Rock burst monitoring and early warning method and device based on rock noise time sequence characteristics

Abstract

The invention relates to a rock burst monitoring and early warning method and device based on rock noise time sequence characteristics. The method comprises the steps of generating a frequency change gradient sequence based on a frequency sequential sequence, generating an energy change gradient sequence based on an energy sequential sequence, determining whether the frequency change gradient sequence and the energy change gradient sequence meet a first preset condition, and obtaining a first judgment result; determining a first frequency maximum value in the frequency sequential sequence, determining a first energy maximum value in the energy sequential sequence, determining whether the first frequency maximum value meets a second preset condition, and obtaining a second judgment result; determining a first difference value between the first time node and the second time node, determining whether the first difference value meets a third preset condition, and obtaining a third judgment result; and performing early warning according to the first judgment result, the second judgment result and the third judgment result. According to the scheme, the timeliness and accuracy of rock burst early warning are improved.

Description

Technical Field

[0001] The present disclosure relates to the field of coal mine safety technology, and in particular to a method and device for monitoring and early warning of rock burst based on time series characteristics of ground sound. Background Art

[0002] Among the related technologies, rock burst is one of the major disasters currently faced by coal mine safety production. Its essence is the result of unstable and rapid release of energy in the coal-rock system during adjustment. Its typical feature is instantaneous suddenness. Therefore, it is necessary to monitor the rock burst of coal-rock mass in real time, so as to issue early warning in time to ensure the safety of coal mining. However, traditional rock burst early warning methods usually use drill cuttings method, coal seam drilling stress, microseismic, etc. The timeliness, accuracy and safety of these early warning methods are difficult to meet actual needs. Summary of the invention

[0003] In order to overcome the problems existing in the related art, the present disclosure provides a method and device for monitoring and early warning of rock burst pressure based on the time series characteristics of ground sound.

[0004] According to a first aspect of an embodiment of the present disclosure, a method for monitoring and early warning of rock burst pressure based on a time series feature of ground sound is provided, comprising:

[0005] Acquire the ground sound frequency data and ground sound energy data of the target monitoring area of ​​the coal mine according to the preset frequency;

[0006] Using the ground sound frequency data to update the frequency time series sequence, and using the ground sound energy data to update the energy time series sequence;

[0007] Generate a frequency change gradient sequence based on the frequency time series sequence, and generate an energy change gradient sequence based on the energy time series sequence, determine whether the frequency change gradient sequence and the energy change gradient sequence meet a first preset condition, and obtain a first judgment result;

[0008] Determine a first frequency maximum value in the frequency time series, and determine a first energy maximum value in the energy time series, and determine whether the first frequency maximum value and the first energy maximum value meet a second preset condition to obtain a second judgment result;

[0009] Determine a first difference between a first time node corresponding to the first frequency maximum value and a second time node corresponding to the first energy maximum value, determine whether the first difference meets a third preset condition, and obtain a third judgment result;

[0010] According to the first judgment result, the second judgment result and the third judgment result, a warning level is determined, and a rock burst risk warning is issued according to the warning level.

[0011] In some embodiments of the present disclosure, determining whether the frequency change gradient sequence and the energy change gradient sequence meet a first preset condition to obtain a first judgment result includes:

[0012] In the case where it is identified whether there are a first subsequence, a second subsequence, a third sequence and a fourth sequence connected in sequence in the frequency change gradient sequence, and it is identified that there is no negative value in the frequency change gradient sequence, it is determined that the frequency change gradient sequence meets the first sub-condition; wherein the difference between the frequency change gradient values ​​in the first subsequence and the fourth subsequence and the value of 0 is less than a first preset threshold, the frequency change gradient value in the second subsequence increases exponentially, and the frequency change gradient value in the third sequence decreases to a second preset threshold within a preset time period; and the difference between the second preset threshold and the value of 0 is less than the first preset threshold;

[0013] When it is identified whether there are a fifth subsequence, a sixth subsequence, a seventh sequence and an eighth sequence connected in sequence in the energy change gradient sequence, and when it is identified that there is no negative value in the energy change gradient sequence, it is determined that the energy change gradient sequence satisfies the second subcondition; wherein the difference between the energy change gradient values ​​in the fifth subsequence and the eighth subsequence and the value 0 is less than a first preset threshold, the energy change gradient value in the sixth subsequence increases exponentially, and the energy change gradient value in the seventh sequence decreases to a second preset threshold within a preset time period; and the difference between the second preset threshold and the value 0 is less than the first preset threshold;

[0014] When both the first sub-condition and the second sub-condition are satisfied, it is determined that the first judgment result satisfies the first preset condition.

[0015] In some embodiments of the present disclosure, determining the first frequency maximum value in the frequency time series, determining the first energy maximum value in the energy time series, and determining whether the first frequency maximum value and the first energy maximum value meet a second preset condition to obtain a second judgment result include:

[0016] Acquire historical geoacoustic frequency data and historical geoacoustic energy data of the target monitoring area of ​​the coal mine;

[0017] Determine a first interval using the historical geo-frequency data;

[0018] Determining a second interval using the historical geosound energy data;

[0019] Determine a first frequency maximum value and a first frequency cumulative value in the frequency time series, and calculate a frequency ratio of the first frequency maximum value to the first frequency cumulative value;

[0020] Determine a first energy maximum value and a first energy cumulative value in the energy time series, and calculate an energy proportion of the first energy maximum value in the first energy cumulative value;

[0021] When the frequency proportion value falls within the first interval and the energy proportion value falls within the second interval, it is determined that the second judgment result satisfies the second preset condition.

[0022] In some embodiments of the present disclosure, determining the first interval by using the historical geofrequency data includes:

[0023] Obtaining the second maximum frequency value each time rock burst occurs in the mining area where the target monitoring area of ​​the coal mine is located, and the cumulative frequency value of the mining area;

[0024] For each second frequency maximum value, determine the proportion of the second frequency maximum value in the frequency cumulative value to obtain a first ratio;

[0025] Selecting the first ratio corresponding to the first occurrence of rock burst as the frequency target ratio;

[0026] Calculating the frequency standard deviation of all first ratios, calculating the sum of the frequency target ratio and the frequency standard deviation to obtain the upper limit value of the first interval, and calculating the difference between the frequency target ratio and the frequency standard deviation to obtain the lower limit value of the first interval;

[0027] The determining the second interval by using the historical geosound energy data comprises:

[0028] Obtaining the second maximum energy value each time rock burst occurs in the mining area where the target monitoring area of ​​the coal mine is located, and the energy cumulative value of the mining area;

[0029] For each second energy maximum value, determining the proportion of the second energy maximum value in the energy cumulative value to obtain a second ratio;

[0030] Selecting the second ratio corresponding to the first occurrence of rock burst as the energy target ratio;

[0031] Calculate the energy standard deviation of all second ratios, calculate the sum of the energy target ratio and the energy standard deviation to obtain the upper limit value of the second interval, calculate the difference between the energy target ratio and the energy standard deviation to obtain the lower limit value of the second interval.

