Multi-dimensional linkage intelligent monitoring waterproof and drainage system and method based on underground mine

Abstract

The invention discloses a multi-dimensional linkage intelligent monitoring waterproof and drainage system and method based on an underground mine. According to the system, an atmospheric rainfall monitoring module is arranged on the earth surface of a mining area; the surface water monitoring module is arranged on the surface of a mining area and in a subsidence area; the underground water monitoring module is arranged in a goaf and a karst cave of a mining area; the water inflow monitoring module is installed at a known point prone to water inflow in a mining area. The water sump water level monitoring module is mounted in a water sump; the environment monitoring module is arranged on the earth surface of the mining area; the automatic control module is connected with each draining pump group; the intelligent analysis and decision module is connected with the atmospheric rainfall monitoring module, the surface water monitoring module, the underground water monitoring module, the water inflow monitoring module, the sump water level monitoring module, the environment monitoring module, the automatic control module and the early warning module. The method comprises the following steps: establishing a dynamic risk assessment model and obtaining a dynamic risk level; and formulating a drainage strategy. According to the system and the method, the drainage process can be controlled based on a multi-dimensional linkage intelligent control mode.

Description

Technical Field

[0001] The present invention belongs to the technical field of smart mine safety and disaster prevention and control, and specifically is a drainage system and method based on multi-dimensional linkage intelligent monitoring of underground mines. Background Art

[0002] Mine water inrush is an important factor endangering the safe production of mines. Once water seepage or flooding occurs underground, it will not only affect normal production work, but also seriously endanger the lives of underground personnel. The main factors affecting the amount of mine water inrush include atmospheric rainfall, surface water and groundwater. When mine water inrush occurs, it is necessary to discharge the water to the ground in time through the mine drainage system. It is of great significance to conduct real-time intelligent monitoring of underground water inrush and atmospheric rainfall, surface water and groundwater, and analyze the dynamic relationship between them. Through this monitoring and analysis process, reliable support and guidance can be provided for the digital monitoring of mine water prevention and control and the automation and intelligent drainage of water tanks, which is of great significance to strengthen mine water prevention and control work, prevent water disasters and build smart mines.

[0003] At present, most mines in China have not established a systematic intelligent monitoring system and method for water prevention and control. At this stage, the water discharge from the water tank is only carried out based on the experience of the workers, and the automatic drainage process has not been realized. The degree of automation and drainage accuracy are low, and it is difficult to grasp the precise timing of water discharge from the water tank. When the amount of water inflow in the mine is large, water disasters are prone to occur. Although some mines have installed an automatic drainage system, they only drain water through the interlocking of the water level in the mine water tank and the start and stop of the water pump. It only plays the role of automatic "drainage" of water, and does not systematically consider the dynamic relationship between atmospheric rainfall, surface water and groundwater and underground water inrush, and does not play an effective "prevention" role. It is difficult to achieve integrated control of mine water prevention and control and water discharge. For this reason, it is urgent to provide a multi-dimensional linkage intelligent monitoring water prevention and drainage system and method. Summary of the invention

[0004] In view of the problems existing in the above-mentioned prior art, the present invention provides a drainage system and method based on multi-dimensional linkage intelligent monitoring of underground mines. The system has a high degree of intelligence and automation, and has active prevention and control capabilities. It can realize dynamic monitoring and intelligent management of mine water inrush, which can significantly improve the intelligence level, main control prevention and control capabilities and drainage efficiency of coal mine drainage systems, effectively reduce the risk of mine water hazards, and effectively reduce the labor intensity and monitoring difficulty of workers. The method has a high degree of intelligence. It can realize dynamic monitoring of mine water inrush and highly intelligent management and control of drainage operations, and can perform intelligent graded dynamic drainage operations when water inrush occurs. At the same time, it can perform linkage early warning reminder actions, which can effectively reduce the risk of mine water hazards and significantly improve the safety of mine production.

