A dynamic control system and method for monitoring coal mine tremors

Abstract

The present invention relates to the field of mine safety technology, and specifically relates to a dynamic control system and method for coal mine rockburst monitoring, including a rockburst signal acquisition module, a rockburst wave propagation modeling module, a rockburst identification module, a risk warning and response module, and a dynamic control execution module; wherein: The rockburst signal acquisition module: is used to collect data at the deep coal mine; The rockburst wave propagation modeling module: is used to establish a rockburst wave propagation model; The rockburst identification module: is used to identify the source location and magnitude of the earthquake; The risk warning and response module: is used to generate a risk level according to the magnitude and generate corresponding control instructions; The dynamic control execution module: executes relevant control operations of the mine according to the control instructions. The present invention realizes the precise monitoring and efficient control of rockburst events through multi-type sensor data acquisition, precise modeling of rockburst wave propagation, and dynamic risk assessment and response technologies, and improves the intelligent level of coal mine safety management.

Description

Technical Field

[0001] The present invention relates to the technical field of mine safety, and particularly to a dynamic control system and method for coal mine seismic monitoring. Background Art

[0002] During the coal mining process, mine seismicity is a kind of geodynamic phenomenon triggered by mining activities, with characteristics of suddenness, destructiveness and unpredictability. Mine seismicity can not only cause collapses of mine roadways and damage to equipment, but also pose a serious threat to the lives of miners. Currently, the mine seismic monitoring systems usually rely on single-type sensors or simple static analysis methods, unable to comprehensively capture the propagation characteristics and dynamic changes of mine seismic waves. At the same time, due to the complex mine environment, traditional monitoring technologies have great limitations in aspects such as seismic source location, magnitude assessment and risk response, and it is difficult to form an effective dynamic control mechanism.

[0003] The existing technologies have the following main problems in dealing with mine seismicity: First, the deployment of the sensor network is insufficient, unable to achieve full-coverage monitoring of the mine, especially the signal acquisition in complex rock formations is incomplete; Second, the construction method of the mine seismic wave propagation model is too simple, and the heterogeneity and anisotropy of the rock formations are not fully considered, resulting in low accuracy of seismic source location and magnitude calculation; Third, the existing systems lack a dynamic risk assessment and response mechanism based on magnitude and seismic source location, resulting in the lack of pertinence and timeliness in the generation and execution of control instructions after mine seismicity occurs. Therefore, there is an urgent need for a coal mine seismic monitoring and dynamic control system that can integrate multiple technical means, accurately monitor mine seismic events, dynamically assess risks and efficiently implement control to ensure coal mine production safety. Summary of the Invention

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

[0005] A dynamic control system for coal mine seismic monitoring includes a mine seismic signal acquisition module, a mine seismic wave propagation modeling module, a mine seismic event recognition module, a risk early warning and response module, and a dynamic control execution module; wherein:

[0006] The mine seismic signal acquisition module: is used to collect the vibration waveform data, stress distribution data and temperature change data at the deep coal mine, and transmit the collected data to the mine seismic wave propagation modeling module;

[0007] The mine seismic wave propagation modeling module: based on the data transmitted by the mine seismic signal acquisition module, establishes a mine seismic wave propagation model, which is used to analyze the propagation path, energy attenuation law and reflection characteristics of the mine seismic wave, and generates mine seismic wave propagation characteristic data, and transmits it to the mine seismic event recognition module;

[0008] Mine tremor identification module: Based on the data of mine tremor wave propagation characteristics, it identifies the source location and magnitude of the tremor, and transmits the identification results to the risk warning and response module;

[0009] Risk warning and response module: It is used to generate a risk level according to the magnitude of the tremor, generate corresponding control instructions according to the risk level, and transmit them to the dynamic control execution module;

[0010] Dynamic control execution module: It is used to receive the control instructions transmitted by the risk warning and response module and perform relevant control operations on the mine according to the control instructions.

[0011] Optionally, the mine tremor signal acquisition module includes a sensor deployment unit, a data acquisition unit, and a data processing unit; among them:

[0012] Sensor deployment unit: It is used to deploy multiple sensor nodes in the monitoring area of the deep coal mine. Each node includes a vibration sensor, a stress sensor, and a temperature sensor. The sensor nodes are fixed on the surface of the mine rock wall by a fixed bracket or an embedded installation method;

[0013] Data acquisition unit: It is connected to the sensor deployment unit and is used to receive the real-time data collected from the sensor nodes. Among them, the vibration sensor is used to collect mine vibration waveform data, including amplitude, frequency, and propagation direction; the stress sensor is used to collect the stress distribution data inside the mine rock formation; the temperature sensor is used to collect the data of the temperature change of the rock formation; at the same time, it records the propagation path and energy attenuation information of the mine tremor wave in real time;

[0014] Data processing unit: It is used to perform preliminary processing on the data collected by the data acquisition unit, including removing invalid signals, data normalization, and format conversion, and packing the preliminarily processed data into a unified format and then transmitting it to the mine tremor wave propagation modeling module.