[0032] In some embodiments of the present disclosure, determining a first difference between a first time node corresponding to the first frequency maximum value and a second time node corresponding to the first energy maximum value, determining whether the first difference satisfies a third preset condition, and obtaining a third judgment result includes:

[0033] Obtaining a third time node corresponding to the second frequency maximum value each time rock burst occurs in the mining area where the coal mine target monitoring area is located, and a fourth time node corresponding to the second energy maximum value each time rock burst occurs;

[0034] For each occurrence of rock burst, calculating a second difference between a third time node corresponding to the rock burst and a fourth time node corresponding to the rock burst;

[0035] The absolute value of the second difference corresponding to the first occurrence of rock burst is selected as the target difference;

[0036] Calculate the standard deviation of the time intervals of all second differences;

[0037] Calculate the sum of the time interval standard deviation and 1 to obtain a first sum value, and multiply the first sum value by the target difference value to obtain an upper limit value;

[0038] Calculate the difference between the time interval standard deviation and 1 to obtain a first difference value, and multiply the first difference value by the target difference value to obtain a lower limit value;

[0039] Obtain a third interval according to the upper limit value and the lower limit value;

[0040] When the first difference falls within the third interval, it is determined that the third judgment result satisfies the third preset condition.

[0041] In some embodiments of the present disclosure, determining the warning level according to the first judgment result, the second judgment result, and the third judgment result includes:

[0042] When the first judgment result is that the first preset condition is not met, determining the warning level as no danger;

[0043] When the first judgment result satisfies the first preset condition, the second judgment result satisfies the second preset condition, and the third judgment result does not satisfy the third preset condition, determining that the warning level is a medium impact risk;

[0044] When the first judgment result satisfies the first preset condition, the second judgment result does not satisfy the second preset condition, and the third judgment result satisfies the third preset condition, determining that the warning level is a medium impact risk;

[0045] When the first judgment result satisfies the first preset condition, the second judgment result satisfies the second preset condition, and the third judgment result satisfies the third preset condition, the warning level is determined to be a strong impact hazard.

[0046] According to a second aspect of an embodiment of the present disclosure, a rock burst monitoring and early warning device based on ground sound time series characteristics is provided, comprising:

[0047] An acquisition unit, used for acquiring ground sound frequency data and ground sound energy data of a target monitoring area of ​​a coal mine according to a preset frequency;

[0048] An updating unit, configured to update a frequency time series sequence using the ground sound frequency data, and to update an energy time series sequence using the ground sound energy data;

[0049] A first judgment unit is used to generate a frequency change gradient sequence based on the frequency time series sequence, and to generate an energy change gradient sequence based on the energy time series sequence, and to determine whether the frequency change gradient sequence and the energy change gradient sequence meet a first preset condition, and to obtain a first judgment result;

[0050] a second judgment unit, configured to determine a first frequency maximum value in the frequency time series, and determine a first energy maximum value in the energy time series, and determine whether the first frequency maximum value and the first energy maximum value meet a second preset condition to obtain a second judgment result;

[0051] a third judgment unit, configured to determine a first difference between a first time node corresponding to the first frequency maximum value and a second time node corresponding to the first energy maximum value, determine whether the first difference satisfies a third preset condition, and obtain a third judgment result;

[0052] The early warning unit is used to determine the early warning level according to the first judgment result, the second judgment result and the third judgment result, and to issue an early warning of rock burst risk according to the early warning level.

[0053] According to a third aspect of an embodiment of the present disclosure, an electronic device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method described in any one of the first aspects is implemented.

[0054] According to a fourth aspect of an embodiment of the present disclosure, there is provided a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the method according to any one of the first aspects is implemented.

[0055] According to a fifth aspect of an embodiment of the present disclosure, a computer program product is provided, comprising a computer program, wherein the computer program implements the method as described in any one of the first aspects when executed by a processor.

[0056] The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: by obtaining ground sound frequency data and ground sound energy data of the target monitoring area of ​​the coal mine according to a preset frequency; using the ground sound frequency data to update the frequency time series sequence, and using the ground sound energy data to update the energy time series sequence; generating a frequency change gradient sequence based on the frequency time series sequence, and generating an energy change gradient sequence based on the energy time series sequence, determining whether the frequency change gradient sequence and the energy change gradient sequence meet a first preset condition, and obtaining a first judgment result; determining the first frequency maximum value in the frequency time series sequence, and determining the first energy maximum value in the energy time series sequence, determining whether the first frequency maximum value and the first energy maximum value meet a second preset condition, and obtaining a second judgment result; determining the first difference between the first time node corresponding to the first frequency maximum value and the second time node corresponding to the first energy maximum value, determining whether the first difference meets a third preset condition, and obtaining a third judgment result; determining a warning level based on the first judgment result, the second judgment result, and the third judgment result, and issuing a warning according to the warning level. By analyzing and processing the ground sound energy time series and the ground sound frequency time series, it is possible to comprehensively judge whether there is a risk of rock burst based on the time series characteristics of the ground sound in the mine, thereby improving the timeliness and accuracy of rock burst warning.

[0057] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0059] Figure 1 It is a flow chart showing a method for monitoring and early warning of rock burst pressure based on the time series characteristics of ground sound according to an exemplary embodiment.

[0060] Figure 2 It is a block diagram of a rock burst monitoring and early warning device based on ground sound time series characteristics according to an exemplary embodiment.

[0061] Figure 3 It is a block diagram of a device for a rock burst monitoring and early warning method based on ground sound time series characteristics according to an exemplary embodiment. DETAILED DESCRIPTION

[0062] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0063] The terms used in the disclosed embodiments are only for the purpose of describing specific embodiments, and are not intended to limit the disclosed embodiments. The singular forms "a", "an" and "the" used in the disclosed embodiments and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0064] It should be understood that although the terms first, second, third, etc. may be used to describe various information in the disclosed embodiments, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the disclosed embodiments, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein may be interpreted as "at" or "when" or "in response to determination".

[0065] In addition, various forms of processes shown in the embodiments of the present disclosure may be used to reorder, add or delete steps. For example, the steps described in the present application may be performed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the present disclosure can be achieved, and this document does not limit this.

