and the sound wave receiving device, the telescopic tube is telescopically arranged in the tube sleeve, the telescopic rod is telescopically arranged in the telescopic tube, the leg fixing ring is fixed on the telescopic tube, the leg is fixed on the telescopic tube through the leg fixing ring, and the leg is connected to the rotating ball arranged on the telescopic rod through the support rod, the leg can rotate along the extension direction of the telescopic rod, and the leg and the support rod are contracted and expanded by the extension and contraction of the telescopic rod.

[0028] Preferably, the ground control and data acquisition system includes a sound wave transmitting / receiving control system, and the retractable tripod is controlled by the sound wave transmitting / receiving control system. The sound wave transmitting / receiving control system has built-in start 1 button and reset 1 button for controlling the extension and retraction of the telescopic tube. The start 1 button extends the telescopic tube, and the reset 1 button retracts the telescopic tube; and has built-in start 2 button and reset 2 button for controlling the extension and retraction of the telescopic rod. The start 2 button retracts the telescopic rod and expands the legs, and the reset 2 button extends the telescopic rod and retracts the legs. When the sound wave transmitting device and the sound wave receiving device are lowered and raised, the retractable tripod is folded up by the control of the sound wave transmitting / receiving control system in the ground control and data acquisition system. When the installation positions of the sound wave transmitting device and the sound wave receiving device are determined, the retractable tripod is controlled to extend and unfold by the sound wave transmitting / receiving control system.

[0029] Preferably, the sound wave transmitting device is controlled by a ground control and data acquisition system to excite the sound wave frequency band; the sound wave receiving device is controlled by a ground control and data acquisition system to receive the sound waves.

[0030] Preferably, the sound wave transmitting device is controlled by a ground control and data acquisition system, and can excite sound waves in the frequency band of 20 to 20,000 Hz; the sound wave receiving device is controlled by a ground control and data acquisition system, and can receive sound waves in the frequency band of 20 to 20,000 Hz; the ground control and data acquisition system can control the sound wave transmitting device to transmit sound waves in the frequency band of 20 to 20,000 Hz, adjust the receiving frequency band of the sound wave receiving device according to the characteristics of the geological rock mass, and transmit the data collected in the transmitting frequency band and the receiving frequency band to the ground data acquisition system.

[0031] Preferably, after the sound wave transmitting device transmits the sound wave, the sound wave propagates along the borehole wall, the sound wave receiving device receives the sound wave of the borehole, converts the sound wave signal into an electrical signal, transmits it to the ground control system via optical fiber or cable, and stores the data.

[0032] The present invention provides a method and system for identifying the location of hidden caves in mining areas and for three-dimensional reconstruction, which has at least the following beneficial effects:

[0033] 1. The present invention transmits sound waves in a borehole through a sound wave transmitting device, and installs a sound wave receiving device in the borehole. After the sound wave transmitting device transmits the sound wave, the sound wave receiving device can receive the sound waves emitted by the sound wave transmitting device. When there is a hidden cave between the sound wave transmitting device and the sound wave receiving device, the sound waves received at this position will have an abnormal attenuation zone, thereby realizing preliminary detection of the exploration area.

[0034] 2. In the present invention, if an abnormal acoustic wave area is found during the initial exploration, acoustic wave signal data at different depth levels can be obtained by adjusting the positions of the acoustic wave transmitting device and the receiving device in the borehole, thereby realizing the collection of acoustic wave signal data of the entire section, and further accurately detecting the spatial distribution of hidden caves in the section.

[0035] 3. The present invention can collect multi-directional sound wave signal data by arranging sound wave receiving devices in multiple directions, obtain multi-directional cross-sectional cave information distribution maps, and use interpolation methods such as Kriging / inverse distance interpolation to systematically process multi-sectional hidden cave information, and obtain the three-dimensional spatial distribution of hidden caves in the entire detection area.

[0036] 4. The present invention can digitally process the spatial distribution of hidden caves in the detection area, capture the boundary points, lines and surface information of the hidden cave distribution, accurately identify the spatial form and position of the hidden cave, extract the boundary information through secondary processing, and accurately calculate the volume of the hidden cave.