[0015] Optionally, the mine tremor wave propagation modeling module includes a propagation path modeling unit, a model construction unit, a model correction unit, and a characteristic analysis unit; among them:

[0016] Geological parameter acquisition unit: It is used to collect the geological parameters of the mine rock formation, including rock formation thickness, density, elastic modulus, and wave velocity;

[0017] Model construction unit: Based on the data output by the data processing unit and the geological parameters collected by the geological parameter acquisition unit, it uses the finite difference method to establish a mine tremor wave propagation model to simulate the propagation path, attenuation law, and reflection characteristics of the mine tremor wave;

[0018] Model calibration unit: used to calibrate the mine seismic wave propagation model, adjust the model parameters based on historical mine seismic event data and real-time recorded information, where the historical mine seismic event data includes the source location, magnitude, waveform characteristics, and propagation path;

[0019] Characteristic analysis unit: used to analyze the propagation path, energy attenuation law, and reflection characteristics on different rock interfaces of mine seismic waves by using the calibrated propagation model, and generate mine seismic wave propagation characteristic data.

[0020] Optionally, the model construction unit includes:

[0021] Establish the mine seismic wave equation: Based on the theory of elastodynamics, the propagation behavior of mine seismic waves in rock formations is described by the wave equation;

[0022] Discretize the wave equation: Discretize the wave equation by using the finite difference method, and convert continuous time and space variables into discrete time steps and spatial grids;

[0023] Iteratively calculate the propagation path: Based on the discretized wave equation, construct a mine seismic wave propagation model; specifically, at each time step, use the displacement data of the current and previous time steps to calculate the displacement of each grid point at the next time step; through repeated iteration, simulate the propagation path and dynamic behavior of mine seismic waves in the rock formation grid, and complete the preliminary construction of the mine seismic wave propagation model.

[0024] Optionally, the model calibration unit includes:

[0025] Data acquisition: Obtain historical mine seismic event data, and at the same time obtain the actual recorded mine seismic wave propagation path and energy attenuation information from the mine seismic signal acquisition module as the calibration reference data;

[0026] Establish an error relationship: Compare the calculated value of the mine seismic wave propagation model with the actual monitoring value, and define the difference between the two as the error;

[0027] Analyze the error: Determine the influence degree of the mine seismic wave propagation model parameters on the error through the sensitivity analysis method;

[0028] Adjust the model parameters: Adjust the parameters in the mine seismic wave propagation model according to the analysis results;

[0029] Iteratively calibrate the model: Repeat the steps of error analysis and adjusting the model parameters until the error between the model calculation result and the actual monitoring result is reduced to a predetermined range.

[0030] Optionally, the mine seismic event recognition module includes a source location unit and a magnitude calculation unit; where:

[0031] Seismic source positioning unit: It is used to calculate the spatial position coordinates of the seismic source by triangulation according to the propagation characteristic data of mine seismic waves, combined with the position coordinates of sensor nodes and the time difference of signal arrival;

[0032] Magnitude calculation unit: It is used to calculate the magnitude according to the energy attenuation characteristics of mine seismic waves.

[0033] Optionally, the magnitude calculation unit specifically includes:

[0034] Receiving data: Receive the energy attenuation data of mine seismic waves, including the amplitudes of each sensor and the propagation path length ;

[0035] Calculating the initial amplitude of the seismic source: According to the energy attenuation law, use the amplitudes of multiple sensors and the propagation path data to inversely deduce the initial amplitude of the seismic source , the formula is: ; By inverse solution: , where is the amplitude at the th sensor; is the energy attenuation coefficient of the rock formation; is the propagation path length from the seismic source to the sensor;

[0036] Calculating the magnitude: According to the magnitude calculation formula, convert the initial amplitude of the seismic source into the magnitude, the formula is: , where is the magnitude of the mine earthquake; is the correction coefficient.

[0037] Optionally, the risk warning and response module includes a risk assessment unit and a control instruction generation unit; among them:

[0038] Risk assessment unit: It is used to generate the mine earthquake risk level according to the magnitude, and divide the risk level into three levels, including low risk level, medium risk level and high risk level

[0039] Control instruction generation unit: It is used to generate corresponding control instructions according to the risk level;

[0040] When the risk level is low, generate a warning instruction, including sending a notice and suggesting key areas for inspection;

[0041] When the risk level is medium, generate partial control instructions, including evacuating personnel or shutting down equipment;

[0042] When the risk level is high, generate comprehensive control instructions, including full evacuation of personnel, full shutdown of the mining area, and triggering emergency lights and audible and visual alarms.