[0066] Among the related technologies, rock burst is one of the major disasters currently faced by coal mine safety production. Its essence is the result of unstable and rapid release of energy in the coal-rock system during adjustment. Its typical feature is instantaneous suddenness. Therefore, it is necessary to monitor the rock burst of coal-rock mass in real time, so as to issue early warning in time to ensure the safety of coal mining. However, traditional rock burst early warning methods usually use drill cuttings method, coal seam drilling stress, microseismic, etc. The timeliness, accuracy and safety of these early warning methods are difficult to meet actual needs.

[0067] Real-time, accurate and remote monitoring and early warning of rock burst is one of the important prerequisites for carrying out pressure relief, hazard relief and rock burst prevention work. At present, rock burst mines generally adopt the real-time joint monitoring and early warning mode of multiple parameters such as the cuttings method, coal seam drilling stress, microseismicity and ground sound. The cuttings method is the most traditional monitoring method with a simple operation process, but it is rarely used on site. The reasons are: first, the work is cumbersome, the degree of mechanization is low, a large amount of manpower and material resources are required, and the data reliability is poor; second, the drilling depth of the cuttings construction is generally 15m, and the drilling spacing is 10-50m, which limits the monitoring area to a discontinuous area of ​​0-15m in the coal wall of the mining tunnel. Moreover, the drilling construction area is not necessarily the rock burst danger area, and the data processing is lagging, and there are missed detections in time and space; third, the drilling construction area of ​​the cuttings method is located in the support pressure influence area, with high rock burst danger and high safety hazards for construction workers. Coal seam drilling stress monitoring has a simple principle, simple construction process and wide application, but the early warning effect is not good and it is often used as an auxiliary monitoring method. The reasons are: first, coal seam drilling stress monitoring can only obtain stress change values, and is limited to the vertical direction, and cannot monitor horizontal stress. Therefore, it is impossible to achieve effective monitoring and early warning for impact ground pressure dominated by horizontal stress; second, the construction requirements of coal seam drilling stress sensors are high, requiring the pressure surface of the oil pressure pillow to remain horizontal and in contact with the hole wall, and the oil pipe to be intact, etc., which are subject to large interference, high failure rate, and leakage of protection. Third, coal seam stress monitoring adopts group arrangement, with 2 measuring points arranged in each group. The depth of the measuring points is generally 9m and 15m, and the group spacing is generally 10-30m. The monitoring range is 300m ahead of the working face. The monitoring area is limited to the discontinuous area of ​​0-15m in the coal wall of the mining roadway, and there is spatial leakage. Microseismic monitoring uses sensors installed underground or on the ground to obtain vibration waves generated by the fracture of coal and rock masses underground. Based on the arrival time of the P wave of the vibration wave received by each sensor, a positioning algorithm is used to calculate the fracture position, time and degree of the coal and rock masses. However, the frequency of microseismic monitoring events is less than 150Hz, the energy is greater than 100J, and it can only monitor microseismic events that have already occurred, and cannot provide effective early warning. Compared with the above-mentioned early warning methods, geoacoustic monitoring can obtain real-time microvibration information on the incubation, generation, expansion and through-fracture of cracks in the process of micro-fracture to instability and destruction of coal and rock masses. It has rich precursor information and is not easily disturbed. By analyzing the geoacoustic information, the damage evolution characteristics inside the coal and rock mass can be inferred, and its internal energy adjustment trend can be evaluated. The monitoring range can cover the area affected by the bearing pressure of the mining working face, and real-time monitoring can be carried out to achieve short-term and early warning.

[0068] However, the research on monitoring and early warning of rock burst is still in the exploratory stage, and there is a lack of research on the temporal law of the ground sound before rock burst occurs. How to establish a monitoring and early warning model based on the precursor information of rock burst and select early warning indicators with predictive significance and practical application on site is the key to achieving short-term and early warning of rock burst.

[0069] In order to solve the above problems, the present disclosure provides a method and device for monitoring and early warning of rock burst based on ground sound time series characteristics, which obtains ground sound frequency data and ground sound energy data of a target monitoring area of ​​a coal mine according to a preset frequency; updates a frequency time series sequence using the ground sound frequency data, and updates an energy time series sequence using the ground sound energy data; generates a frequency change gradient sequence based on the frequency time series sequence, and generates an energy change gradient sequence based on the energy time series sequence, determines whether the frequency change gradient sequence and the energy change gradient sequence meet a first preset condition, and obtains a first judgment result; determines a first frequency maximum value in the frequency time series sequence, and determines a first energy maximum value in the energy time series sequence, determines whether the first frequency maximum value and the first energy maximum value meet a second preset condition, and obtains a second judgment result; determines a first difference between a first time node corresponding to the first frequency maximum value and a second time node corresponding to the first energy maximum value, determines whether the first difference meets a third preset condition, and obtains a third judgment result; determines a warning level based on the first judgment result, the second judgment result, and the third judgment result, and issues a warning according to the warning level. By analyzing and processing the ground sound energy time series and the ground sound frequency time series, it is possible to comprehensively judge whether there is a risk of rock burst based on the time series characteristics of the ground sound in the mine, thereby improving the timeliness and accuracy of rock burst warning.

[0070] Figure 1 is a flow chart of a rock burst monitoring and early warning method based on ground sound time series characteristics according to an exemplary embodiment. Figure 1 As shown, it should be noted that the rock burst monitoring and early warning method based on the ground sound time series characteristics of the embodiment of the present disclosure is applied to the rock burst monitoring and early warning device based on the ground sound time series characteristics. Figure 1 As shown, the method may include the following steps:

[0071] Step 101, obtaining ground sound frequency data and ground sound energy data of a target monitoring area of ​​a coal mine according to a preset frequency.

[0072] In one embodiment, a geophone probe may be installed behind the coal mining face to obtain geophone frequency data and geophone energy data.

[0073] Step 102, using the ground sound frequency data to update the frequency time series sequence, and using the ground sound energy data to update the energy time series sequence.

[0074] It can be understood that the frequency time series is obtained by sorting the frequency data according to the data collection time, and the latest collected ground sound frequency data can be stored at the end of the frequency time series, thereby updating the frequency time series. The frequency time series is obtained by sorting the energy data according to the data collection time, and the latest collected ground sound energy data can be stored at the end of the energy time series, thereby updating the energy time series.

[0075] For example, the geosound characteristic time series of geosound energy index and geosound frequency index can be obtained, as of the current monitoring time node T N The frequency index time series is FT0, FT1, FT2, FT3, ..., FT N , as of the current time node T N The energy indicator time series sequence is ET0, ET1, ET2, ET3, ..., ET N .

[0076] Step 103, generating a frequency change gradient sequence based on the frequency time series sequence, and generating an energy change gradient sequence based on the energy time series sequence, determining whether the frequency change gradient sequence and the energy change gradient sequence meet a first preset condition, and obtaining a first judgment result.