[0037] 5. The present invention can not only detect the development of hidden caves and accurately identify the spatial form and distribution of hidden caves through the characteristics of acoustic wave signal data, but also calculate the volume of hidden caves, greatly improving the detection accuracy of hidden caves, and preliminarily determine the connectivity between hidden caves and underground water bodies and aquifers, greatly reducing the workload and construction cost of advanced exploration in mines during resource exploitation.

[0038] 6. The present invention is applicable to the detection of any type of hidden caves, can improve the accuracy of the results of detailed geological exploration of mines, and can also indicate the exploration of unfavorable geological bodies such as broken zones and faults, providing accurate and reliable preliminary basic data for the safe, efficient and rational exploitation of mine resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A schematic diagram of the structural composition system of each part in an embodiment of the present invention;

[0040] FIG2( a ) is a schematic diagram of the structure of a sound wave transmitting device and a sound wave receiving device in an embodiment of the present invention;

[0041] FIG2( b ) is a schematic diagram of the structure of a retractable tripod according to an embodiment of the present invention;

[0042] Figure 3 A schematic diagram of the distribution of detection points of the sound wave transmitting device and the sound wave receiving device in an embodiment of the present invention;

[0043] Figure 4 This is a schematic diagram of hidden cave detection in an embodiment of the present invention;

[0044] Figure 5 is a flow chart of a data processing and drawing method in an embodiment of the present invention;

[0045] In the figure: 1. signal and power wires; 2. cone protection structure; 3. retractable tripod; 3-1. pipe sleeve; 3-2. telescopic tube; 3-3 telescopic rod; 3-4. support leg fixing ring; 3-5. support leg; 3-6. support rod; 3-7. rotating ball; 4. positioner; 5. sound wave transmitter or receiver; 6. sound wave transmitting drilling; 7. sound wave receiving drilling; 8. main control machine; 9. signal and power wires; 10. drilling; 11. sound wave receiving device; 12. sound wave transmitting device; 13. hidden cave. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the embodiments of the present invention are described in detail in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0047] like Figure 1 As shown, a system for identifying the position of hidden caves in mining areas and reconstructing them in three dimensions is provided by the present invention, comprising an acoustic wave transmitting device 12, an acoustic wave receiving device 11, a ground control and data acquisition system, and a data processing and drawing system. The ground control and data acquisition system comprises an acoustic wave transmitting / receiving control system, a GPS positioning system, and a data acquisition system. The acoustic wave transmitting / receiving control system, the GPS positioning system, and the data acquisition system are integrated in a main control machine (control platform). The data acquisition system receives and stores the acoustic wave signals emitted by the acoustic wave transmitting device 12 and receives and stores the acoustic wave signals received by the acoustic wave receiving device 11.

[0048] A plurality of boreholes are opened in the mining area, wherein a sound wave transmitting device 12 is arranged in one of the boreholes, and sound wave receiving devices 11 are arranged in other boreholes arranged around the borehole.

[0049] The acoustic wave transmitting device 12 is controlled by the acoustic wave transmitting / receiving control system in the ground control and data acquisition system, and can excite acoustic waves of different frequency bands, such as 20 to 20,000 Hz. After the acoustic wave transmitting device 11 transmits the acoustic wave, the acoustic wave propagates along the borehole wall, and the acoustic wave receiving device 11 receives the acoustic wave information, converts the acoustic wave signal into an electrical signal, and transmits it to the ground control and data acquisition system through an optical fiber or cable for data storage. The acoustic wave receiving device 11 can receive the acoustic wave frequency band and is controlled by the acoustic wave transmitting / receiving control system in the ground control and data acquisition system.

[0050] The acoustic wave transmitting device 12 is activated to excite the signal through the acoustic wave transmitting / receiving control system, and the acoustic wave signal is transmitted to the geological rock mass. After receiving the acoustic wave signal, the acoustic wave receiving device 11 transmits it to the ground control and data acquisition system. When there is hidden cave development in the acoustic wave signal transmission path, the acoustic wave signal received in the path direction will be greatly attenuated, and a signal abnormality area will appear, thereby achieving preliminary detection of hidden caves in the detection area. By adjusting the different directions and depths of the acoustic wave transmitting device 12 and the acoustic wave receiving device 11, accurate detection of the spatial distribution of hidden caves can be achieved.