[0043] Optionally, the dynamic control execution module includes a device control unit, a regional isolation unit, and an emergency response unit; where:

[0044] Device control unit: It is used to receive the control instructions generated by the control instruction generation unit and control the operating status of the devices in the mine;

[0045] The device control unit includes:

[0046] Device identification and selection sub-unit: It is used to identify the types of devices that need to be shut down and the specific device numbers according to the control instructions. The types of devices include excavation equipment, transportation equipment, and hoisting equipment;

[0047] Device shutdown execution sub-unit: It is used to send a shutdown signal to the remote control system of the device through the control interface and gradually stop the operation of the device;

[0048] Regional isolation unit: It is used to receive the regional closure instruction and isolate the predetermined area of the mine;

[0049] The regional isolation unit includes:

[0050] Isolation area confirmation sub-unit: It is used to confirm the scope of the mine area that needs to be closed according to the area near the seismic source or the affected area specified in the control instruction;

[0051] Isolation device activation sub-unit: It is used to control the isolation doors, gates, and ventilation baffle devices in the area, start the closure operation one by one, and form a physical isolation barrier to prevent personnel and equipment from entering the dangerous area;

[0052] Emergency response unit: It is used to receive emergency response instructions, including personnel evacuation, emergency light triggering, and audible and visual alarms;

[0053] The emergency response unit includes:

[0054] Personnel evacuation guidance sub-unit: It is used to issue evacuation instructions to personnel through the broadcast system and lighting system in the mine and guide them to the safety exits;

[0055] Audible and visual alarm triggering sub-unit: It is used to activate the audible and visual alarm device and remind all personnel in the mine to evacuate to the safe area through continuous alarms.

[0056] A dynamic control method for coal mine seismic monitoring, implemented by the above-mentioned dynamic control system for coal mine seismic monitoring, includes the following steps:

[0057] S1: Deploy multiple sensor nodes in the deep coal mine, collect seismic waveform data, stress distribution data, and temperature change data; and perform data cleaning and format conversion processing;

[0058] S2: Based on the processed data in S1, combined with the mine geological parameters, establish a mine seismic wave propagation model using the finite difference method to analyze the propagation path, energy attenuation law, and reflection characteristics of the mine seismic wave, and generate mine seismic wave propagation characteristic data;

[0059] S3: Based on the mine seismic wave propagation characteristic data generated in S2, determine the spatial position and magnitude of the seismic source;

[0060] S4: According to the magnitude, evaluate the risk level of the mine seismic event; the risk level is divided into low, medium, and high, and generate corresponding control instructions according to the risk level;

[0061] S5: According to the control instructions generated in S4, perform relevant control operations on the mine to ensure the safe operation of the mine.

[0062] Advantages of the present invention:

[0063] In the present invention, by introducing a multi-type sensor network and signal processing technology, it is possible to comprehensively collect vibration waveform, stress distribution, and temperature change data in the mine, establish a mine seismic wave propagation model in combination with the finite difference method, accurately simulate the propagation path and energy attenuation law of the mine seismic wave. Compared with the prior art, it realizes high-precision identification of the seismic source position and magnitude, provides reliable data support for the dynamic assessment of mine seismic risk, and effectively solves the problems of insufficient monitoring coverage and low modeling accuracy in traditional technologies.

[0064] In the present invention, through the comprehensive assessment of the magnitude and seismic source position, different levels of risk response strategies are dynamically generated, including specific measures such as early warning, evacuation, and equipment shutdown, realizing the closed-loop control of mine seismic events from monitoring to response, and can significantly improve the timeliness and accuracy of mine safety management, reducing the potential threats of mine seismicity to personnel and equipment. Description of the Drawings

[0065] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only those of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0066] Figure 1 It is a schematic diagram of the dynamic control system for coal mine seismic monitoring in an embodiment of the present invention;

[0067] Figure 2 It is a schematic diagram of the dynamic control method for coal mine seismic monitoring in an embodiment of the present invention. Detailed Embodiments

[0068] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. At the same time, it should be noted here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments. For some well-known technologies, those skilled in the art can also adopt other alternative methods for implementation; moreover, the accompanying drawings are only for more specific description of the embodiments and are not intended to specifically limit the present invention.