[0077] In one embodiment of the present disclosure, the frequency change gradient sequence is F1 = [(FT1-FT0)-(FT0-0)], F2 = [(FT2-FT1)-(FT1-FT0)], F3 = [(FT3-FT2)-(FT2-FT1)], ..., F N =[(FT N -FT N-1 )-(FT N-1 -FT N-2 )].

[0078] In one embodiment of the present disclosure, the energy change gradient sequence is E1 = [(ET1-ET0)-(ET0-0)], E2 = [(ET2-ET1)-(ET1-ET0)], E3 = [(ET3-ET2)-(ET2-ET1)], ..., E N =[(ET N -ET N-1 )-(ET N-1 -ET N-2 )].

[0079] In some embodiments of the present disclosure, step 103 may specifically include the following steps:

[0080] Step a1, when it is identified whether there are a first subsequence, a second subsequence, a third sequence and a fourth sequence connected in sequence in the frequency change gradient sequence, and when it is identified that there are no negative values ​​in the frequency change gradient sequence, it is determined that the frequency change gradient sequence satisfies the first sub-condition.

[0081] Among them, the difference between the frequency change gradient value in the first subsequence and the fourth subsequence and the value of 0 is less than the first preset threshold, the frequency change gradient value in the second subsequence increases exponentially, and the frequency change gradient value in the third sequence decreases to the second preset threshold within a preset time period; the difference between the second preset threshold and the value of 0 is less than the first preset threshold.

[0082] Step a2, when it is identified whether there are a fifth subsequence, a sixth subsequence, a seventh sequence and an eighth sequence connected in sequence in the energy change gradient sequence, and when it is identified that there are no negative values ​​in the energy change gradient sequence, it is determined that the energy change gradient sequence satisfies the second sub-condition.

[0083] Among them, the difference between the energy change gradient value in the fifth subsequence and the eighth subsequence and the value of 0 is less than the first preset threshold, the energy change gradient value in the sixth subsequence increases exponentially, and the energy change gradient value in the seventh sequence decreases to the second preset threshold within a preset time period; the difference between the second preset threshold and the value of 0 is less than the first preset threshold.

[0084] Step a3: when both the first sub-condition and the second sub-condition are satisfied, determine that the first judgment result satisfies the first preset condition.

[0085] It should be noted that since the dynamic instability of coal rock mass is a dynamic process of unstable energy and rapid transfer and release during its internal energy adjustment, it is accompanied by the rapid expansion and penetration of a large number of micro-cracks inside the coal rock mass, rather than the independent formation and development of a single micro-crack. Therefore, an isolated single high-energy, high-frequency ground sound event cannot be used as an indicator of rock burst danger, while continuous high-energy, high-frequency ground sound events in a short period of time are one of the precursor information of coal rock dynamic destruction. Therefore, it can be judged whether the frequency change gradient sequence and the energy change gradient sequence are close to 0 in the early stage, suddenly show exponential growth, and then close to 0 again, and no negative value occurs during the period. If this happens, it means that there is a certain risk of rock burst.

[0086] In one embodiment, the frequency change gradient sequence can be divided and processed by identifying the first subsequence, the second subsequence, the third sequence and the fourth sequence. If there are the first subsequence, the second subsequence, the third sequence and the fourth sequence connected in sequence, it indicates that there is a certain risk of rock burst. Similarly, the energy change gradient sequence can be divided and processed by identifying the fifth subsequence, the sixth subsequence, the seventh sequence and the eighth sequence. If there are the fifth subsequence, the sixth subsequence, the seventh sequence and the eighth sequence connected in sequence, it indicates that there is a certain risk of rock burst.

[0087] Step 104, determine the first frequency maximum value in the frequency time series, and determine the first energy maximum value in the energy time series, determine whether the first frequency maximum value and the first energy maximum value meet the second preset condition, and obtain a second judgment result.

[0088]

[0089] In some embodiments of the present disclosure, step 104 may specifically include the following steps:

[0090] Step b1, obtaining the historical geoacoustic frequency data and historical geoacoustic energy data of the target monitoring area of ​​the coal mine.

[0091] Step b2, determining the first interval using historical geotonic frequency data.

[0092] Step b3, using historical geosound energy data to determine the second interval.

[0093] Step b4, determining the first frequency maximum value and the first frequency cumulative value in the frequency time series, and calculating the frequency proportion of the first frequency maximum value in the first frequency cumulative value.

[0094] Step b5, determining the first energy maximum value and the first energy cumulative value in the energy time series, and calculating the energy proportion of the first energy maximum value in the first energy cumulative value.

[0095] Step b6: when the frequency proportion value falls within the first interval and the energy proportion value falls within the second interval, determine that the second judgment result satisfies the second preset condition.

[0096] It should be noted that the dynamic instability of coal rock mass is a dynamic process of unstable and rapid transfer and release of energy during its internal energy adjustment process. The premise for the unstable and rapid release of energy in a local area of ​​coal rock mass is that it has accumulated to a certain extent, and the two have a certain correlation. The accumulation of energy is manifested as the cumulative value of ground sound energy and the cumulative value of frequency through the ground sound signal, and the rapid instantaneous release of energy is manifested as the maximum value of ground sound energy and the maximum value of frequency through the ground sound signal. Through a large number of mechanical tests, under the same conditions, the maximum value of ground sound frequency before the dynamic instability of coal rock mass accounts for a constant proportion of the cumulative value, and the standard deviation does not exceed 1%; the maximum value of ground sound energy accounts for a constant proportion of the cumulative value, and the standard deviation does not exceed 5%.

[0097] Therefore, the maximum frequency and maximum energy can be used to determine whether there is a risk of rock burst.

[0098] In some embodiments of the present disclosure, step b2 specifically includes:

[0099] Step b21, obtaining the second maximum frequency value each time rock burst occurs in the mining area where the target monitoring area of ​​the coal mine is located, and the cumulative frequency value of the mining area.

[0100] Step b22: for each second frequency maximum value, determine the proportion of the second frequency maximum value in the frequency cumulative value to obtain a first ratio.

[0101] Step b23, selecting the first ratio corresponding to the first occurrence of rock burst as the frequency target ratio.

[0102] Step b24, calculate the frequency standard deviation of all first ratios, calculate the sum of the frequency target ratio and the frequency standard deviation to obtain the upper limit value of the first interval, calculate the difference between the frequency target ratio and the frequency standard deviation to obtain the lower limit value of the first interval.