[0005] In order to achieve the above-mentioned object, the present invention provides a multi-dimensional linkage intelligent monitoring drainage system based on underground mines, including a water tank, a plurality of drainage pumps, an atmospheric rainfall monitoring module, a surface water monitoring module, a groundwater monitoring module, a water inflow monitoring module, a water tank water level monitoring module, an environmental monitoring module, an automatic control module, an early warning module and an intelligent analysis and decision module;

[0006] A plurality of drainage pumps are divided into three groups, namely, a surface water drainage pump group, a groundwater drainage pump group and a sump drainage pump group; the surface water drainage pump group is composed of a plurality of surface water pumps; the groundwater drainage pump group is composed of a plurality of groundwater pumps; the sump drainage pump group is composed of a plurality of sump water pumps;

[0007] The atmospheric rainfall monitoring module is arranged on the surface of the mining area; the surface water monitoring module is arranged on the surface of the mining area and in the subsidence area; the groundwater monitoring module is arranged in the goaf and caves of the mining area; the water inflow monitoring module is installed at the known water inflow points in the mining area; the water tank water level monitoring module is installed in the water tank; the environmental monitoring module is arranged on the surface of the mining area; the automatic control module is respectively connected to the surface water drainage pump group, the groundwater drainage pump group and the water tank drainage pump group;

[0008] The intelligent analysis and decision-making module is respectively connected with the atmospheric rainfall monitoring module, the surface water monitoring module, the groundwater monitoring module, the water inflow monitoring module, the water tank water level monitoring module, the environmental monitoring module, the automatic control module and the early warning module.

[0009] As a preferred embodiment, the atmospheric rainfall monitoring module is a high-precision rain gauge. The environmental monitoring module includes a temperature sensor, a humidity sensor and a wind speed sensor.

[0010] As a preferred embodiment, the surface water monitoring module is a surface water level sensor and a millimeter wave radar level meter. The surface water level sensor is installed on the surface of the mining area to monitor the surface water accumulation signal of the mining area. The millimeter wave radar level meter is installed in the subsidence area of ​​the mining area to monitor the water accumulation signal of the subsidence area of ​​the mining area.

[0011] As a preferred embodiment, the groundwater monitoring module is a goaf water level sensor and a cave water level sensor. The goaf water level sensor is installed in the goaf to monitor the goaf water level signal, and the cave water level sensor is installed in the cave to monitor the cave water level signal.

[0012] Preferably, the water inflow monitoring module includes a flow meter.

[0013] Preferably, the water tank water level monitoring module comprises a water tank water level sensor.

[0014] As a preferred embodiment, it also includes a power module, a communication module and a remote monitoring terminal, wherein the power module is connected to the intelligent analysis and decision module for supplying electricity, and the communication module is connected to the intelligent analysis and decision module for establishing a communication connection between the intelligent analysis and decision module and external equipment. In this way, it is easy to realize unattended and remote operation management, further improving the production efficiency and water hazard prevention and control capabilities of the mine.