[0069] It should be noted that in the specification, references to "an embodiment", "embodiments", "exemplary embodiments", "some embodiments", etc. indicate that the described embodiments may include specific features, structures, or characteristics, but not necessarily every embodiment includes such specific features, structures, or characteristics. Additionally, when combining embodiments to describe specific features, structures, or characteristics, implementing such features, structures, or characteristics in combination with other embodiments (whether explicitly described or not) should be within the knowledge of those skilled in the relevant art.

[0070] Generally, terms can be understood at least in part from their use in context. For example, at least in part depending on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in a singular sense, or can be used to describe a combination of features, structures, or characteristics in a plural sense. Additionally, the term "based on" can be understood as not necessarily intended to convey a set of exclusive factors, but rather, at least in part depending on the context, can allow for the existence of other factors that may not be explicitly described.

[0071] As Figure 1 shown, a dynamic control system for coal mine rockburst monitoring includes a rockburst signal acquisition module, a rockburst wave propagation modeling module, a rockburst identification module, a risk early warning and response module, and a dynamic control execution module; wherein:

[0072] The rockburst signal acquisition module: is used to acquire vibration waveform data, stress distribution data, and temperature change data at the deep coal mine, and transmit the acquired data to the rockburst wave propagation modeling module;

[0073] The rockburst wave propagation modeling module: based on the data transmitted by the rockburst signal acquisition module, establishes a rockburst wave propagation model, which is used to analyze the propagation path, energy attenuation law, and reflection characteristics of the rockburst wave, and generate rockburst wave propagation characteristic data, and transmit it to the rockburst event identification module;

[0074] The rockburst identification module: based on the rockburst wave propagation characteristic data, identifies the earthquake source location and magnitude, and transmits the identification result to the risk early warning and response module;

[0075] The risk early warning and response module: is used to generate a risk level according to the magnitude, generate corresponding control instructions according to the risk level, and transmit them to the dynamic control execution module;

[0076] Dynamic control execution module: It is used to receive the control instructions transmitted by the risk early warning and response module and execute the relevant control operations of the mine according to the control instructions.

[0077] The mine tremor signal acquisition module includes a sensor deployment unit, a data acquisition unit, and a data processing unit; among them:

[0078] Sensor deployment unit: It is used to deploy multiple sensor nodes in the monitoring area of the deep coal mine. Each node includes a vibration sensor, a stress sensor, and a temperature sensor. The sensor nodes are fixed on the surface of the mine rock wall through a fixed bracket or an embedded installation method; the deployment positions of the sensor nodes include the main mining and excavation areas of the mine, near the known fault lines, and stress concentration areas. The specific positions are determined based on the rock layer geological survey data, the historical mine tremor activity distribution map, and the stress field analysis results to form a monitoring network that comprehensively covers the key areas of the mine;

[0079] Data acquisition unit: It is connected to the sensor deployment unit and is used to receive the real-time data collected from the sensor nodes; among them, the vibration sensor is used to collect the mine tremor waveform data, including amplitude, frequency, and propagation direction, and the data is stored in the form of a time series; the stress sensor is used to collect the stress distribution data inside the mine rock layer and achieve high-precision stress acquisition through the resistance strain gauge or fiber Bragg grating technology; the temperature sensor is used to collect the rock layer temperature change data, and the temperature measurement is realized by using the thermocouple or thermistor technology, and the temperature change curve is recorded; at the same time, the propagation path and energy attenuation information of the mine tremor wave are recorded in real time; among them, the propagation path of the mine tremor wave is calculated through the signal propagation time difference in the sensor array; the energy attenuation is obtained through the amplitude difference analysis of the sensors at different positions; the energy attenuation formula of the amplitude is: , where, is the waveform amplitude at the propagation distance of ; is the initial amplitude at the earthquake source; is the energy attenuation coefficient of the rock layer, which is provided by the geological parameter acquisition unit; is the propagation distance from the earthquake source to the measuring point; through the amplitude ratio of two measuring points and , the attenuation coefficient can be inversely deduced, and the expression is: , where, are the amplitudes of the measuring points and respectively; and are the distances from the corresponding measuring points to the earthquake source, and ;

[0080] Data processing unit: It is used to preliminarily process the data collected by the data acquisition unit, including removing invalid signals, data normalization, and format conversion, and packing the preliminarily processed data into a unified format and then transmitting it to the mine seismic wave propagation modeling module; specifically, removing invalid signals is achieved by setting a signal threshold to filter out invalid signals or noises below this threshold to ensure the high accuracy of the signals for subsequent analysis; normalizing the collected mine seismic data to standardize the signals of different sensors to the same dimension range (for example, between 0 and 1) to eliminate the differences in the sensitivities of different sensors; performing format conversion on the collected mine seismic data to convert the original data in different formats into a unified data format, including JSON or CSV, to ensure that there will be no format incompatibility issues during the transmission and processing of data between different modules. Through the reasonable layout of the sensor deployment unit and the collaborative work of the data acquisition unit and the data processing unit, accurate collection and effective transmission of vibration waveform data, stress distribution data, and temperature change data in deep coal mines are realized.