[0051] The ground control and data acquisition system is used to control the acoustic wave transmitting device 12 to transmit different frequency bands through the acoustic wave transmitting / receiving control system according to the geological rock mass characteristics, adjust the receiving frequency band of the acoustic wave receiving device 11, and transmit the data collected in the transmitting frequency band and the receiving frequency band to the data acquisition system in the ground control and data acquisition system. The collected acoustic wave data is stored and converted into electrical signals through the data acquisition system.

[0052] The acoustic wave transmitting device 12 and the acoustic wave receiving device 11 are both fixed on the borehole wall through a retractable tripod 3, and the ground control and data acquisition system can control the retractable tripod to fix the acoustic wave transmitting device / acoustic wave receiving device. In some embodiments of the present invention, the acoustic wave transmitting device 12 and the acoustic wave receiving device 11 are fixed to the side wall of the borehole using four retractable tripods 3 according to the detection requirements, and the acoustic wave transmitting device 12 excitation signal is started through the acoustic wave transmitting / receiving control system, and the acoustic wave signal can be transmitted to the geological rock mass through the retractable tripod to reduce the energy attenuation caused by air transmission. Please refer to Figure 2(b), the retractable tripod 3 includes a sleeve 3-1, a telescopic tube 3-2, a telescopic rod 3-3, a leg fixing ring 3-4, a leg 3-5, a support rod 3-6 and a rotating ball 3-7. The sleeve 3-1 is built in the sound wave transmitting device 12 and the sound wave receiving device 11. The telescopic tube 3-2 is telescopically arranged in the sleeve 3-1, the telescopic rod 3-3 is telescopically arranged in the telescopic tube 3-2, the leg fixing ring 3-4 is fixed on the telescopic tube 3-2, the leg 3-5 is fixed on the telescopic tube 3-2 through the leg fixing ring 3-4, and the leg 3-5 is connected to the rotating ball 3-7 arranged on the telescopic rod 3-3 through the support rod 3-6, the leg 3-5 can rotate along the extension direction of the telescopic rod 3-3, and the leg 3-5 and the support rod 3-6 are contracted and expanded by the extension and contraction of the telescopic rod 3-3.

[0053] The retractable tripod 3 is controlled by a sound wave transmitting / receiving control system, and the sound wave transmitting / receiving control system is equipped with a start 1 button and a reset 1 button for controlling the telescopic tube 3-2 to be extended and retracted, and the start 1 button is used to extend the telescopic tube 3-2, and the reset 1 button is used to shrink the telescopic tube 3-2; and the start 2 button and the reset 2 button are used to control the telescopic rod 3-3 to be extended and retracted, and the start 2 button is used to shrink the telescopic rod 3-3 and expand the legs, and the reset 2 button is used to extend the telescopic rod 3-3 and fold the legs. The sound wave receiving device 11 is controlled by a sound wave transmitting / receiving control system in a ground control and data acquisition system, and the sound wave transmitting / receiving control system can control the retractable tripod 3 so that the sound wave transmitting device 12 is fixed to the borehole wall through the retractable tripod 3, so as to prevent the swing of the sound wave transmitting device 2 from affecting the instability of receiving the sound wave signal.

[0054] When the sound wave transmitting device 12 and the sound wave receiving device 11 are lowered and lifted, the retractable tripod 3 is put away by the built-in reset button of the sound wave transmitting / receiving control system (first reset button 2 and then reset button 1); when the installation positions of the sound wave transmitting device 12 and the sound wave receiving device 11 are determined, the retractable tripod 3 is extended by the built-in start button of the sound wave transmitting / receiving control system (first start button 1 and then start button 2). After the retractable tripod 3 is extended, the sound wave transmitting device 12 and the sound wave receiving device 11 can be fixed on the borehole wall by supporting the legs 3-5 on the borehole wall.

