Dynamic control system and method for coal mine earthquake monitoring

Abstract

The invention relates to the technical field of mine safety, in particular to a dynamic control system and method for coal mine earthquake monitoring, and the system comprises an earthquake signal collection module, an earthquake wave propagation modeling module, an earthquake recognition module, a risk early warning and response module, and a dynamic control execution module. Wherein the mine earthquake signal acquisition module is used for acquiring data at a coal mine deep well; the mine seismic wave propagation modeling module is used for establishing a mine seismic wave propagation model; the mine earthquake identification module is used for identifying an earthquake source position and an earthquake magnitude; the risk early warning and response module is used for generating a risk level according to the magnitude and generating a corresponding control instruction; and the dynamic control execution module executes related mine control operation according to the control instruction. According to the invention, through multi-type sensor data acquisition, mine earthquake wave propagation accurate modeling and dynamic risk assessment and response technologies, accurate monitoring and efficient control of mine earthquake events are realized, and the intelligent level of coal mine safety management is improved.

Description

Technical Field

[0001] The present invention relates to the field of mine safety technology, and in particular to a dynamic control system and method for monitoring earthquakes in coal mines. Background Art

[0002] During coal mining, mine earthquakes are a type of geological dynamic phenomenon caused by mining activities. They are sudden, destructive and unpredictable. Mine earthquakes may not only cause mine tunnel collapse and equipment damage, but also pose a serious threat to the lives of miners. Current mine earthquake monitoring systems usually rely on a single type of sensor or a simple static analysis method, which cannot fully capture the propagation characteristics and dynamic changes of mine earthquake waves. At the same time, due to the complex mine environment, traditional monitoring technology has great limitations in earthquake source location, magnitude assessment and risk response, making it difficult to form an effective dynamic control mechanism.

[0003] The existing technology has the following major problems in dealing with mine earthquakes: First, the sensor network is not deployed sufficiently, and it is impossible to achieve full coverage monitoring of the mine, especially the signal collection in complex rock formations is incomplete; second, the construction method of the mine earthquake wave propagation model is too simple, and the heterogeneity and anisotropy of the rock formation are not fully considered, resulting in low accuracy in earthquake source location and magnitude calculation; third, the existing system lacks a dynamic risk assessment and response mechanism based on magnitude and source location, resulting in the lack of pertinence and timeliness in the generation and execution of control instructions after the mine earthquake occurs. Therefore, there is an urgent need for a coal mine earthquake monitoring and dynamic control system that can integrate multiple technical means, accurately monitor mine earthquake events, dynamically assess risks, and efficiently implement control to ensure coal mine production safety. Summary of the invention

[0004] Based on the above objectives, the present invention provides a dynamic control system and method for coal mine earthquake monitoring.

[0005] A dynamic control system for coal mine earthquake monitoring includes a mine earthquake signal acquisition module, a mine earthquake wave propagation modeling module, a mine earthquake identification module, a risk warning and response module, and a dynamic control execution module; wherein: Mine seismic signal acquisition module: used to collect vibration waveform data, stress distribution data and temperature change data in deep coal mines, and transmit the collected data to the mine seismic wave propagation modeling module; Mine shock wave propagation modeling module: Based on the data transmitted by the mine shock signal acquisition module, a mine shock wave propagation model is established to analyze the propagation path, energy attenuation law and reflection characteristics of the mine shock wave, and generate mine shock wave propagation characteristic data, which is transmitted to the mine shock event identification module; Mine earthquake identification module: Based on the mine earthquake wave propagation characteristic data, it identifies the earthquake source location and magnitude, and transmits the identification results to the risk warning and response module; Risk warning and response module: used to generate risk levels according to the magnitude of the earthquake, and generate corresponding control instructions according to the risk level, and transmit them to the dynamic control execution module; Dynamic control execution module: used to receive control instructions transmitted by the risk warning and response module, and execute mine-related control operations according to the control instructions.

[0006] Optionally, the mine seismic signal acquisition module includes a sensor deployment unit, a data acquisition unit and a data processing unit; wherein: Sensor deployment unit: used to deploy multiple sensor nodes in the monitoring area of ​​deep coal mines, each node includes a vibration sensor, a stress sensor and a temperature sensor, and the sensor node is fixed on the surface of the mine rock wall by a fixed bracket or an embedded installation method; Data acquisition unit: connected to the sensor deployment unit, used to receive real-time data collected from the sensor node; the vibration sensor is used to collect mine vibration waveform data, including amplitude, frequency and propagation direction; the stress sensor is used to collect stress distribution data inside the mine rock formation; the temperature sensor is used to collect rock formation temperature change data; and at the same time, the propagation path and energy attenuation information of the mine shock wave are recorded in real time; Data processing unit: used to perform preliminary processing on the data collected by the data acquisition unit, including removing invalid signals, data normalization and format conversion, and packaging the preliminarily processed data into a unified format and transmitting it to the mine seismic wave propagation modeling module.