[0103] In one embodiment, the first ratio = F Nmax / F Nsum Located in [R F ±K F ] interval, F Nmax is the second frequency maximum value, F Nsum is the frequency cumulative value, F R K is the ratio of the maximum frequency of the first occurrence of rock burst pressure at the application mine site (or the surrounding mines with the same coal seam) to the cumulative frequency value, F It is the ratio of the maximum frequency value in multiple cases of rock burst at the application mine site (or surrounding mines mining the same coal seam) to the cumulative frequency value.

[0104] In some other embodiments of the present disclosure, step b3 specifically includes:

[0105] Step b31, obtaining the second maximum energy value each time rock burst occurs in the mining area where the target monitoring area of ​​the coal mine is located, and the accumulated energy value of the mining area.

[0106] Step b32: for each second energy maximum value, determine the proportion of the second energy maximum value in the energy cumulative value to obtain a second ratio.

[0107] Step b33, selecting the second ratio corresponding to the first occurrence of rock burst as the energy target ratio.

[0108] Step b34, calculate the energy standard deviation of all second ratios, calculate the sum of the energy target ratio and the energy standard deviation to obtain the upper limit value of the second interval, calculate the difference between the energy target ratio and the energy standard deviation to obtain the lower limit value of the second interval.

[0109] It can be understood that since the ratio of the maximum value of the geoacoustic frequency to the cumulative value before the dynamic instability of the coal rock mass tends to be constant, the historical geoacoustic data in the mining area where the target monitoring area of ​​the coal mine is located can be used to determine the first interval and the second interval.

[0110] In one embodiment, the second ratio = E Nmax / E Nsum , located at [R E ±K E ] interval, E Nmax is the second energy maximum, E Nsum is the energy accumulation value, E R K is the ratio of the maximum energy when the first rock burst occurs at the mine site (or the surrounding mines with the same coal seam) to the cumulative energy value. E It is the standard deviation of the ratio of the maximum energy to the cumulative energy value in multiple rock burst manifestation cases at the mine site (or surrounding mines mining the same coal seam).

[0111] Step 105, determine a first difference between a first time node corresponding to a first frequency maximum value and a second time node corresponding to a first energy maximum value, determine whether the first difference satisfies a third preset condition, and obtain a third judgment result.

[0112] It should be noted that the dynamic instability of coal rock mass is a dynamic process of unstable energy and rapid transfer and release during its internal energy adjustment process. The rapid instantaneous release of energy is manifested as the maximum value of the geosound energy and the maximum value of the frequency through the geosound signal. At the same time, high frequency represents the speed of expansion and formation of a large number of tiny cracks, and high energy represents the intensity of expansion and formation of a large number of tiny cracks. Through a large number of mechanical tests, it was found that high-frequency and high-energy geosound events will occur instantly before the coal rock mass fails and becomes unstable. The two do not overlap, but they are very close to each other, with a standard deviation of no more than 10%.

[0113] Therefore, the first difference between the first time node corresponding to the first frequency maximum value and the second time node corresponding to the first energy maximum value can be used to determine whether there is a risk of rock burst.

[0114] In some embodiments of the present disclosure, step 105 may specifically include the following steps:

[0115] Step c1, obtaining the third time node corresponding to the second frequency maximum value each time rock burst occurs in the mining area where the target monitoring area of ​​the coal mine is located, and the fourth time node corresponding to the second energy maximum value each time rock burst occurs.

[0116] Step c2: for each occurrence of rock burst, calculate a second difference between a third time node corresponding to the rock burst and a fourth time node corresponding to the rock burst.

[0117] Step c3, selecting the absolute value of the second difference corresponding to the first occurrence of rock burst as the target difference.

[0118] Step c4, calculating the standard deviation of the time intervals of all the second differences.

[0119] Step c5, calculating the sum of the time interval standard deviation and 1 to obtain a first sum value, and multiplying the first sum value by the target difference value to obtain an upper limit value;

[0120] Step c6, calculating the difference between the time interval standard deviation and 1 to obtain a first difference, and multiplying the first difference by the target difference to obtain a lower limit;

[0121] Step c7, obtaining a third interval according to the upper limit value and the lower limit value;

[0122] Step c8: when the first difference falls within the third interval, determining that the third judgment result satisfies the third preset condition.

[0123] In one embodiment, the first difference Q can be calculated as: max -TE max |, Q is located at [T Q *(1±K T )] interval, TF max is the third time node, TE max is the fourth time node, the target difference T Q is the absolute value of the difference between the node time of the maximum frequency and the node time of the maximum energy when the rock burst first occurs at the application mine site (or the surrounding mines with the same coal seam); the standard deviation of the time interval K T It is the standard deviation of the absolute value of the difference between the node time of the maximum frequency and the node time of the maximum energy in multiple cases of rock burst at the application mine site (or surrounding mines mining the same coal seam).

[0124] Step 106, determining a warning level according to the first judgment result, the second judgment result and the third judgment result, and issuing a rock burst risk warning according to the warning level.

[0125] In some embodiments of the present disclosure, step 106 may specifically include the following steps:

[0126] Step d1, when the first judgment result is that the first preset condition is not met, determining the warning level as no danger.

[0127] Step d2, when the first judgment result satisfies the first preset condition, the second judgment result satisfies the second preset condition, and the third judgment result does not satisfy the third preset condition, determine that the warning level is a medium impact risk.

[0128] Step d3, when the first judgment result satisfies the first preset condition, the second judgment result does not satisfy the second preset condition, and the third judgment result satisfies the third preset condition, determine that the warning level is a medium impact risk.

[0129] Step d4, when the first judgment result satisfies the first preset condition, the second judgment result satisfies the second preset condition, and the third judgment result satisfies the third preset condition, determining that the warning level is a strong impact hazard.

[0130] According to the rock burst monitoring and early warning method based on the geoacoustic time series characteristics proposed in the embodiment of the present disclosure, the geoacoustic frequency data and geoacoustic energy data of the target monitoring area of ​​the coal mine are obtained according to the preset frequency; the frequency time series sequence is updated by using the geoacoustic frequency data, and the energy time series sequence is updated by using the geoacoustic energy data; a frequency change gradient sequence is generated based on the frequency time series sequence, and an energy change gradient sequence is generated based on the energy time series sequence, and it is determined whether the frequency change gradient sequence and the energy change gradient sequence meet a first preset condition to obtain a first judgment result; the first frequency maximum value in the frequency time series sequence is determined, and the first energy maximum value in the energy time series sequence is determined, and it is determined whether the first frequency maximum value and the first energy maximum value meet a second preset condition to obtain a second judgment result; the first difference between the first time node corresponding to the first frequency maximum value and the second time node corresponding to the first energy maximum value is determined, and it is determined whether the first difference meets a third preset condition to obtain a third judgment result; according to the first judgment result, the second judgment result and the third judgment result, the warning level is determined, and a warning is issued according to the warning level. By analyzing and processing the ground sound energy time series and the ground sound frequency time series, it is possible to comprehensively judge whether there is a risk of rock burst based on the time series characteristics of the ground sound in the mine, thereby improving the timeliness and accuracy of rock burst warning.