[0055] By controlling the extension of the retractable tripod 3 through the acoustic wave transmitting / receiving control system, the acoustic wave transmitting device 12 and the acoustic wave transmitting device 12 can be fixed to the borehole wall, preventing the acoustic wave transmitting device 12 from swinging and causing instability of the excitation signal.

[0056] The ground control and data acquisition system, data processing and drawing system, main control system, etc. all use existing products and will not be described in detail here.

[0057] In some embodiments of the present invention, the sound wave transmitting device 12 includes a transmitting body and a sound wave transmitter disposed in the transmitting body, and the sound wave receiving device 11 includes a receiving body and a sound wave receiver disposed in the receiving body. Positioners are disposed in both the transmitting body and the receiving body, and the spatial coordinates of the sound wave transmitting device and the sound wave receiving device are collected by the built-in positioners and transmitted to the ground control and data acquisition system. Cone protection structures 2 are disposed at both ends of the transmitting body and the transmitting body.

[0058] The cone protection structure 2 can facilitate the lowering and lifting of the device along the borehole on the one hand, and can prevent drilling debris from falling and damaging the transmitter and receiver inside on the other hand.

[0059] The data processing and drawing system converts and processes the data collected by the ground control and data acquisition system, and performs visual drawing. Specifically, the data processing and drawing system can convert the data format of the electrical signal in the ground control and data acquisition system, and draw an energy distribution map in combination with the spatial coordinate information collected by the locators of the acoustic wave transmitting device and the acoustic wave receiving device.

[0060] In some embodiments of the present invention, a method for identifying the location of hidden caves in mining areas and three-dimensional reconstruction is also provided, which is implemented by the system provided by the above embodiments. The method includes the following steps:

[0061] Step 1: multiple boreholes, i.e. multiple measuring points, are set in the mining area, a sonic wave transmitting device 12 is set in one of the boreholes, and sonic wave receiving devices 11 are set in the other boreholes.

[0062] In this step, the measurement point layout can be 5-point, 7-point, 9-point, etc., depending on the degree of refinement. One drill hole is one measurement point. Figure 3 , can be arranged in a 5-point type, i.e., 4 sound wave receiving devices 11 are arranged around the sound wave transmitting device 12, can be arranged in a 7-point type, i.e., 6 sound wave receiving devices 11 are arranged around the sound wave transmitting device 12, can be arranged in a 9-point type, i.e., 8 sound wave receiving devices 11 are arranged around the sound wave transmitting device 12. In other embodiments, other arrangements can also be arranged as needed.

[0063] Step 2: Acquire the positioning data of the sound wave transmitting device 12 and each sound wave receiving device 11 to obtain the corresponding spatial coordinate information. The sound wave transmitting device 12 transmits a sound wave signal, and the sound wave receiving device 11 receives the sound wave signal after propagating along the rock mass. The data acquisition system receives and stores the sound wave signal emitted by the sound wave transmitting device 12 and receives and stores the sound wave signal received by the sound wave receiving device 11.

[0064] Step 3: The data processing and mapping system verifies each positioning data to the actual detection space position, extracts the sound wave signal, converts the sound wave signal into readable energy data, preliminarily draws a cross-sectional energy distribution diagram between the measuring points where the sound wave transmitting device and each sound wave receiving device are located, and verifies the spatial coordinate information (obtained by the GPS satellite positioning system) of the sound wave transmitting device 12 and each sound wave receiving device 11 to the cross-sectional energy distribution diagram, and draws the cross-sectional energy distribution diagram containing the spatial coordinate information.

[0065] In this step, data processing is performed on the acoustic wave signals collected between all measuring points, and the data processing includes filtering, noise reduction, gain, and data format conversion to obtain a cross-sectional energy distribution diagram between the measuring points.

[0066] Step 4: Identify the abnormal area based on the cross-sectional energy distribution map containing spatial coordinate information, determine the spatial coordinate information data of the hidden cave close to the side of the sound wave emitting device 12, and mark and extract the boundary information of the abnormal area, wherein the boundary information includes point and line information.