[0007] Optionally, the mine shock wave propagation modeling module includes a propagation path modeling unit, a model building unit, a model correction unit and a characteristic analysis unit; wherein: Geological parameter acquisition unit: used to collect geological parameters of mine rock formations, including rock formation thickness, density, elastic modulus and wave velocity; Model building unit: Based on the data output by the data processing unit and the geological parameters collected by the geological parameter acquisition unit, a mine shock wave propagation model is established using the finite difference method to simulate the propagation path, attenuation law and reflection characteristics of the mine shock wave; Model correction unit: used to correct the mine shock wave propagation model and adjust the model parameters based on historical mine shock event data and real-time recorded information. The historical mine shock event data includes the source location, magnitude, waveform characteristics and propagation path; Characteristic analysis unit: used to analyze the propagation path, energy attenuation law and reflection characteristics of mine shock waves at different rock layer interfaces using the corrected propagation model, and generate mine shock wave propagation characteristic data.

[0008] Optionally, the model building unit includes: Establishing the wave equation of mine shock: Based on the theory of elastic dynamics, the propagation behavior of mine shock waves in rock formations is described by the wave equation; Discretized wave equation: The wave equation is discretized using the finite difference method, converting continuous time and space variables into discrete time steps and space grids; Iterative calculation of propagation path: Based on the discretized wave equation, a mine shock wave propagation model is constructed; specifically, at each time step, the displacement data of the current and previous time steps are used to calculate the displacement of each grid point in the next time step; through repeated iterations, the propagation path and dynamic behavior of the mine shock wave in the rock formation grid are simulated to complete the preliminary construction of the mine shock wave propagation model.

[0009] Optionally, the model correction unit includes: Data acquisition: Acquire historical mine earthquake event data, and at the same time obtain the actual recorded mine earthquake wave propagation path and energy attenuation information from the mine earthquake signal acquisition module as the reference data for correction; Establish error relationship: Compare the calculated value of the mine shock wave propagation model with the actual monitoring value, and define the difference between the two as error; Analyze errors: Use sensitivity analysis methods to determine the degree of influence of the parameters of the mine shock wave propagation model on the errors; Adjust model parameters: adjust the parameters in the mine shock wave propagation model according to the analysis results; Iterative correction model: Repeat the steps of error analysis and adjustment of model parameters until the error between the model calculation results and the actual monitoring results is reduced to a predetermined range.

[0010] Optionally, the mine earthquake event identification module includes a source location unit and a magnitude calculation unit; wherein: Earthquake source positioning unit: used to calculate the spatial position coordinates of the earthquake source through triangulation based on the mine earthquake wave propagation characteristic data, combined with the position coordinates of the sensor node and the signal arrival time difference; Magnitude calculation unit: used to calculate the magnitude of the earthquake based on the energy attenuation characteristics of the mine shock wave.

[0011] Optionally, the magnitude calculation unit specifically includes: Receive data: Receive the mine shock wave energy attenuation data, including the amplitude of each sensor and propagation path length ; Calculate the initial amplitude of the earthquake source: According to the law of energy attenuation, the initial amplitude of the earthquake source is inferred using the amplitude and propagation path data of multiple sensors. , the formula is: ; Inverse solution: ,in, For the The amplitude at each sensor; is the energy attenuation coefficient of the rock formation; is the propagation path length from the source to the sensor; Calculate the magnitude: According to the magnitude calculation formula, the initial amplitude of the earthquake source is converted into the magnitude. The formula is: ,in, is the magnitude of the mine earthquake; is the correction factor.

[0012] Optionally, the risk warning and response module includes a risk assessment unit and a control instruction generation unit; wherein: Risk assessment unit: used to generate mine earthquake risk levels according to the magnitude of the earthquake, and divide the risk levels into three levels, including low risk level, medium risk level and high risk level.

[0013] Control instruction generation unit: used to generate corresponding control instructions according to risk level; When the risk level is low, early warning instructions are generated, including sending notifications and suggesting inspections of key areas; When the risk level is medium, some control instructions are generated, including evacuating personnel or shutting down equipment; When the risk level is high, comprehensive control instructions are generated, including full evacuation of personnel, full shutdown of the mine area, and triggering of emergency lighting and sound and light alarms.