[0015] In the present invention, an atmospheric rainfall monitoring module is arranged on the surface of the mining area, so as to facilitate real-time monitoring of the atmospheric rainfall signal of the mining area; a surface water monitoring module is arranged on the surface of the mining area and in the subsidence area, so as to facilitate real-time monitoring of the surface water volume signal of the mining area and the water volume signal of the subsidence area; a groundwater monitoring module is arranged in the goaf and karst caves of the mining area, so as to facilitate real-time monitoring of the water level signal of the goaf and the water level signal of the karst cave; a water inflow monitoring module is arranged at a known water inflow point in the mining area, so as to facilitate real-time monitoring of the water inflow signal; a water tank water level monitoring module is arranged in the water tank, so as to facilitate real-time monitoring of the water tank water level signal; and through the setting of the environmental monitoring module, it is convenient to monitor the temperature signal, humidity signal and wind speed signal in the environment in real time. Through the setting of intelligent analysis and decision-making module, not only can the atmospheric rainfall data, surface water accumulation data, collapse area water accumulation data, goaf area water accumulation data, cave water accumulation data, total mine water inflow, water accumulation in water tank, temperature data, humidity data and wind speed data be obtained based on the atmospheric rainfall signal, surface water accumulation signal, subsidence area water accumulation signal, goaf area water accumulation data, cave water accumulation data, total mine water inflow, water accumulation in water tank, temperature data, humidity data and wind speed data of the mining area, but also the built-in dynamic risk assessment module can be used to integrate the real-time monitoring data and determine the dynamic risk level, thereby realizing the quantification of the mine water inflow risk level. In addition, the intelligent analysis and decision-making module can also determine the impact of current rainfall on the water tank capacity, so that the control instructions for water tank drainage can be generated in advance, the management of water tank capacity can be optimized, and it is conducive to ensuring the efficient and smooth discharge of surface water and underground water. Through the setting of the automatic control module, the underground drainage pump group, the surface water drainage pump group and the water tank water pump group can be controlled in a multi-dimensional linkage intelligent manner. In this way, the intelligence level of the system is further improved, and the control input signal of each drainage pump can be dynamically adjusted, which is conducive to optimizing the drainage strategy. While improving drainage efficiency and at the same time, it can also significantly reduce energy consumption and achieve energy-saving management. As a result, the system covers multi-dimensional online monitoring of atmospheric rainfall, surface water, groundwater, etc., and can combine dynamic risk assessment with multi-dimensional linkage control to realize intelligent management of integrated drainage and drainage, realize high-precision prevention and control of mine water hazards, and significantly improve the active prevention and control capabilities of mine water hazards.

[0016] The system has a high degree of intelligence and automation. Through the multi-dimensional monitoring architecture and intelligent control system, it realizes the informatization and digitization of the monitoring process, and has active prevention and control capabilities. It can realize dynamic monitoring and intelligent management of mine water inrush, significantly improving the intelligence level, main control prevention and control capabilities and drainage efficiency of the coal mine drainage system, effectively reducing the risk of mine water hazards, and effectively reducing the labor intensity and monitoring difficulty of workers. It solves the problems of low automation level and lack of multi-dimensional linkage control in the existing underground mine drainage system, and can effectively ensure the safety of coal mine production.

[0017] The present invention also provides a drainage method based on multi-dimensional linkage intelligent monitoring of underground mines, which adopts a drainage system based on multi-dimensional linkage intelligent monitoring of underground mines, comprising the following steps:

[0018] Step 1: Collect historical atmospheric rainfall data of the mining area, and establish a rainfall prediction model for the mining area based on the historical atmospheric rainfall data;

[0019] Step 2: Use a high-precision rain gauge installed on the surface of the mining area to monitor the atmospheric rainfall signal of the mining area in real time, and send it to the intelligent analysis and decision-making module; use a surface water level sensor installed on the surface of the mining area to monitor the surface water volume signal of the mining area in real time, and send it to the intelligent analysis and decision-making module; use a millimeter-wave radar level meter installed in the subsidence area of ​​the mining area to monitor the subsidence area water volume signal of the subsidence area of ​​the mining area in real time, and send it to the intelligent analysis and decision-making module; use a goaf water level sensor installed in the goaf to monitor the goaf water level signal in real time, and send it to the intelligent analysis and decision-making module module; use the cave water level sensor installed in the cave to monitor the cave water level signal in real time and send it to the intelligent analysis and decision module; use the water inflow monitoring module installed at the known water inflow point to monitor the water inflow signal in real time and send it to the intelligent analysis and decision module; use the water tank water level sensor installed in the water tank to monitor the water tank water level signal in real time and send it to the intelligent analysis and decision module; use the temperature sensor, humidity sensor and wind speed sensor installed in the mining area to monitor the temperature signal, humidity signal and wind speed signal in real time respectively, and send them to the intelligent analysis and decision module;