[0067] Step 5: Swap the corresponding sound wave receiving device 11 in the abnormal area, i.e., the sound wave receiving device 11 whose received sound wave signal has been attenuated, with the sound wave transmitting device 12, and perform detection again to obtain the cross-sectional energy distribution diagram containing the spatial coordinate information after the corresponding measuring points are swapped, and then determine the spatial coordinate information data of the hidden cave close to the original sound wave receiving device 11, and mark and extract the boundary information of the abnormal area.

[0068] In this step, the measuring points are swapped, that is, the measuring points of the original sound wave transmitting device 12 are replaced by the measuring points of the sound wave receiving device 11, and the measuring points of the original sound wave receiving device 11 are replaced by the measuring points of the sound wave transmitting device 12, and detection is performed again, so that accurate boundary information of the hidden cave can be obtained and the accuracy of identification can be improved.

[0069] Step 6: Integrate and overlay the boundary information of the abnormal area marked and extracted in steps 4 and 5, and obtain the final boundary information of the hidden cave by adjusting the depth position of the acoustic wave transmitting device 12 and the acoustic wave receiving device 11 in the borehole.

[0070] Step 7: Based on all the cross-sectional energy distribution maps, combined with the GPS spatial coordinate information data of the measuring points, Kriging and inverse distance interpolation methods are used to draw a three-dimensional spatial distribution map of the mining area.

[0071] Step 8: Based on the final boundary information of the hidden cave obtained in step 6, extract the boundary information data of the hidden cave, use Kriging and inverse distance interpolation methods, combined with the three-dimensional spatial distribution map of the mining area in step 7, to obtain a three-dimensional stereogram of the hidden cave, and calculate the volume of the hidden cave based on the three-dimensional stereogram of the hidden cave.

[0072] The data processing and mapping system is configured to perform the following operations:

[0073] Data preprocessing: The positioning data measured by the built-in locators in the acoustic wave transmitting device 12 and the acoustic wave receiving device 11 are used to calibrate the measurement results of the measuring points of each acoustic wave transmitting device 12 and the acoustic wave receiving device 11, i.e., the spatial coordinate information, to the actual detection space position;

[0074] Attribute setting: According to the positioning results of each measuring point, the geological conditions of the detection area (mining area) and the propagation law of sound waves, the attributes are set in the data processing and drawing system (including geological attribute parameters, filtering parameters, noise reduction parameters, etc.), and data preprocessing is performed to achieve the filtering, noise reduction, gain and other effects of the positioning results;

[0075] Data format conversion and drawing: After setting the properties, extract the sound wave signals collected by the data acquisition system, convert the sound wave signals into readable energy data, preliminarily draw a cross-sectional energy distribution diagram between the sound wave transmitting device and the measuring points where each sound wave receiving device is located, integrate and process it with the GPS satellite positioning data, check the spatial coordinate information of each sound wave transmitting device 12 and sound wave receiving device 11 (obtained by the GPS satellite positioning system) to the cross-sectional energy distribution diagram, and draw the cross-sectional energy distribution diagram containing the spatial coordinates.

[0076] Spatial distribution: If there is a hidden cave between the sound wave transmitting device 12 and the sound wave receiving device 11, the sound wave signal received by the sound wave receiving device 11 will be greatly attenuated to form an abnormal area. The abnormal area (hidden cave) can be identified based on the section energy distribution diagram containing spatial coordinates, and the spatial coordinate information data of the hidden cave close to the sound wave transmitting device 12 can be determined. The boundary information of the abnormal area is marked and extracted, and the boundary information includes point and line information. In order to avoid the influence of hidden caves on the signals collected by the sound wave receiving device 11, when there is an abnormal area in the cross-sectional energy distribution diagram drawn by the data collected by the sound wave receiving device 11, the measuring points of the original sound wave transmitting device 12 are replaced by the measuring points of the sound wave receiving device 11, and the measuring points of the original sound wave receiving device 11 are replaced by the measuring points of the sound wave transmitting device 12, and the detection is performed again to determine the spatial coordinate information data of the hidden cave close to the original sound wave receiving device 11, and the boundary information (point and line information) of the abnormal area is marked and extracted, and further, the abnormal area boundary information marked and extracted before and after the exchange is superimposed. The cross-sectional energy distribution diagram between all the measuring points is obtained, and the GPS spatial coordinate information data of all the measuring points are combined, and any interpolation method such as Kriging and inverse distance interpolation is used to draw a three-dimensional spatial distribution diagram of the hidden caves in the detection area. According to the annotation of the hidden cave boundary information, the accurate spatial distribution of the hidden cave is obtained, the extracted abnormal area boundary information is processed, and the volume of the hidden cave is calculated by using any interpolation method such as Kriging and inverse distance interpolation.