[0014] Optionally, the dynamic control execution module includes a device control unit, a regional isolation unit and an emergency response unit; wherein: Equipment control unit: used to receive the control instructions generated by the control instruction generation unit and control the operating status of the equipment in the mine; The device control unit comprises: Equipment identification and selection subunit: used to identify the type of equipment and specific equipment number that needs to be shut down according to the control instructions. Equipment types include mining equipment, transportation equipment and lifting equipment; Equipment shutdown execution subunit: used to send a shutdown signal to the remote control system of the equipment through the control interface to gradually stop the operation of the equipment; Area isolation unit: used to receive area closure instructions and isolate the predetermined area of ​​the mine; The area isolation unit comprises: Isolation area confirmation subunit: used to confirm the scope of the mine area to be closed according to the area near the earthquake source or the affected area specified in the control instruction; Isolation equipment activation subunit: used to control the isolation doors, gates and ventilation dampers in the area, start the closing operation one by one, form a physical isolation barrier, and prevent people and equipment from entering the dangerous area; Emergency response unit: used to receive emergency response instructions, including personnel evacuation, emergency lighting triggering and sound and light alarm; The emergency response unit includes: Personnel evacuation guidance subunit: used to issue evacuation instructions to personnel through the broadcasting system and lighting system in the mine, and guide them to the safe exit; Sound and light alarm trigger subunit: used to activate the sound and light alarm device, and remind all personnel in the mine to evacuate to a safe area through continuous alarm.

[0015] A dynamic control method for coal mine earthquake monitoring is implemented by the above-mentioned dynamic control system for coal mine earthquake monitoring, and comprises the following steps: S1: Deploy multiple sensor nodes in deep coal mines to collect mine earthquake waveform data, stress distribution data, and temperature change data; and perform data cleaning and format conversion processing; S2: Based on the data processed in S1 and combined with the mine geological parameters, a mine shock wave propagation model is established using the finite difference method to analyze the propagation path, energy attenuation law and reflection characteristics of the mine shock wave, and generate mine shock wave propagation characteristic data; S3: Determine the spatial location and magnitude of the earthquake source based on the mine shock wave propagation characteristic data generated by S2; S4: Evaluate the risk level of the mine earthquake event according to the magnitude; the risk level is divided into low, medium and high, and generate corresponding control instructions according to the risk level; S5: According to the control instructions generated by S4, execute mine-related control operations to ensure the safe operation of the mine.

[0016] Beneficial effects of the present invention: The present invention, by introducing multi-type sensor networks and signal processing technology, can comprehensively collect vibration waveforms, stress distribution and temperature change data in mines, and establish a mine shock wave propagation model in combination with the finite difference method, accurately simulate the propagation path and energy attenuation law of mine shock waves, and compared with the existing technology, achieves high-precision identification of the source location and magnitude, provides reliable data support for the dynamic assessment of mine shock risks, and effectively solves the problems of insufficient monitoring coverage and low modeling accuracy in traditional technologies.

[0017] The present invention dynamically generates risk response strategies of different levels through comprehensive evaluation of earthquake magnitude and epicenter location, including specific measures such as early warning, evacuation and equipment shutdown, thereby realizing closed-loop control of mine earthquake events from monitoring to response, which can significantly improve the timeliness and accuracy of mine safety management and reduce the potential threat of mine earthquakes to personnel and equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic diagram of a dynamic control system for monitoring earthquakes in a coal mine according to an embodiment of the present invention; Figure 2 Schematic diagram of a dynamic control method for coal mine earthquake monitoring according to an embodiment of the present invention. DETAILED DESCRIPTION

[0020] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. At the same time, it is explained here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art may also adopt other alternatives to implement some known technologies; and the accompanying drawings are only for more specific description of the embodiments, and are not intended to specifically limit the present invention.

[0021] It should be noted that the references to "one embodiment", "embodiment", "exemplary embodiments", "some embodiments" and the like in the specification indicate that the embodiments described may include specific features, structures or characteristics, but not every embodiment may include the specific features, structures or characteristics. In addition, when a specific feature, structure or characteristic is described in conjunction with an embodiment, it should be within the knowledge of a person skilled in the art to implement such feature, structure or characteristic in conjunction with other embodiments (whether or not explicitly described).

[0022] In general, a term can be understood, at least in part, from its use in context. For example, depending, at least in part, on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in the singular sense, or can be used to describe a combination of features, structures, or characteristics in the plural sense. Additionally, the term "based on" can be understood as not necessarily intended to convey an exclusive set of factors, but can instead, depending, at least in part, on the context, allow for the presence of other factors that are not necessarily explicitly described.