[0020] Step 3: The intelligent analysis and decision-making module obtains the atmospheric rainfall data Q1 of the mining area based on the atmospheric rainfall signal of the mining area; obtains the surface water volume data Q21 based on the surface water volume signal of the mining area, obtains the subsidence area water volume data Q22 based on the subsidence area water volume signal, and obtains the total surface water volume Q2 based on the sum of the surface water volume data Q21 and the subsidence area water volume data Q22; obtains the goaf water volume data Q31 based on the goaf water level signal, obtains the cave water volume data Q32 based on the cave water level signal, and obtains the total underground water volume Q3 based on the sum of the goaf water volume data Q31 and the cave water volume data Q32; obtains the total mine water inflow Q4 based on the monitoring water inflow signal; obtains the water volume Q51 of the water tank based on the water level signal of the water tank; obtains the temperature data, humidity data and wind speed data based on the temperature signal, humidity signal and wind speed signal;

[0021] At the same time, the atmospheric rainfall data Q1 of the mining area, the current temperature data, humidity data and wind speed data of the mining area are input into the rainfall prediction model of the mining area, and the future rainfall is predicted using the rainfall prediction model of the mining area to obtain the future rainfall prediction data Q1 预测 (t);

[0022] Step 4: Establish a dynamic risk assessment model according to formula (1) and obtain the dynamic risk level R(t);

[0023]

[0024] Where, Q1(t) represents the real-time atmospheric rainfall data in the mining area; Q2(t) represents the real-time total surface water accumulation; Q3(t) represents the real-time total underground water accumulation; Q4(t) represents the real-time total mine water inflow; Q5 represents the total capacity of the water tank; Q1 警 Indicates the preset warning threshold of atmospheric precipitation in the mining area; Q2 警 Indicates the preset warning threshold of the total surface water volume; Q3 警 Indicates the preset warning threshold of the total underground water volume; Q1 极 It represents the historical extreme value of atmospheric rainfall data in the mining area; β represents the prediction adjustment coefficient of the rainfall prediction model in the mining area, with a value range of 0.1 to 0.3, which is used to adjust the impact of future rainfall on current risks;

[0025] Step 5: Formulate a drainage strategy based on the dynamic risk level R(t). When R(t)<0.5, it is judged as L1 low risk, maintain the current normal drainage state, generate a low risk warning instruction, and send it to the warning module;

[0026] When 0.5≤R(t)<1.0, it is judged as L2 medium risk, and a control instruction is generated to start some drainage pumps in the surface water drainage pump group and the groundwater drainage pump group according to the set ratio to perform drainage operations, and sent to the automation control module. At the same time, a medium warning instruction is generated and sent to the warning module;

[0027] When R(t)≥1.0, it is judged as L3 high risk, and a control instruction is generated to start all the drainage pumps in the surface water drainage pump group and the groundwater drainage pump group to perform drainage operations, and sent to the automation control module. At the same time, an emergency warning instruction is generated and sent to the warning module;

[0028] At the same time, when R(t)≥0.5, based on the Bayesian theory and historical rainfall data, the impact of future rainfall on the water tank capacity is calculated according to formula (2), and the probability P of starting the water tank drainage pump group in advance to drain water is predicted. 排水 (t), when P 排水 When (t)≥0.5, a control instruction is generated to start the water tank drainage pump group to perform drainage operations and sent to the automation control module;

[0029]