[0077] The present invention can collect the sound wave frequency band of the cave and the rock mass, set up the sound wave transmitting and receiving equipment at a fixed point in the area to be surveyed, set the sound wave transmitting frequency, identify whether the cave exists by the receiving frequency of the sound wave, if it exists, adjust the position of the sound wave transmitting / receiving device in the direction of the borehole depth, swap the distribution of the sound wave transmitting device and the sound wave receiving device, and the sound wave frequency band, combine the locator of the sound wave transmitting device and the sound wave receiving device, can accurately identify the spatial form and distribution of the hidden cave, summarize the transmission / receiving frequency band distribution map of the frequency band, can draw the spatial distribution of the cave in the mining area, and further can calculate the volume size of the hidden cave. The present invention can greatly improve the accuracy of geological exploration in the early stage of mineral resource exploitation, effectively avoid safety disasters caused by hidden caves in the process of mineral resource exploitation, reduce the frequency of safety accidents in resource exploitation, and effectively optimize the rational exploitation of resources.

[0078] In the description of the present invention, it should be noted that the terms involved are only used to facilitate the description of the present invention and simplify the description. The concealed cave is a type of adverse geological body and therefore cannot be understood as a limitation to the present invention.

[0079] Although the embodiments of the present invention have been shown and described, the implementation of the present invention is not limited to the above examples, and any other changes, modifications, substitutions, simplifications, and variations made without departing from the spirit and principles of the present invention are included in the protection scope of the present invention.

Claims

1. A method for identifying the location of hidden caves in mining areas and reconstructing them in three dimensions, characterized in that: The following steps are involved: Step 1: multiple boreholes, i.e. multiple measuring points, are set in the mining area, a sonic wave transmitting device is set in one of the boreholes, and sonic wave receiving devices are set in the other boreholes; Step 2: Acquire the positioning data of the sound wave transmitting device and each sound wave receiving device to obtain corresponding spatial coordinate information, the sound wave transmitting device transmits the sound wave signal, and the sound wave receiving device receives the sound wave signal after propagating along the rock mass; Step 3: calibrate each positioning data to the actual detection space position, extract the sound wave signal, convert the sound wave signal into readable energy data, preliminarily draw a cross-sectional energy distribution diagram between the measuring points where the sound wave transmitting device and each sound wave receiving device are located, and calibrate the spatial coordinate information of the sound wave transmitting device and each sound wave receiving device to the cross-sectional energy distribution diagram to obtain a cross-sectional energy distribution diagram containing the spatial coordinate information; Step 4: If there is a hidden cave between the measuring points where the sound wave transmitting device and the sound wave receiving device are located, the sound wave signal received by the sound wave receiving device will be attenuated to form an abnormal area. The abnormal area is identified based on the cross-sectional energy distribution diagram containing spatial coordinate information, the spatial coordinate information data of the hidden cave close to the side of the sound wave transmitting device is determined, and the boundary information of the abnormal area is marked and extracted, and the boundary information includes point and line information; Step 5: swap the sound wave receiving device whose received sound wave signal has been attenuated with the sound wave transmitting device, and perform detection again to obtain the cross-sectional energy distribution diagram containing the spatial coordinate information between the corresponding swapped measuring points, and then determine the spatial coordinate information data of the hidden cave close to the original sound wave receiving device, and mark and extract the boundary information of the abnormal area; Step 6: Integrate and overlay the boundary information of the abnormal area marked and extracted in Steps 4 and 5, and obtain the final boundary information of the hidden cave by adjusting the depth position of the acoustic wave transmitting device and the acoustic wave receiving device in the borehole; Step 7: Based on all the cross-sectional energy distribution maps and combined with the spatial coordinate information data of the measuring points, the three-dimensional spatial distribution map of the mining area is drawn using the interpolation method; Step 8: Based on the final boundary information of the hidden cave obtained in step 6, extract the boundary information data of the hidden cave, combine it with the three-dimensional spatial distribution map of the mining area in step 7, use the interpolation method to obtain the three-dimensional stereogram of the hidden cave, and calculate the volume of the hidden cave based on the three-dimensional stereogram of the hidden cave.