[0023] like Figure 1 As shown, a dynamic control system for coal mine earthquake monitoring includes a mine earthquake signal acquisition module, a mine earthquake wave propagation modeling module, a mine earthquake identification module, a risk warning and response module, and a dynamic control execution module; wherein: Mine seismic signal acquisition module: used to collect vibration waveform data, stress distribution data and temperature change data in deep coal mines, and transmit the collected data to the mine seismic wave propagation modeling module; Mine shock wave propagation modeling module: Based on the data transmitted by the mine shock signal acquisition module, a mine shock wave propagation model is established to analyze the propagation path, energy attenuation law and reflection characteristics of the mine shock wave, and generate mine shock wave propagation characteristic data, which is transmitted to the mine shock event identification module; Mine earthquake identification module: Based on the mine earthquake wave propagation characteristic data, it identifies the earthquake source location and magnitude, and transmits the identification results to the risk warning and response module; Risk warning and response module: used to generate risk levels according to the magnitude of the earthquake, and generate corresponding control instructions according to the risk level, and transmit them to the dynamic control execution module; Dynamic control execution module: used to receive control instructions transmitted by the risk warning and response module, and execute mine-related control operations according to the control instructions.

[0024] The mine earthquake signal acquisition module includes a sensor deployment unit, a data acquisition unit and a data processing unit; wherein: Sensor deployment unit: used to deploy multiple sensor nodes in the monitoring area of ​​deep coal mines. Each node includes a vibration sensor, a stress sensor and a temperature sensor. The sensor node is fixed on the surface of the mine rock wall through a fixed bracket or an embedded installation method. The sensor node is deployed in the main mining area of ​​the mine, near known fault lines and stress concentration areas. The specific location is determined based on rock stratum geological survey data, historical mine earthquake activity distribution maps and stress field analysis results to form a monitoring network that fully covers the key areas of the mine. Data acquisition unit: connected to the sensor deployment unit, used to receive real-time data collected from the sensor node; the vibration sensor is used to collect mine vibration waveform data, including amplitude, frequency and propagation direction, and the data is stored in the form of time series; the stress sensor is used to collect stress distribution data inside the mine rock formation, and high-precision stress collection is achieved through resistance strain gauges or fiber Bragg grating technology; the temperature sensor is used to collect rock formation temperature change data, and thermocouples or thermistor technology is used to achieve temperature measurement and record temperature change curves; at the same time, the propagation path and energy attenuation information of the mine shock wave are recorded in real time; the propagation path of the mine shock wave is calculated by the signal propagation time difference in the sensor array; the energy attenuation is obtained by analyzing the amplitude difference of sensors at different positions; the amplitude energy attenuation formula is: ,in, The propagation distance is The waveform amplitude at ; is the initial amplitude at the earthquake source; is the energy attenuation coefficient of the rock formation, provided by the geological parameter acquisition unit; is the propagation distance from the earthquake source to the measuring point; through two measuring points and The attenuation coefficient can be inferred from the amplitude ratio of , the expression is: ,in, The measuring points and Amplitude of and is the distance between the corresponding measuring point and the earthquake source, and ; Data processing unit: used to perform preliminary processing on the data collected by the data acquisition unit, including removing invalid signals, data normalization and format conversion, and packaging the preliminarily processed data into a unified format and transmitting it to the mine shock wave propagation modeling module; specifically, invalid signals are removed by setting a signal threshold to filter out invalid signals or noise below the threshold, ensuring that the signals for subsequent analysis have high accuracy; the collected mine shock data are normalized to standardize the signals of different sensors to the same dimensional range (for example, between 0 and 1) to eliminate the differences in sensitivity of different sensors; the collected mine shock data are format converted to convert raw data of different formats into a unified data format, including JSON or CSV, to ensure that there is no format incompatibility when the data is transmitted and processed between different modules; through the reasonable arrangement of the sensor deployment unit and the coordinated work of the data acquisition unit and the data processing unit, the accurate collection and effective transmission of vibration waveform data, stress distribution data and temperature change data in deep coal mines can be achieved.

[0025] The mine shock wave propagation modeling module includes a propagation path modeling unit, a model building unit, a model correction unit and a characteristic analysis unit; wherein: Geological parameter acquisition unit: used to collect geological parameters of mine rock formations, including rock formation thickness, density, elastic modulus and wave velocity; specifically obtained through geological exploration data or on-site measurements and stored in the geological parameter database; Model building unit: Based on the data output by the data processing unit and the geological parameters collected by the geological parameter acquisition unit, the mine shock wave propagation model is established using the finite difference method; the model takes into account the heterogeneity and anisotropy of the rock formation and simulates the propagation path, attenuation law and reflection characteristics of the mine shock wave; Model correction unit: used to correct the mine shock wave propagation model and adjust the model parameters based on historical mine shock event data and real-time recorded information. The historical mine shock event data includes the location of the earthquake source, magnitude, waveform characteristics and propagation path to improve the accuracy and reliability of the model. Characteristic analysis unit: used to use the corrected propagation model to analyze the propagation path, energy attenuation law and reflection characteristics of mine shock waves on different rock layer interfaces, generate mine shock wave propagation characteristic data, and transmit it to the mine shock event identification module.