[0030] Step 6: After receiving the control instruction to start the surface water drainage pump group and some drainage pumps in the groundwater drainage pump group for drainage according to the set ratio, the automation control module controls to start some surface water pumps in the surface water drainage pump group to drain the surface water of the mining area, and controls to start some groundwater pumps in the groundwater drainage pump group to drain the groundwater in the mining area, until R(t)<0.5 stops; after receiving the control instruction to start all surface water drainage pump groups and groundwater drainage pump groups for drainage, the automation control module controls to start all drainage pumps in the surface water drainage pump group to drain the surface water of the mining area, and controls to start all drainage pumps in the underground drainage pump group to drain the groundwater in the mining area, until R(t)<0.5 stops; after receiving the control instruction to start the water tank drainage pump group for drainage, the automation control module controls to start all drainage pumps in the water tank drainage pump group to drain the water tank, and stops when R(t)<0.5;

[0031] At the same time, during the synchronous operation of the surface water drainage pump group, the groundwater drainage pump group and the sump drainage pump group, based on the finite time consistency theory of the multi-agent system, the control input of the surface water pump, the groundwater pump and the sump water pump that are running simultaneously is obtained according to formula (3) to realize multi-dimensional linkage intelligent control;

[0032]

[0033] In the formula, u i (t) represents the control input of the i-th drainage pump; xi represents the current state of the i-th drainage pump; x N+1 represents the target state; k represents the control gain, which is used to adjust the response speed of the system; a ij represents the connection weight between multiple drainage pumps; b i represents the weight between the drainage pump and the target state; α represents the predictive adjustment coefficient, which ranges from 0.1 to 0.5 and is used to adjust the current drainage strategy according to future rainfall;

[0034] At the same time, the early warning module executes low-risk warning actions after receiving low-risk warning instructions, executes medium-risk warning actions after receiving medium-risk warning instructions, and executes emergency risk warning actions after receiving emergency warning instructions, so as to effectively remind relevant managers to take effective response measures in a timely manner.

[0035] Furthermore, in order to improve the accuracy of dynamic risk assessment, in step 4, Q1 警 The value is 60% to 70% of the historical maximum atmospheric rainfall data in the mining area; Q2 警 The value is 70% to 80% of the historical maximum total surface water accumulation; Q3 警 The value is 70% to 80% of the historical maximum total underground water volume.

[0036] In the present invention, a mining area rainfall prediction module is established based on historical atmospheric rainfall data, which can facilitate accurate and effective prediction of future rainfall. At the same time, in view of the current situation of insufficient online monitoring and early warning capabilities of key factors such as atmospheric rainfall, surface water, and groundwater in underground mines, the method provides a comprehensive monitoring and early warning solution, realizes real-time online monitoring of multi-dimensional parameters such as atmospheric rainfall, surface water, and groundwater, effectively solves the problem of lack or inaccuracy of mine meteorological and hydrological data, and provides a strong guarantee for mine safety production. In addition, a dynamic risk assessment model is used to integrate real-time monitoring data, historical extreme values, and predicted future rainfall to conduct dynamic risk assessment, which not only takes into account the current water volume situation, but also effectively combines future rainfall prediction data and historical data, thereby ensuring that the results of risk assessment are more accurate and reliable, and this assessment process can realize accurate quantification of the risk level of mine water inrush, and then can formulate a corresponding drainage strategy according to different risk levels, realize scientific management of the drainage process, and can significantly reduce drainage energy consumption, and at the same time, can ensure the safety of mine production. After the automation control module receives the control instructions issued by the intelligent analysis and decision-making module according to different risk levels, it further optimizes the control inputs of the surface water pumps, groundwater pumps and sump pumps running simultaneously based on the finite time consistency theory of multi-agent systems. It can dynamically adjust the actions of multiple running drainage pumps through multi-dimensional linkage intelligent control, effectively optimizing the response of each drainage pump. Therefore, this method realizes the hierarchical and linkage control of groundwater drainage, surface water drainage and sump drainage by combining dynamic risk assessment and multi-dimensional linkage control, so that the actions of each running drainage pump can be dynamically adjusted according to the risk level, greatly improving the efficiency of drainage operations and significantly reducing the overall energy consumption in the drainage process. At the same time, when there is a medium risk of L2 and a high risk of L3, the impact of future rainfall on the sump capacity can be predicted based on Bayesian theory and historical rainfall data, so that the sump capacity can be predicted in advance, and then the action of the sump drainage pump can be started in advance, so that the capacity management of the sump can be effectively optimized in the process of surface water and groundwater drainage, significantly improving the foresight and initiative of prevention and control.