[0081] The mine seismic wave propagation modeling module includes a propagation path modeling unit, a model construction unit, a model correction unit, and a characteristic analysis unit; among them:

[0082] Geological parameter acquisition unit: It is used to collect the geological parameters of the mine rock strata, including rock stratum thickness, density, elastic modulus, and wave velocity; specifically obtained through geological exploration data or on-site measurements and stored in the geological parameter database;

[0083] Model construction unit: Based on the data output by the data processing unit and the geological parameters collected by the geological parameter acquisition unit, a mine seismic wave propagation model is established using the finite difference method; the model takes into account the inhomogeneity and anisotropy characteristics of the rock strata and simulates the propagation path, attenuation law, and reflection characteristics of the mine seismic wave;

[0084] Model correction unit: It is used to correct the mine seismic wave propagation model, adjust the model parameters based on historical mine seismic event data and real-time recorded information, and the historical mine seismic event data includes the earthquake source location, magnitude, waveform characteristics, and propagation path to improve the accuracy and reliability of the model;

[0085] Characteristic analysis unit: It is used to utilize the corrected propagation model to analyze the propagation path, energy attenuation law, and reflection characteristics of the mine seismic wave at different rock stratum interfaces, generate mine seismic wave propagation characteristic data, and transmit it to the mine seismic event recognition module.

[0086] The model construction unit includes:

[0087] Establish the mine seismic wave equation: Based on the theory of elastic dynamics, the propagation behavior of mine seismic waves in rock strata is described by the wave equation; this wave equation correlates parameters such as rock density, displacement, stress, and external forces to form a mathematical model for describing the propagation of mine seismic waves.

[0088] Discretize the wave equation: The finite difference method is used to discretize the wave equation, converting continuous time and space variables into discrete time steps and spatial grids. Through discretization, partial derivatives are approximated as difference forms, facilitating numerical calculations.

[0089] Iteratively calculate the propagation path: Based on the discretized wave equation, a mine seismic wave propagation model is constructed; specifically, at each time step, using the displacement data of the current and previous time steps, calculate the displacements of each grid point at the next time step. Through repeated iteration, simulate the propagation path and dynamic behavior of mine seismic waves in the rock stratum grid to complete the preliminary construction of the mine seismic wave propagation model.

[0090] The model correction unit includes:

[0091] Data acquisition: Obtain historical mine seismic event data, and at the same time obtain the actual recorded propagation path and energy attenuation information of mine seismic waves from the mine seismic signal acquisition module as the reference data for correction.

[0092] Establish the error relationship: Compare the calculated values of the mine seismic wave propagation model with the actual monitoring values, and define the difference between the two as the error. The error includes the position deviation on the propagation path and the difference in amplitude change.

[0093] Analyze the error: Through the sensitivity analysis method, determine the influence degree of the parameters of the mine seismic wave propagation model (such as rock density, elastic modulus, and shear modulus) on the error, analyze the change direction and amplitude of each parameter to clarify the priority and adjustment range of parameter adjustment.

[0094] The process of using the sensitivity analysis method to determine the influence degree of model parameters on the error is as follows:

[0095] First, determine which model parameters (such as rock density, elastic modulus, shear modulus, etc.) may have an important impact on the accuracy of the mine seismic wave propagation model.

[0096] Then, based on the known model, moderately perturb the selected parameters, usually increasing or decreasing a certain percentage to see its impact on the model results.

[0097] Subsequently, by comparing the model outputs before and after parameter perturbation, evaluate the change amplitude of the output results. For example, if the model results change significantly after perturbing a certain parameter, it indicates that this parameter has a greater impact on the error and needs to be adjusted first.

[0098] 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.

[0099] 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;

[0100] 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.

[0101] The mine earthquake event identification module includes a source location unit and a magnitude calculation unit; wherein:

[0102] 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;

[0103] The earthquake source location process includes the following steps:

[0104] 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;

[0105] 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;

[0106] 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:

[0107] ,in, is the number of sensors.

[0108] Magnitude calculation unit: It is used to calculate the magnitude according to the energy attenuation characteristics of mine seismic waves; through the collaborative work of the seismic source location unit and the magnitude calculation unit, the mine seismic event recognition module can accurately determine the seismic source location and magnitude based on the mine seismic wave propagation characteristic data, providing data support for subsequent risk assessment and control.