[0026] The model building units include: Establishing the wave equation of mine shock: Based on the theory of elastic dynamics, the propagation behavior of mine shock waves in rock formations is described by the wave equation; this wave equation relates parameters such as rock formation density, displacement, stress and external force to form a mathematical model that describes the propagation of mine shock waves; Discretized wave equation: The finite difference method is used to discretize the wave equation, converting continuous time and space variables into discrete time steps and space grids. Through discretization, the partial derivatives are approximated into differential form, which is convenient for numerical calculation; Iterative calculation of propagation path: Based on the discretized wave equation, a mine shock wave propagation model is constructed; specifically, at each time step, the displacement data of the current and previous time steps are used to calculate the displacement of each grid point in the next time step; through repeated iterations, the propagation path and dynamic behavior of the mine shock wave in the rock formation grid are simulated to complete the preliminary construction of the mine shock wave propagation model.

[0027] The model calibration unit includes: Data acquisition: Acquire historical mine earthquake event data, and at the same time obtain the actual recorded mine earthquake wave propagation path and energy attenuation information from the mine earthquake signal acquisition module as the reference data for correction; Establish error relationship: Compare the calculated value of the mine shock wave propagation model with the actual monitoring value, and define the difference between the two as error. The error includes the position deviation on the propagation path and the difference in amplitude change. Analyze errors: Use sensitivity analysis methods to determine the degree of influence of the parameters of the mine seismic wave propagation model (such as rock density, elastic modulus, and shear modulus) on the error, and analyze the direction and amplitude of changes in each parameter to clarify the priority and range of parameter adjustment; The process of using sensitivity analysis to determine the degree to which model parameters affect the error is as follows: First, determine which model parameters (such as rock formation density, elastic modulus, shear modulus, etc.) may have a significant impact on the accuracy of the mine shock wave propagation model; Then, based on the known model, moderate perturbations are made to the selected parameters, usually increasing or decreasing them by a certain percentage to see their impact on the model results; Then, by comparing the model output before and after the parameter perturbation, the magnitude of the change in the output result is evaluated. For example, if the model result changes significantly after a certain parameter is perturbed, it indicates that the parameter has a greater impact on the error and needs to be adjusted first. Finally, the relationship between the change of each parameter and the error is quantified, and the sensitivity coefficient is calculated through the gradient to clarify which parameters contribute the most to the error, thereby optimizing the adjustment priority.

[0028] Adjust model parameters: According to the analysis results, adjust the parameters in the mine shock wave propagation model; the adjustment amount of the parameters is finely controlled according to the size of the error and the adjustment step size, and the calculation results of the mine shock wave propagation model are gradually optimized to make them close to the actual monitoring results; Iterative correction model: Repeat the steps of error analysis and adjustment of model parameters until the error between the model calculation results and the actual monitoring results is reduced to a predetermined range.

[0029] The mine earthquake event identification module includes a source location unit and a magnitude calculation unit; wherein: Earthquake source positioning unit: used to calculate the spatial position coordinates of the earthquake source through triangulation based on the mine earthquake wave propagation characteristic data, combined with the position coordinates of the sensor node and the signal arrival time difference; The earthquake source location process includes the following steps: First, the propagation path data of the mine shock wave is received, including the position coordinates of each sensor and the propagation path length; the propagation path length is calculated based on the signal propagation time difference, and the formula is: ,in, From the source to the The propagation path length of each sensor; It is the propagation speed of the mine shock wave in the rock layer, provided by the geological parameter acquisition unit; For the mine shock wave to reach The time of the sensor is the wave starting time at the earthquake source; Then, the spherical constraint equation of the source location is constructed using the location of each sensor and the propagation path length: ,in, is the spatial coordinate of the earthquake source to be found; For the The spatial coordinates of the sensors; Finally, the spherical equations of multiple sensors are combined and optimized by the least squares method to solve the three-dimensional spatial coordinates of the earthquake source. , the expression is: ,in, is the number of sensors.

[0030] Magnitude calculation unit: used to calculate the magnitude according to the energy attenuation characteristics of mine shock waves; through the collaborative work of the earthquake source positioning unit and the earthquake magnitude calculation unit, the mine shock event identification module can accurately determine the earthquake source location and magnitude based on the mine shock wave propagation characteristic data, providing data support for subsequent risk assessment and control.