[0037] The present invention breaks through the limitations of traditional single-dimensional monitoring, innovatively integrates dynamic risk assessment, predictive control and multi-agent collaborative algorithms, and can realize an intelligent management process of integrated water prevention and drainage, greatly improving the response efficiency of water hazard warnings. At the same time, it effectively optimizes the utilization rate of water tank capacity, and significantly enhances the intelligence level of mine water prevention and drainage systems and the ability to actively prevent and control water hazards. This method has a high degree of intelligence. It can realize dynamic monitoring of mine water inrush and highly intelligent management and control of drainage operations, and can perform intelligent graded dynamic drainage operations when water inrush occurs. At the same time, it can perform linkage warning reminder actions, which can effectively reduce the risk of mine water hazards and significantly improve the safety of mine production. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a principle block diagram of the system part in the present invention. DETAILED DESCRIPTION

[0039] The present invention will be further described below in conjunction with the accompanying drawings.

[0040] like Figure 1 As shown, the present invention provides a multi-dimensional linkage intelligent monitoring drainage system based on underground mines, including a water tank, a plurality of drainage pumps, an atmospheric rainfall monitoring module, a surface water monitoring module, a groundwater monitoring module, a water inflow monitoring module, a water tank water level monitoring module, an environmental monitoring module, an intelligent analysis and decision-making module, an automatic control module, and an early warning module;

[0041] The water tank is used to store direct drainage from surface and underground drainage pumps, and to process the drainage by sedimentation and filtration;

[0042] Several drainage pumps are divided into three groups, namely, surface water drainage pump group, groundwater drainage pump group and sump drainage pump group;

[0043] The surface water drainage pump group is composed of a plurality of surface water pumps, which are sequentially arranged near a plurality of surface water pumping points, the water suction pipelines connected to the water inlets of the pumps extend to the plurality of surface water pumping points, and the drainage pipelines connected to the water outlets of the pumps are connected to the water inlet of the water tank;

[0044] The groundwater drainage pump group is composed of a plurality of groundwater pumps, which are sequentially arranged near a plurality of underground water pumping points, the water suction pipelines connected to the water inlets of the groundwater pumps extend to the plurality of underground water pumping points, and the drainage pipelines connected to the water outlets of the groundwater pumps are connected to the water inlet of the water tank;

[0045] The sump drainage pump group is composed of a plurality of sump water pumps, which are sequentially arranged near the sump, and the water suction pipelines connected to the water inlets thereof are correspondingly connected to the plurality of water outlets at the bottom of the sump, and the drainage pipelines connected to the water outlets thereof extend to the target drainage centralized collection area;

[0046] The atmospheric rainfall monitoring module is arranged on the surface of the mining area, and is used to monitor the atmospheric rainfall signal of the mining area in real time, and send it to the intelligent analysis and decision-making module;

[0047] The surface water monitoring module is arranged on the surface of the mining area and in the subsidence area, and is used to monitor the total surface water volume signal of the mining area in real time and send it to the intelligent analysis and decision-making module;

[0048] The groundwater monitoring module is set in the goaf and caves of the mining area to monitor the water level signal of the groundwater in the mining area in real time and send it to the intelligent analysis and decision-making module;

[0049] The water inflow monitoring module is installed at a known water inflow point in the mining area, and is used to monitor the water inflow signal in real time and send it to the intelligent analysis and decision-making module;

[0050] The water tank water level monitoring module is installed in the water tank, and is used to monitor the water tank water level signal in real time and send it to the intelligent analysis and decision-making module;