2. A method for identifying and 3D reconstructing the location of hidden caves in mining areas according to claim 1, characterized in that: The interpolation method is any one of a Kriging interpolation method and an inverse distance interpolation method.

3. A system for identifying and reconstructing the location of hidden caves in mining areas, characterized in that: For implementing the method described in any one of claims 1 to 2, the system comprises: Sound wave transmitting device, used for transmitting sound wave signals: Multiple sound wave receiving devices, used to receive the sound wave signals emitted by the sound wave transmitting devices: A ground control and data acquisition system, used for receiving and storing the sound wave signals emitted by the sound wave transmitting device and the sound wave signals received by the sound wave receiving device; The data processing and drawing system is used to pre-process and draw the acoustic wave signals received by the ground control and data acquisition system.

4. A system for identifying and reconstructing the location of hidden caves in mining areas according to claim 3, characterized in that: A plurality of boreholes are opened in the mining area, a sound wave transmitting device is arranged in one of the boreholes, and sound wave receiving devices are arranged in the other boreholes.

5. A system for identifying and reconstructing the location of hidden caves in mining areas according to claim 3, characterized in that: Both the sound wave transmitting device and the sound wave receiving device are equipped with a built-in locator for obtaining the positioning data of the sound wave transmitting device and each sound wave receiving device.

6. A system for identifying and reconstructing the location of hidden caves in mining areas according to claim 3, characterized in that: The sound wave transmitting device and the sound wave receiving device are both provided with cone protection structures.

7. A system for identifying and reconstructing hidden cave locations in mining areas according to claim 4, characterized in that: The outer walls of the sound wave transmitting device and the sound wave receiving device are fixed to the borehole wall through a retractable tripod bracket.

8. A system for identifying and reconstructing the location of hidden caves in mining areas according to claim 7, characterized in that: The telescopic tripod comprises a pipe sleeve, a telescopic tube, a telescopic rod, a leg fixing ring, a leg, a support rod and a rotating ball. The pipe sleeve is built in a sound wave transmitting device and a sound wave receiving device. The telescopic tube is telescopically arranged in the pipe sleeve, the telescopic rod is telescopically arranged in the telescopic tube, the leg fixing ring is fixed on the telescopic tube, the leg is fixed on the telescopic tube through the leg fixing ring, and the leg is connected with a rotating ball arranged on the telescopic rod through the support rod. The leg can rotate along the extension direction of the telescopic rod, and the leg and the support rod are contracted and expanded by the extension and retraction of the telescopic rod.

9. A system for identifying and reconstructing the location of hidden caves in mining areas according to claim 8, characterized in that: The ground control and data acquisition system includes an acoustic wave transmitting / receiving control system. The retractable tripod is controlled by the acoustic wave transmitting / receiving control system. The acoustic wave transmitting / receiving control system has a built-in start button 1 and a reset button 1 for controlling the extension and retraction of the telescopic tube. The start button 1 extends the telescopic tube, and the reset button retracts the telescopic tube; and a built-in start button 2 and a reset button 2 for controlling the extension and retraction of the telescopic rod. The start button 2 retracts the telescopic rod and expands the legs, and the reset button 2 extends the telescopic rod and retracts the legs.

10. A system for identifying and reconstructing the location of hidden caves in mining areas according to any one of claims 3 to 9, characterized in that: The sound wave transmitting device is controlled by the ground control and data acquisition system to excite the sound wave frequency band; the sound wave receiving device is controlled by the ground control and data acquisition system to receive the sound waves.

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