[0031] The magnitude calculation unit specifically includes: Receive data: Receive the mine shock wave energy attenuation data, including the amplitude of each sensor and propagation path length ; Calculate the initial amplitude of the earthquake source: According to the law of energy attenuation, the initial amplitude of the earthquake source is inferred using the amplitude and propagation path data of multiple sensors. , the formula is: ; Inverse solution: ,in, For the The amplitude at each sensor; is the energy attenuation coefficient of the rock formation; is the propagation path length from the source to the sensor; Calculate the magnitude: According to the magnitude calculation formula, the initial amplitude of the earthquake source is converted into the magnitude. The formula is: ,in, is the magnitude of the mine earthquake; The correction coefficient is calibrated according to the historical mining earthquake event data. Through the above steps, the magnitude calculation unit calculates the initial amplitude of the earthquake source through the relationship between the amplitude and the propagation path, and further calculates the magnitude to provide support for subsequent risk warning and response.

[0032] The risk warning and response module includes a risk assessment unit and a control instruction generation unit; wherein: Risk assessment unit: used to generate mine earthquake risk levels according to the magnitude of the earthquake, and divide the risk levels into three levels, including low risk level, medium risk level and high risk level; Control instruction generation unit: used to generate corresponding control instructions according to risk level; When the risk level is low, early warning instructions are generated, including sending notifications and suggesting inspections of key areas; When the risk level is medium, some control instructions are generated, including evacuating personnel or shutting down equipment; When the risk level is high, comprehensive control instructions are generated, including comprehensive evacuation of personnel, comprehensive shutdown of the mining area, and triggering of emergency lighting and sound and light alarms; through the cooperation of the above-mentioned risk assessment unit and the control instruction generation unit, the risk warning and response module can generate risk levels according to the magnitude of the earthquake and provide targeted control instructions for mine safety.

[0033] The dynamic control execution module includes a device control unit, a regional isolation unit and an emergency response unit; wherein: Equipment control unit: used to receive the control instructions generated by the control instruction generation unit and control the operating status of the equipment in the mine; The device control unit includes: Equipment identification and selection subunit: used to identify the type of equipment and specific equipment number that needs to be shut down according to the control instructions. Equipment types include mining equipment, transportation equipment and lifting equipment; Equipment shutdown execution subunit: used to send a shutdown signal to the remote control system of the equipment through the control interface to gradually stop the operation of the equipment; Area isolation unit: used to receive area closure instructions and isolate the predetermined area of ​​the mine; The regional isolation unit includes: Isolation area confirmation subunit: used to confirm the scope of the mine area to be closed according to the area near the earthquake source or the affected area specified in the control instruction; Isolation equipment activation subunit: used to control the isolation doors, gates and ventilation dampers in the area, start the closing operation one by one, form a physical isolation barrier, and prevent people and equipment from entering the dangerous area; Emergency response unit: used to receive emergency response instructions, including personnel evacuation, emergency lighting triggering and sound and light alarm; The emergency response unit includes: Personnel evacuation guidance subunit: used to issue evacuation instructions to personnel through the broadcasting system and lighting system in the mine, and guide them to the safe exit; Sound and light alarm trigger subunit: used to activate the sound and light alarm device, and remind all personnel in the mine to evacuate to a safe area through continuous alarm; through the coordinated work of the above units, the dynamic control execution module can accurately execute mine-related control operations according to control instructions to ensure the safe operation of the mine.

[0034] like Figure 2 As shown, a dynamic control method for coal mine earthquake monitoring is implemented by the above-mentioned dynamic control system for coal mine earthquake monitoring, and includes the following steps: S1: Deploy multiple sensor nodes in deep coal mines to collect mine earthquake waveform data, stress distribution data, and temperature change data; and perform data cleaning and format conversion processing; S2: Based on the data processed in S1 and combined with the mine geological parameters, a mine shock wave propagation model is established using the finite difference method to analyze the propagation path, energy attenuation law and reflection characteristics of the mine shock wave, and generate mine shock wave propagation characteristic data; S3: Determine the spatial location and magnitude of the earthquake source based on the mine shock wave propagation characteristic data generated by S2; S4: Evaluate the risk level of the mine earthquake event according to the magnitude; the risk level is divided into low, medium and high, and generate corresponding control instructions according to the risk level; S5: According to the control instructions generated by S4, execute mine-related control operations to ensure the safe operation of the mine.

[0035] The present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention. In order to make the public have a thorough understanding of the present invention, specific details are described in detail in the following preferred embodiments of the present invention, but those skilled in the art can fully understand the present invention without the description of these details. In addition, in order to avoid unnecessary confusion about the essence of the present invention, well-known methods, processes, procedures, components and circuits are not described in detail.