[0051] The environmental monitoring module is arranged on the surface of the mining area, and is used to monitor the temperature signal, humidity signal and wind speed signal of the mining area in real time, and send them to the intelligent analysis and decision-making module;

[0052] The intelligent analysis and decision-making module is respectively connected to the atmospheric rainfall monitoring module, the surface water monitoring module, the groundwater monitoring module, the water inflow monitoring module, the water tank water level monitoring module, the environmental monitoring module, the automatic control module and the early warning module; the intelligent analysis and decision-making module is used to receive the monitoring signals of each monitoring module, and determine the dynamic risk level based on the dynamic risk assessment model. At the same time, it is used to judge the impact of future rainfall on the water tank capacity, and then generate corresponding control instructions and early warning instructions based on the determined dynamic risk level and the judgment result, and then send the control instructions and early warning instructions to the automatic control module

[0053] The automation control module is connected to the surface water drainage pump group, the groundwater drainage pump group and the water tank drainage pump group respectively; the automation control module performs multi-dimensional linkage intelligent control on the actions of each drainage pump based on the received control instructions;

[0054] The early warning module is used to perform early warning actions under the control of the automation control module.

[0055] As a preferred embodiment, the intelligent analysis and decision-making module is an industrial computer, and the automation control module is a PLC controller;

[0056] As a preferred embodiment, the atmospheric rainfall monitoring module is a high-precision rain gauge. The environmental monitoring module includes a temperature sensor, a humidity sensor and a wind speed sensor.

[0057] As a preferred embodiment, the surface water monitoring module is a surface water level sensor and a millimeter wave radar level meter. The surface water level sensor is installed on the surface of the mining area to monitor the surface water accumulation signal of the mining area. The millimeter wave radar level meter is installed in the subsidence area of ​​the mining area to monitor the water accumulation signal of the subsidence area of ​​the mining area.

[0058] As a preferred embodiment, the groundwater monitoring module is a goaf water level sensor and a cave water level sensor. The goaf water level sensor is installed in the goaf to monitor the goaf water level signal, and the cave water level sensor is installed in the cave to monitor the cave water level signal.

[0059] Preferably, the water inflow monitoring module includes a flow meter.

[0060] Preferably, the water tank water level monitoring module comprises a water tank water level sensor.

[0061] As a preferred embodiment, it also includes a power supply module, a communication module and a remote monitoring terminal. The power supply module is connected to the intelligent analysis and decision-making module for supplying electricity, and the communication module is connected to the intelligent analysis and decision-making module for establishing a communication connection between the intelligent analysis and decision-making module and external equipment.

[0062] As a preferred embodiment, a remote monitoring terminal is further included, and the remote monitoring terminal is connected to the intelligent analysis and decision-making module by wired or wireless means, so that it is convenient to realize remote monitoring and operation of the drainage system, to facilitate real-time viewing of monitoring data, to facilitate remote control of each drainage pump, and to facilitate the reception of remote warning information;