[0131] Figure 2 1 is a block diagram of a rock burst monitoring and early warning device based on ground sound time series characteristics according to an exemplary embodiment. Figure 2 The device includes an acquisition unit 201, an update unit 202, a first judgment unit 203, a second judgment unit 204, a third judgment unit 205 and an early warning unit 206.

[0132] The acquisition unit 201 is used to acquire the ground sound frequency data and ground sound energy data of the target monitoring area of ​​the coal mine according to the preset frequency;

[0133] An updating unit 202, configured to update a frequency time series sequence using the geo-sound frequency data, and to update an energy time series sequence using the geo-sound energy data;

[0134] A first judgment unit 203 is used to generate a frequency change gradient sequence based on the frequency time series sequence, and to generate an energy change gradient sequence based on the energy time series sequence, and to determine whether the frequency change gradient sequence and the energy change gradient sequence meet a first preset condition, and obtain a first judgment result;

[0135] The second judgment unit 204 is used to determine a first frequency maximum value in the frequency time series sequence and a first energy maximum value in the energy time series sequence, and determine whether the first frequency maximum value and the first energy maximum value meet a second preset condition to obtain a second judgment result;

[0136] The third judgment unit 205 is used to determine a first difference between a first time node corresponding to the first frequency maximum value and a second time node corresponding to the first energy maximum value, determine whether the first difference satisfies a third preset condition, and obtain a third judgment result;

[0137] The early warning unit 206 is used to determine the early warning level according to the first judgment result, the second judgment result and the third judgment result, and issue an early warning of rock burst risk according to the early warning level.

[0138] In some embodiments of the present disclosure, the first determination unit 203 is specifically configured to:

[0139] When it is identified whether there are a first subsequence, a second subsequence, a third sequence and a fourth sequence connected in sequence in the frequency change gradient sequence, and when it is identified that there is no negative value in the frequency change gradient sequence, it is determined that the frequency change gradient sequence meets the first sub-condition; wherein the difference between the frequency change gradient values ​​in the first subsequence and the fourth subsequence and the value of 0 is less than a first preset threshold, the frequency change gradient value in the second subsequence increases exponentially, and the frequency change gradient value in the third sequence decreases to a second preset threshold within a preset time period; and the difference between the second preset threshold and the value of 0 is less than the first preset threshold;

[0140] When it is identified whether there are a fifth subsequence, a sixth subsequence, a seventh sequence and an eighth sequence connected in sequence in the energy change gradient sequence, and when it is identified that there is no negative value in the energy change gradient sequence, it is determined that the energy change gradient sequence satisfies the second subcondition; wherein the difference between the energy change gradient values ​​in the fifth subsequence and the eighth subsequence and the value 0 is less than the first preset threshold, the energy change gradient value in the sixth subsequence increases exponentially, and the energy change gradient value in the seventh sequence decreases to the second preset threshold within the preset time period; and the difference between the second preset threshold and the value 0 is less than the first preset threshold;

[0141] When both the first sub-condition and the second sub-condition are satisfied, it is determined that the first judgment result satisfies the first preset condition.

[0142] In some embodiments of the present disclosure, the second determination unit 204 is specifically configured to:

[0143] Obtain historical geoacoustic frequency data and historical geoacoustic energy data of the target monitoring area of ​​the coal mine;

[0144] Determining a first interval using historical geotonic frequency data;

[0145] Determining a second interval using historical geosound energy data;

[0146] Determine a first frequency maximum value and a first frequency cumulative value in the frequency time series, and calculate a frequency ratio of the first frequency maximum value to the first frequency cumulative value;

[0147] Determine a first energy maximum value and a first energy cumulative value in the energy time series, and calculate an energy proportion of the first energy maximum value in the first energy cumulative value;

[0148] When the frequency proportion value falls within the first interval and the energy proportion value falls within the second interval, it is determined that the second judgment result satisfies the second preset condition.

[0149] In some embodiments of the present disclosure, the second determination unit 204 is further configured to:

[0150] Obtain the second maximum frequency value each time rock burst occurs in the mining area where the target monitoring area of ​​the coal mine is located, as well as the cumulative frequency value of the mining area;

[0151] For each second frequency maximum value, determine the proportion of the second frequency maximum value in the frequency cumulative value to obtain a first ratio;

[0152] Selecting the first ratio corresponding to the first occurrence of rock burst as the frequency target ratio;

[0153] Calculate the frequency standard deviation of all first ratios, calculate the sum of the frequency target ratio and the frequency standard deviation to obtain the upper limit value of the first interval, calculate the difference between the frequency target ratio and the frequency standard deviation to obtain the lower limit value of the first interval;

[0154] The second judging unit 204 is further configured to:

[0155] Obtain the second maximum energy value each time rock burst occurs in the mining area where the target monitoring area of ​​the coal mine is located, as well as the energy accumulation value of the mining area;

[0156] For each second energy maximum value, determine the proportion of the second energy maximum value in the energy cumulative value to obtain a second ratio;

[0157] Selecting the second ratio corresponding to the first occurrence of rock burst as the energy target ratio;

[0158] Calculate the energy standard deviation of all second ratios, calculate the sum of the energy target ratio and the energy standard deviation to obtain the upper limit value of the second interval, calculate the difference between the energy target ratio and the energy standard deviation to obtain the lower limit value of the second interval.

[0159] In some embodiments of the present disclosure, the third judgment unit 205 is specifically used to:

[0160] Obtaining a third time node corresponding to the second frequency maximum value each time rock burst occurs in the mining area where the target monitoring area of ​​the coal mine is located, and a fourth time node corresponding to the second energy maximum value each time rock burst occurs;

[0161] For each occurrence of rock burst, calculating a second difference between a third time node corresponding to the rock burst and a fourth time node corresponding to the rock burst;

[0162] The absolute value of the second difference corresponding to the first occurrence of rock burst is selected as the target difference;

[0163] Calculate the standard deviation of the time intervals of all second differences;

[0164] The sum of the target difference and the time interval standard deviation is taken as the upper limit, the difference between the target difference and the time interval standard deviation is taken as the lower limit, and the third interval is obtained according to the upper limit and the lower limit;

[0165] When the first difference falls within the third interval, it is determined that the third judgment result satisfies the third preset condition.