[0109] The magnitude calculation unit specifically includes:

[0110] Receiving data: Receive the mine seismic wave energy attenuation data, including the amplitudes of each sensor and the propagation path lengths ;

[0111] Calculating the initial amplitude of the seismic source: According to the energy attenuation law, use the amplitudes of multiple sensors and the propagation path data to inversely deduce the initial amplitude of the seismic source , the formula is: ; The inverse solution is: , where is the amplitude at the th sensor; is the energy attenuation coefficient of the rock formation; is the propagation path length from the seismic source to the sensor;

[0112] Calculating the magnitude: According to the magnitude calculation formula, convert the initial amplitude of the seismic source into the magnitude, the formula is: , where is the magnitude of the mine seismic event; is the correction coefficient, calibrated according to the historical mine seismic event data; Through the above steps, the magnitude calculation unit calculates the initial amplitude of the seismic source through the relationship between the amplitude and the propagation path, and further calculates the magnitude, providing support for subsequent risk early warning and response.

[0113] The risk early warning and response module includes a risk assessment unit and a control instruction generation unit; among them:

[0114] Risk assessment unit: It is used to generate the mine seismic risk level according to the magnitude, and divide the risk level into three levels, including low risk level, medium risk level and high risk level;

[0115] Control instruction generation unit: It is used to generate corresponding control instructions according to the risk level;

[0116] When the risk level is low, generate a warning instruction, including sending a notice and suggesting key areas for inspection;

[0117] When the risk level is medium, generate partial control instructions, including evacuating personnel or shutting down equipment;

[0118] When the risk level is high, comprehensive control instructions are generated, including a full evacuation of personnel, a complete shutdown of the mining area, and the triggering of emergency lighting and audible and visual alarms; through the coordinated work of the above-mentioned risk assessment unit and control instruction generation unit, the risk warning and response module can generate a risk level based on the magnitude of the earthquake and provide targeted control instructions for mine safety.

[0119] The dynamic control execution module includes an equipment control unit, a regional isolation unit, and an emergency response unit; among them:

[0120] The equipment control unit: is used to receive the control instructions generated by the control instruction generation unit and control the operating status of the equipment in the mine;

[0121] The equipment control unit includes:

[0122] The equipment identification and selection subunit: is used to identify the types of equipment to be shut down and the specific equipment numbers according to the control instructions. The types of equipment include mining equipment, transportation equipment, and hoisting equipment;

[0123] The equipment shutdown execution subunit: is used to send a shutdown signal to the remote control system of the equipment through the control interface and gradually stop the operation of the equipment;

[0124] The regional isolation unit: is used to receive the regional closure instruction and isolate the predetermined area of the mine;

[0125] The regional isolation unit includes:

[0126] The isolation area confirmation subunit: is 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 instructions;

[0127] The isolation equipment activation subunit: is used to control the isolation doors, gates, and ventilation baffle devices in the area, start the closure operation one by one, and form a physical isolation barrier to prevent personnel and equipment from entering the dangerous area;

[0128] The emergency response unit: is used to receive emergency response instructions, including personnel evacuation, triggering of emergency lighting, and audible and visual alarms;

[0129] The emergency response unit includes:

[0130] The personnel evacuation guidance subunit: is used to issue evacuation instructions to personnel through the broadcast system and lighting system in the mine and guide them to the safety exits;

[0131] The audible and visual alarm triggering subunit: is used to activate the audible and visual alarm device and remind all personnel in the mine to evacuate to the safe area through continuous alarms; through the coordinated work of the above units, the dynamic control execution module can accurately execute the relevant control operations of the mine according to the control instructions and ensure the safe operation of the mine.

[0132] As shown Figure 2 A dynamic control method for monitoring coal mine rock bursts, implemented by the above-mentioned dynamic control system for monitoring coal mine rock bursts, includes the following steps:

[0133] S1: Deploy multiple sensor nodes in deep coal mines to collect rock burst waveform data, stress distribution data, and temperature change data; and perform data cleaning and format conversion processing;

[0134] S2: Based on the data processed in S1 and combined with mine geological parameters, establish a rock burst wave propagation model using the finite difference method to analyze the propagation path, energy attenuation law, and reflection characteristics of rock burst waves, and generate rock burst wave propagation characteristic data;

[0135] S3: Based on the rock burst wave propagation characteristic data generated in S2, determine the spatial position and magnitude of the seismic source;

[0136] S4: Evaluate the risk level of rock burst events according to the magnitude; the risk level is divided into low, medium, and high, and corresponding control instructions are generated according to the risk level;

[0137] S5: According to the control instructions generated in S4, perform relevant control operations on the mine to ensure the safe operation of the mine.