[0036] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A dynamic control system for coal mine earthquake monitoring, characterized in that: It includes a mine earthquake signal acquisition module, a mine earthquake wave propagation modeling module, a mine earthquake identification module, a risk warning and response module, and a dynamic control execution module; among which: Mine seismic signal acquisition module: used to collect vibration waveform data, stress distribution data and temperature change data in deep coal mines, and transmit the collected data to the mine seismic wave propagation modeling module; Mine shock wave propagation modeling module: Based on the data transmitted by the mine shock signal acquisition module, a mine shock wave propagation model is established to analyze the propagation path, energy attenuation law and reflection characteristics of the mine shock wave, and generate mine shock wave propagation characteristic data, which is transmitted to the mine shock event identification module; Mine earthquake identification module: Based on the mine earthquake wave propagation characteristic data, it identifies the earthquake source location and magnitude, and transmits the identification results to the risk warning and response module; Risk warning and response module: used to generate risk levels according to the magnitude of the earthquake, and generate corresponding control instructions according to the risk level, and transmit them to the dynamic control execution module; Dynamic control execution module: used to receive control instructions transmitted by the risk warning and response module, and execute mine-related control operations according to the control instructions.

2. A dynamic control system for coal mine earthquake monitoring according to claim 1, characterized in that: The mine earthquake signal acquisition module includes a sensor deployment unit, a data acquisition unit and a data processing unit; wherein: Sensor deployment unit: used to deploy multiple sensor nodes in the monitoring area of ​​deep coal mines, each node includes a vibration sensor, a stress sensor and a temperature sensor, and the sensor node is fixed on the surface of the mine rock wall by a fixed bracket or an embedded installation method; Data acquisition unit: connected to the sensor deployment unit, used to receive real-time data collected from the sensor node; the vibration sensor is used to collect mine vibration waveform data, including amplitude, frequency and propagation direction; the stress sensor is used to collect stress distribution data inside the mine rock formation; the temperature sensor is used to collect rock formation temperature change data; and at the same time, the propagation path and energy attenuation information of the mine shock wave are recorded in real time; Data processing unit: used to perform preliminary processing on the data collected by the data acquisition unit, including removing invalid signals, data normalization and format conversion, and packaging the preliminarily processed data into a unified format and transmitting it to the mine seismic wave propagation modeling module.

3. A dynamic control system for coal mine earthquake monitoring according to claim 2, characterized in that: The mine shock wave propagation modeling module includes a propagation path modeling unit, a model building unit, a model correction unit and a characteristic analysis unit; wherein: Geological parameter acquisition unit: used to collect geological parameters of mine rock formations, including rock formation thickness, density, elastic modulus and wave velocity; Model building unit: Based on the data output by the data processing unit and the geological parameters collected by the geological parameter acquisition unit, a mine shock wave propagation model is established using the finite difference method to simulate the propagation path, attenuation law and reflection characteristics of the mine shock wave; Model correction unit: used to correct the mine shock wave propagation model and adjust the model parameters based on historical mine shock event data and real-time recorded information. The historical mine shock event data includes the source location, magnitude, waveform characteristics and propagation path; Characteristic analysis unit: used to analyze the propagation path, energy attenuation law and reflection characteristics of mine shock waves at different rock layer interfaces using the corrected propagation model, and generate mine shock wave propagation characteristic data.

4. A dynamic control system for coal mine earthquake monitoring according to claim 3, characterized in that: The model building unit comprises: Establishing the wave equation of mine shock: Based on the theory of elastic dynamics, the propagation behavior of mine shock waves in rock formations is described by the wave equation; Discretized wave equation: The wave equation is discretized using the finite difference method, converting continuous time and space variables into discrete time steps and space grids; Iterative calculation of propagation path: Based on the discretized wave equation, a mine shock wave propagation model is constructed; specifically, at each time step, the displacement data of the current and previous time steps are used to calculate the displacement of each grid point in the next time step; through repeated iterations, the propagation path and dynamic behavior of the mine shock wave in the rock formation grid are simulated to complete the preliminary construction of the mine shock wave propagation model.

5. A dynamic control system for coal mine earthquake monitoring according to claim 4, characterized in that: The model correction unit comprises: Data acquisition: Acquire historical mine earthquake event data, and at the same time obtain the actual recorded mine earthquake wave propagation path and energy attenuation information from the mine earthquake signal acquisition module as the reference data for correction; Establish error relationship: Compare the calculated value of the mine shock wave propagation model with the actual monitoring value, and define the difference between the two as error; Analyze errors: Use sensitivity analysis methods to determine the degree of influence of mining shock wave propagation model parameters on errors; Adjust model parameters: adjust the parameters in the mine shock wave propagation model according to the analysis results; Iterative correction model: Repeat the steps of error analysis and adjustment of model parameters until the error between the model calculation results and the actual monitoring results is reduced to a predetermined range.