[0166] In some embodiments of the present disclosure, the early warning unit 206 is specifically used to:

[0167] When the first judgment result is that the first preset condition is not met, determining the warning level as no danger;

[0168] When the first judgment result satisfies the first preset condition, the second judgment result satisfies the second preset condition, and the third judgment result does not satisfy the third preset condition, determining that the warning level is a medium impact risk;

[0169] When the first judgment result is that the first preset condition is met, and the second judgment result is that the second preset condition is not met, and the third judgment result is that the third preset condition is met, determining that the warning level is a medium impact risk;

[0170] When the first judgment result satisfies the first preset condition, the second judgment result satisfies the second preset condition, and the third judgment result satisfies the third preset condition, it is determined that the warning level is a strong impact hazard.

[0171] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0172] According to the rock burst monitoring and early warning device based on the geoacoustic time series characteristics proposed in the embodiment of the present disclosure, the geoacoustic frequency data and geoacoustic energy data of the target monitoring area of ​​the coal mine are obtained according to the preset frequency; the frequency time series sequence is updated by using the geoacoustic frequency data, and the energy time series sequence is updated by using the geoacoustic energy data; a frequency change gradient sequence is generated based on the frequency time series sequence, and an energy change gradient sequence is generated based on the energy time series sequence, and it is determined whether the frequency change gradient sequence and the energy change gradient sequence meet the first preset condition to obtain a first judgment result; the first frequency maximum value in the frequency time series sequence is determined, and the first energy maximum value in the energy time series sequence is determined, and it is determined whether the first frequency maximum value and the first energy maximum value meet the second preset condition to obtain a second judgment result; the first difference between the first time node corresponding to the first frequency maximum value and the second time node corresponding to the first energy maximum value is determined, and it is determined whether the first difference meets the third preset condition to obtain a third judgment result; according to the first judgment result, the second judgment result and the third judgment result, the warning level is determined, and the warning is issued according to the warning level. By analyzing and processing the ground sound energy time series and the ground sound frequency time series, it is possible to comprehensively judge whether there is a risk of rock burst based on the time series characteristics of the ground sound in the mine, thereby improving the timeliness and accuracy of rock burst warning.

[0173] Figure 3 3 is a block diagram of a device for a rock burst monitoring and early warning method based on ground sound time series characteristics according to an exemplary embodiment. For example, the device 300 may be an electronic device, such as a mobile phone, a computer, a digital broadcast terminal, a message transceiver device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0174] Reference Figure 3 , the device 300 may include one or more of the following components: a processing component 302 , a memory 304 , a power component 306 , a multimedia component 308 , an audio component 310 , an input / output (I / O) interface 312 , a sensor component 314 , and a communication component 316 .

[0175] The processing component 302 generally controls the overall operation of the device 300, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 302 may include one or more processors 320 to execute instructions to complete all or part of the steps of the above-mentioned method. In addition, the processing component 302 may include one or more modules to facilitate the interaction between the processing component 302 and other components. For example, the processing component 302 may include a multimedia module to facilitate the interaction between the multimedia component 308 and the processing component 302.

[0176] The memory 304 is configured to store various types of data to support operations on the device 300. Examples of such data include instructions for any application or method operating on the device 300, contact data, phone book data, messages, pictures, videos, etc. The memory 304 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0177] The power component 306 provides power to the various components of the device 300. The power component 306 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device 300.

[0178] The multimedia component 308 includes a screen that provides an output interface between the device 300 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 308 includes a front camera and / or a rear camera. When the device 300 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

[0179] The audio component 310 is configured to output and / or input audio signals. For example, the audio component 310 includes a microphone (MIC), and when the device 300 is in an operating mode, such as a call mode, a recording mode, and a speech recognition mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in the memory 304 or sent via the communication component 316. In some embodiments, the audio component 310 also includes a speaker for outputting audio signals.

[0180] I / O interface 312 provides an interface between processing component 302 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: a home button, a volume button, a start button, and a lock button.

[0181] The sensor assembly 314 includes one or more sensors for providing various aspects of status assessment for the device 300. For example, the sensor assembly 314 can detect the open / closed state of the device 300, the relative positioning of components, such as the display and keypad of the device 300, the sensor assembly 314 can also detect the position change of the device 300 or a component of the device 300, the presence or absence of user contact with the device 300, the orientation or acceleration / deceleration of the device 300, and the temperature change of the device 300. The sensor assembly 314 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 314 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 314 may also include an accelerometer, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0182] The communication component 316 is configured to facilitate wired or wireless communication between the device 300 and other devices. The device 300 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 316 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 316 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0183] In an exemplary embodiment, the apparatus 300 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components to perform the above method.

[0184] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 304 including instructions, and the instructions can be executed by the processor 320 of the device 300 to perform the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0185] In an exemplary embodiment, a computer program product is also provided, comprising a computer program, which implements the above method when executed by the processor 320 of the device 300 .

[0186] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are to be considered exemplary only, and the true scope and spirit of the present invention are indicated by the following claims.

[0187] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A rock burst monitoring and early warning method based on the temporal characteristics of ground sound, characterized in that: include: Acquire the ground sound frequency data and ground sound energy data of the target monitoring area of ​​the coal mine according to the preset frequency; Using the ground sound frequency data to update the frequency time series sequence, and using the ground sound energy data to update the energy time series sequence; Generate a frequency change gradient sequence based on the frequency time series sequence, and generate an energy change gradient sequence based on the energy time series sequence, determine whether the frequency change gradient sequence and the energy change gradient sequence meet a first preset condition, and obtain a first judgment result; Determine a first frequency maximum value in the frequency time series, and determine a first energy maximum value in the energy time series, and determine whether the first frequency maximum value and the first energy maximum value meet a second preset condition to obtain a second judgment result; Determine a first difference between a first time node corresponding to the first frequency maximum value and a second time node corresponding to the first energy maximum value, determine whether the first difference meets a third preset condition, and obtain a third judgment result; According to the first judgment result, the second judgment result and the third judgment result, a warning level is determined, and a rock burst risk warning is issued according to the warning level.