[0138] The present invention covers any alternatives, modifications, equivalent methods, and solutions made within the spirit and scope of the present invention. To enable the public to have a thorough understanding of the present invention, specific details are described in detail in the following preferred embodiments of the present invention, and those skilled in the art can fully understand the present invention without these detailed descriptions. In addition, well-known methods, processes, procedures, components, and circuits are not described in detail to avoid unnecessary confusion to the essence of the present invention.

[0139] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A dynamic control system for monitoring coal mine rockbursts, characterized in that, It includes a mine seismic signal acquisition module, a mine seismic wave propagation modeling module, a mine seismic event recognition module, a risk early warning and response module, and a dynamic control execution module; among which: The mine seismic signal acquisition module: It is used to collect the vibration waveform data, stress distribution data, and temperature change data at the deep coal mine, and transmit the collected data to the mine seismic wave propagation modeling module; The mine seismic signal acquisition module includes a sensor deployment unit, a data acquisition unit, and a data processing unit; among which: The sensor deployment unit: It is used to deploy multiple sensor nodes in the monitoring area of the deep coal mine. Each node includes a vibration sensor, a stress sensor, and a temperature sensor. The sensor nodes are fixed on the surface of the mine rock wall through a fixed bracket or an embedded installation method; The data acquisition unit: It is connected to the sensor deployment unit and is used to receive the real-time data collected from the sensor nodes. Among them, the vibration sensor is used to collect the mine vibration waveform data, including amplitude, frequency, and propagation direction; the stress sensor is used to collect the stress distribution data inside the mine rock formation; the temperature sensor is used to collect the temperature change data of the rock formation; at the same time, it records the propagation path and energy attenuation information of the mine seismic wave in real time; The data processing unit: It is used to preliminarily process the data collected by the data acquisition unit, including removing invalid signals, data normalization, and format conversion, and pack the preliminarily processed data into a unified format and then transmit it to the mine seismic wave propagation modeling module; The mine seismic wave propagation modeling module: Based on the data transmitted by the mine seismic signal acquisition module, it establishes a mine seismic wave propagation model, which is used to analyze the propagation path, energy attenuation law, and reflection characteristics of the mine seismic wave, and generate mine seismic wave propagation characteristic data, and transmit it to the mine seismic event recognition module; The mine seismic event recognition module: Based on the mine seismic wave propagation characteristic data, it identifies the source location and magnitude of the earthquake, and transmits the recognition result to the risk early warning and response module; The mine seismic event recognition module includes a source location unit and a magnitude calculation unit; among which: The source location unit: It is used to calculate the spatial position coordinates of the earthquake source by the triangulation method according to the mine seismic wave propagation characteristic data, combined with the position coordinates of the sensor nodes and the signal arrival time difference; The magnitude calculation unit: It is used to calculate the magnitude of the earthquake according to the energy attenuation characteristics of the mine seismic wave; The magnitude calculation unit specifically includes: Receiving data: Receiving mine seismic wave energy attenuation data, including the amplitudes of each sensor and the propagation path lengths ; Calculate the initial amplitude of the seismic source: According to the energy attenuation law, use the amplitude and propagation path data of multiple sensors to inversely deduce the initial amplitude of the seismic source , the formula is: , and the inverse solution is: , where is the amplitude at the th sensor; is the energy attenuation coefficient of the rock formation; is the propagation path length from the seismic source to the sensor; Calculating the magnitude: According to the magnitude calculation formula, the initial amplitude of the earthquake source is converted into the magnitude. The formula is: , where is the magnitude of the mine earthquake; is the correction coefficient; The risk early warning and response module: It is used to generate a risk level according to the magnitude of the earthquake, generate corresponding control instructions according to the risk level, and transmit them to the dynamic control execution module; The dynamic control execution module: It is used to receive the control instructions transmitted by the risk early warning and response module, and execute the relevant control operations of the mine according to the control instructions.

2. The dynamic control system for monitoring coal mine rock bursts according to claim 1, characterized in that, The mine seismic wave propagation modeling module includes a propagation path modeling unit, a model construction unit, a model correction unit, and a characteristic analysis unit; among which: The geological parameter acquisition unit: It is used to collect the geological parameters of the mine rock formation, including rock formation thickness, density, elastic modulus, and wave velocity; The model construction unit: Based on the data output by the data processing unit and the geological parameters collected by the geological parameter acquisition unit, it uses the finite difference method to establish a mine seismic wave propagation model to simulate the propagation path, attenuation law, and reflection characteristics of the mine seismic wave; Model calibration unit: used to calibrate the mine seismic wave propagation model, adjust the model parameters based on historical mine seismic event data and real-time recorded information, where the historical mine seismic event data includes the epicenter location, magnitude, waveform characteristics, and propagation path; Characteristic analysis unit: used to analyze the propagation path, energy attenuation law, and reflection characteristics of mine seismic waves at different rock interfaces by using the calibrated propagation model, and generate mine seismic wave propagation characteristic data.