6. A dynamic control system for coal mine earthquake monitoring according to claim 1, characterized in that: The mine earthquake event identification module includes a source location unit and a magnitude calculation unit; wherein: Earthquake source positioning unit: used to calculate the spatial position coordinates of the earthquake source through triangulation based on the mine earthquake wave propagation characteristic data, combined with the position coordinates of the sensor node and the signal arrival time difference; Magnitude calculation unit: used to calculate the magnitude of the earthquake based on the energy attenuation characteristics of the mine shock wave.

7. A dynamic control system for coal mine earthquake monitoring according to claim 6, characterized in that: The magnitude calculation unit specifically includes: Receive data: Receive the mine shock wave energy attenuation data, including the amplitude of each sensor and propagation path length ; Calculate the initial amplitude of the earthquake source: According to the law of energy attenuation, the initial amplitude of the earthquake source is inferred using the amplitude and propagation path data of multiple sensors. , the formula is: ; Inverse solution: ,in, For the The amplitude at each sensor; is the energy attenuation coefficient of the rock formation; is the propagation path length from the source to the sensor; Calculate the magnitude: According to the magnitude calculation formula, the initial amplitude of the earthquake source is converted into the magnitude. The formula is: ,in, is the magnitude of the mine earthquake; is the correction factor.

8. A dynamic control system for coal mine earthquake monitoring according to claim 7, characterized in that: The risk warning and response module includes a risk assessment unit and a control instruction generation unit; wherein: Risk assessment unit: used to generate mine earthquake risk levels according to the magnitude of the earthquake, and divide the risk levels into three levels, including low risk level, medium risk level and high risk level; Control instruction generation unit: used to generate corresponding control instructions according to risk level; When the risk level is low, early warning instructions are generated, including sending notifications and suggesting inspections of key areas; When the risk level is medium, some control instructions are generated, including evacuating personnel or shutting down equipment; When the risk level is high, comprehensive control instructions are generated, including full evacuation of personnel, full shutdown of the mine area, and triggering of emergency lighting and sound and light alarms.

9. A dynamic control system for coal mine earthquake monitoring according to claim 1, characterized in that: The dynamic control execution module includes a device control unit, a regional isolation unit and an emergency response unit; wherein: Equipment control unit: used to receive the control instructions generated by the control instruction generation unit and control the operating status of the equipment in the mine; The device control unit comprises: Equipment identification and selection subunit: used to identify the type of equipment and specific equipment number that needs to be shut down according to the control instructions. Equipment types include mining equipment, transportation equipment and lifting equipment; Equipment shutdown execution subunit: used to send a shutdown signal to the remote control system of the equipment through the control interface to gradually stop the operation of the equipment; Area isolation unit: used to receive area closure instructions and isolate the predetermined area of ​​the mine; The area isolation unit comprises: Isolation area confirmation subunit: used to confirm the scope of the mine area to be closed according to the area near the earthquake source or the affected area specified in the control instruction; Isolation equipment activation subunit: used to control the isolation doors, gates and ventilation dampers in the area, start the closing operation one by one, form a physical isolation barrier, and prevent people and equipment from entering the dangerous area; Emergency response unit: used to receive emergency response instructions, including personnel evacuation, emergency lighting triggering and sound and light alarm; The emergency response unit includes: Personnel evacuation guidance subunit: used to issue evacuation instructions to personnel through the broadcasting system and lighting system in the mine, and guide them to the safe exit; Sound and light alarm trigger subunit: used to activate the sound and light alarm device, and remind all personnel in the mine to evacuate to a safe area through continuous alarm.

10. A dynamic control method for monitoring earthquakes in a coal mine, implemented by a dynamic control system for monitoring earthquakes in a coal mine according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1: Deploy multiple sensor nodes in deep coal mines to collect mine earthquake waveform data, stress distribution data, and temperature change data; and perform data cleaning and format conversion processing; S2: Based on the data processed in S1 and combined with the mine geological parameters, a mine shock wave propagation model is established using the finite difference method to analyze the propagation path, energy attenuation law and reflection characteristics of the mine shock wave, and generate mine shock wave propagation characteristic data; S3: Determine the spatial location and magnitude of the earthquake source based on the mine shock wave propagation characteristic data generated by S2; S4: Assess the risk level of mine earthquake events based on the magnitude; The risk levels are divided into low, medium and high, and corresponding control instructions are generated according to the risk levels; S5: According to the control instructions generated by S4, execute mine-related control operations to ensure the safe operation of the mine.

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