2. The rock burst monitoring and early warning method based on the time series characteristics of ground sound according to claim 1 is characterized in that: The determining whether the frequency change gradient sequence and the energy change gradient sequence meet a first preset condition to obtain a first judgment result includes: In the case where it is identified whether there are a first subsequence, a second subsequence, a third sequence and a fourth sequence connected in sequence in the frequency change gradient sequence, and it is identified that there is no negative value in the frequency change gradient sequence, it is determined that the frequency change gradient sequence meets the first sub-condition; wherein the difference between the frequency change gradient values ​​in the first subsequence and the fourth subsequence and the value of 0 is less than a first preset threshold, the frequency change gradient value in the second subsequence increases exponentially, and the frequency change gradient value in the third sequence decreases to a second preset threshold within a preset time period; and the difference between the second preset threshold and the value of 0 is less than the first preset threshold; When it is identified whether there are a fifth subsequence, a sixth subsequence, a seventh sequence and an eighth sequence connected in sequence in the energy change gradient sequence, and when it is identified that there is no negative value in the energy change gradient sequence, it is determined that the energy change gradient sequence satisfies the second subcondition; wherein the difference between the energy change gradient values ​​in the fifth subsequence and the eighth subsequence and the value 0 is less than a first preset threshold, the energy change gradient value in the sixth subsequence increases exponentially, and the energy change gradient value in the seventh sequence decreases to a second preset threshold within a preset time period; and the difference between the second preset threshold and the value 0 is less than the first preset threshold; When both the first sub-condition and the second sub-condition are satisfied, it is determined that the first judgment result satisfies the first preset condition.

3. The rock burst monitoring and early warning method based on the time series characteristics of ground sound according to claim 1 is characterized in that: The determining of the first frequency maximum value in the frequency time series, and the determining of the first energy maximum value in the energy time series, and determining whether the first frequency maximum value and the first energy maximum value meet a second preset condition to obtain a second judgment result include: Acquire historical geoacoustic frequency data and historical geoacoustic energy data of the target monitoring area of ​​the coal mine; Determine a first interval using the historical geo-frequency data; Determining a second interval using the historical geosound energy data; Determine a first frequency maximum value and a first frequency cumulative value in the frequency time series, and calculate a frequency ratio of the first frequency maximum value to the first frequency cumulative value; Determine a first energy maximum value and a first energy cumulative value in the energy time series, and calculate an energy proportion of the first energy maximum value in the first energy cumulative value; When the frequency proportion value falls within the first interval and the energy proportion value falls within the second interval, it is determined that the second judgment result satisfies the second preset condition.

4. The rock burst monitoring and early warning method based on the time series characteristics of ground sound according to claim 3 is characterized in that: The determining the first interval by using the historical geofrequency data includes: Obtaining the second maximum frequency value each time rock burst occurs in the mining area where the target monitoring area of ​​the coal mine is located, and the cumulative frequency value of the mining area; For each second frequency maximum value, determine the proportion of the second frequency maximum value in the frequency cumulative value to obtain a first ratio; Selecting the first ratio corresponding to the first occurrence of rock burst as the frequency target ratio; Calculating the frequency standard deviation of all first ratios, calculating the sum of the frequency target ratio and the frequency standard deviation to obtain the upper limit value of the first interval, and calculating the difference between the frequency target ratio and the frequency standard deviation to obtain the lower limit value of the first interval; The determining the second interval by using the historical geosound energy data comprises: Obtaining the second maximum energy value each time rock burst occurs in the mining area where the target monitoring area of ​​the coal mine is located, and the energy cumulative value of the mining area; For each second energy maximum value, determining the proportion of the second energy maximum value in the energy cumulative value to obtain a second ratio; Selecting the second ratio corresponding to the first occurrence of rock burst as the energy target ratio; Calculate the energy standard deviation of all second ratios, calculate the sum of the energy target ratio and the energy standard deviation to obtain the upper limit value of the second interval, calculate the difference between the energy target ratio and the energy standard deviation to obtain the lower limit value of the second interval.

5. The rock burst monitoring and early warning method based on the time series characteristics of ground sound according to claim 1 is characterized in that: The determining a first difference between a first time node corresponding to the first frequency maximum value and a second time node corresponding to the first energy maximum value, and determining whether the first difference satisfies a third preset condition, to obtain a third judgment result, includes: Obtaining a third time node corresponding to the second frequency maximum value each time rock burst occurs in the mining area where the coal mine target monitoring area is located, and a fourth time node corresponding to the second energy maximum value each time rock burst occurs; For each occurrence of rock burst, calculating a second difference between a third time node corresponding to the rock burst and a fourth time node corresponding to the rock burst; The absolute value of the second difference corresponding to the first occurrence of rock burst is selected as the target difference; Calculate the standard deviation of the time intervals of all second differences; Calculate the sum of the time interval standard deviation and 1 to obtain a first sum value, and multiply the first sum value by the target difference value to obtain an upper limit value; Calculate the difference between the time interval standard deviation and 1 to obtain a first difference value, and multiply the first difference value by the target difference value to obtain a lower limit value; Obtain a third interval according to the upper limit value and the lower limit value; When the first difference falls within the third interval, it is determined that the third judgment result satisfies the third preset condition.

6. The rock burst monitoring and early warning method based on the time series characteristics of ground sound according to claim 1 is characterized in that: Determining the warning level according to the first judgment result, the second judgment result and the third judgment result includes: When the first judgment result is that the first preset condition is not met, determining the warning level as no danger; When the first judgment result satisfies the first preset condition, the second judgment result satisfies the second preset condition, and the third judgment result does not satisfy the third preset condition, determining that the warning level is a medium impact risk; When the first judgment result satisfies the first preset condition, the second judgment result does not satisfy the second preset condition, and the third judgment result satisfies the third preset condition, determining that the warning level is a medium impact risk; When the first judgment result satisfies the first preset condition, the second judgment result satisfies the second preset condition, and the third judgment result satisfies the third preset condition, the warning level is determined to be a strong impact hazard.

7. A rock burst monitoring and early warning device based on the temporal characteristics of ground sound, characterized in that: include: An acquisition unit, used for acquiring ground sound frequency data and ground sound energy data of a target monitoring area of ​​a coal mine according to a preset frequency; An updating unit, configured to update a frequency time series sequence using the ground sound frequency data, and to update an energy time series sequence using the ground sound energy data; A first judgment unit is used to generate a frequency change gradient sequence based on the frequency time series sequence, and to generate an energy change gradient sequence based on the energy time series sequence, and to determine whether the frequency change gradient sequence and the energy change gradient sequence meet a first preset condition, and to obtain a first judgment result; a second judgment unit, configured to determine a first frequency maximum value in the frequency time series, and determine a first energy maximum value in the energy time series, and determine whether the first frequency maximum value and the first energy maximum value meet a second preset condition to obtain a second judgment result; a third judgment unit, configured to determine a first difference between a first time node corresponding to the first frequency maximum value and a second time node corresponding to the first energy maximum value, determine whether the first difference satisfies a third preset condition, and obtain a third judgment result; The early warning unit is used to determine the early warning level according to the first judgment result, the second judgment result and the third judgment result, and to issue an early warning of rock burst risk according to the early warning level.

8. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that The computer program implements the method according to any one of claims 1 to 6 when executed by a processor.

Images