3. The dynamic control system for coal mine seismic monitoring according to claim 2, characterized in that, The model construction unit includes: Establish the mine seismic wave equation: Based on the theory of elastodynamics, the propagation behavior of mine seismic waves in rock strata is described by the wave equation; Discretize the wave equation: Use the finite difference method to discretize the wave equation, converting continuous time and space variables into discrete time steps and spatial grids; Iteratively calculate the propagation path: Based on the discretized wave equation, construct a mine seismic wave propagation model; specifically, at each time step, use the displacement data of the current and previous time steps to calculate the displacement of each grid point at the next time step; through repeated iteration, simulate the propagation path and dynamic behavior of mine seismic waves in the rock stratum grid, and complete the preliminary construction of the mine seismic wave propagation model.

4. The dynamic control system for monitoring coal mine rock bursts according to claim 3, characterized in that, The model calibration unit includes: Data acquisition: Obtain historical mine seismic event data, and at the same time obtain the actual recorded mine seismic wave propagation path and energy attenuation information from the mine seismic signal acquisition module as the calibration reference data; Establish the error relationship: Compare the calculated value of the mine seismic wave propagation model with the actual monitored value, and define the difference between the two as the error; Analyze the error: Determine the influence degree of the mine seismic wave propagation model parameters on the error through the sensitivity analysis method; Adjust the model parameters: Adjust the parameters in the mine seismic wave propagation model according to the analysis results; Iteratively calibrate the model: Repeat the steps of error analysis and adjusting the model parameters until the error between the model calculation result and the actual monitoring result is reduced to a predetermined range.

5. The dynamic control system for monitoring coal mine rock bursts according to claim 1, characterized in that, The risk early warning and response module includes a risk assessment unit and a control instruction generation unit; among them: Risk assessment unit: used to generate a mine seismic risk level according to the magnitude, and divide the risk level 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 the risk level; When the risk level is low, generate a warning instruction, including sending a notice and suggesting key areas for inspection; When the risk level is medium, generate partial control instructions, including evacuating personnel or shutting down equipment; When the risk level is high, generate comprehensive control instructions, including full evacuation of personnel, full shutdown of the mining area, and triggering emergency lighting and audible and visual alarms.

6. The dynamic control system for monitoring coal mine rock bursts according to claim 1, characterized in that, The dynamic control execution module includes an equipment control unit, a regional isolation unit, and an emergency response unit; among them: 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 equipment control unit includes: Equipment identification and selection sub-unit: used to identify the types of equipment and specific equipment numbers that need to be shut down according to the control instructions, and the types of equipment include mining equipment, transportation equipment, and hoisting equipment; Equipment shutdown execution subunit: used to send a shutdown signal to the remote control system of the equipment through the control interface and gradually stop the operation of the equipment; Area isolation unit: used to receive the area closure instruction and isolate a predetermined area of the mine; The area isolation unit includes: Isolation area confirmation subunit: used to confirm the range of the mine area to be closed according to the area near the seismic source or the affected area specified in the control instruction; Isolation equipment activation subunit: used to control the isolation doors, gates and ventilation baffle equipment in the area, start the closing operation one by one, form a physical isolation barrier, and prevent personnel and equipment from entering the dangerous area; Emergency response unit: used to receive emergency response instructions, including personnel evacuation, emergency light triggering and audible and visual alarms; The emergency response unit includes: Personnel evacuation guidance subunit: used to issue evacuation instructions to personnel through the broadcast system and lighting system in the mine and guide them to the safety exit; Audible and visual alarm triggering subunit: used to activate the audible and visual alarm device and remind all personnel in the mine to evacuate to the safe area through continuous alarms.

7. A dynamic control method for monitoring coal mine rock bursts, implemented by a dynamic control system for monitoring coal mine rock bursts according to any one of claims 1-6, characterized in that, Including the following steps: S1: Deploy multiple sensor nodes in the deep coal mine, collect mine seismic 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, establish a mine seismic wave propagation model using the finite difference method, which is used to analyze the propagation path, energy attenuation law and reflection characteristics of the mine seismic wave, and generate mine seismic wave propagation characteristic data; S3: Based on the mine seismic wave propagation characteristic data generated in S2, determine the spatial position and magnitude of the seismic source; S4: Evaluate the risk level of the mine seismic event according to 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 in S4, perform relevant control operations on the mine to ensure the safe operation of the mine.

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