[0063] In the present invention, an atmospheric rainfall monitoring module is arranged on the surface of the mining area, so as to facilitate real-time monitoring of the atmospheric rainfall signal of the mining area; a surface water monitoring module is arranged on the surface of the mining area and in the subsidence area, so as to facilitate real-time monitoring of the surface water volume signal of the mining area and the water volume signal of the subsidence area; a groundwater monitoring module is arranged in the goaf and karst caves of the mining area, so as to facilitate real-time monitoring of the water level signal of the goaf and the water level signal of the karst cave; a water inflow monitoring module is arranged at a known water inflow point in the mining area, so as to facilitate real-time monitoring of the water inflow signal; a water tank water level monitoring module is arranged in the water tank, so as to facilitate real-time monitoring of the water tank water level signal; and through the setting of the environmental monitoring module, it is convenient to monitor the temperature signal, humidity signal and wind speed signal in the environment in real time. Through the setting of intelligent analysis and decision-making module, not only can the atmospheric rainfall data, surface water accumulation data, collapse area water accumulation data, goaf area water accumulation data, cave water accumulation data, total mine water inflow, water accumulation in water tank, temperature data, humidity data and wind speed data be obtained based on the atmospheric rainfall signal, surface water accumulation signal, subsidence area water accumulation signal, goaf area water accumulation data, cave water accumulation data, total mine water inflow, water accumulation in water tank, temperature data, humidity data and wind speed data of the mining area, but also the built-in dynamic risk assessment module can be used to integrate the real-time monitoring data and determine the dynamic risk level, thereby realizing the quantification of the mine water inflow risk level. In addition, the intelligent analysis and decision-making module can also determine the impact of current rainfall on the water tank capacity, so that the control instructions for water tank drainage can be generated in advance, the management of water tank capacity can be optimized, and it is conducive to ensuring the efficient and smooth discharge of surface water and underground water. Through the setting of the automatic control module, the underground drainage pump group, the surface water drainage pump group and the water tank water pump group can be controlled in a multi-dimensional linkage intelligent manner. In this way, the intelligence level of the system is further improved, and the control input signal of each drainage pump can be dynamically adjusted, which is conducive to optimizing the drainage strategy. While improving drainage efficiency and at the same time, it can also significantly reduce energy consumption and achieve energy-saving management. As a result, the system covers multi-dimensional online monitoring of atmospheric rainfall, surface water, groundwater, etc., and can combine dynamic risk assessment with multi-dimensional linkage control to realize intelligent management of integrated drainage and drainage, realize high-precision prevention and control of mine water hazards, and significantly improve the active prevention and control capabilities of mine water hazards.

[0064] The system has a high degree of intelligence and automation. Through the multi-dimensional monitoring architecture and intelligent control system, it realizes the informatization and digitization of the monitoring process, and has active prevention and control capabilities. It can realize dynamic monitoring and intelligent management of mine water inrush, significantly improving the intelligence level, main control prevention and control capabilities and drainage efficiency of the coal mine drainage system, effectively reducing the risk of mine water hazards, and effectively reducing the labor intensity and monitoring difficulty of workers. It solves the problems of low automation level and lack of multi-dimensional linkage control in the existing underground mine drainage system, and can effectively ensure the safety of coal mine production.

[0065] The present invention also provides a drainage method based on multi-dimensional linkage intelligent monitoring of underground mines, which adopts a drainage system based on multi-dimensional linkage intelligent monitoring of underground mines, comprising the following steps:

[0066] Step 1: Collect historical atmospheric rainfall data of the mining area, and establish a rainfall prediction model for the mining area based on the historical atmospheric rainfall data; as a preferred embodiment, the samples in the historical atmospheric rainfall data include relationship data such as temperature, humidity, wind speed and precipitation; the rainfall prediction module for the mining area can be established based on a deep learning model (such as CNN);

[0067] Step 2: Use a high-precision rain gauge installed on the surface of the mining area to monitor the atmospheric rainfall signal of the mining area in real time, and send it to the intelligent analysis and decision-making module; use a surface water level sensor installed on the surface of the mining area to monitor the surface water volume signal of the mining area in real time, and send it to the intelligent analysis and decision-making module; use a millimeter-wave radar level meter installed in the subsidence area of ​​the mining area to monitor the subsidence area water volume signal of the subsidence area of ​​the mining area in real time, and send it to the intelligent analysis and decision-making module; use a goaf water level sensor installed in the goaf to monitor the goaf water level signal in real time, and send it to the intelligent analysis and decision-making module module; use the cave water level sensor installed in the cave to monitor the cave water level signal in real time and send it to the intelligent analysis and decision module; use the water inflow monitoring module installed at the known water inflow point to monitor the water inflow signal in real time and send it to the intelligent analysis and decision module; use the water tank water level sensor installed in the water tank to monitor the water tank water level signal in real time and send it to the intelligent analysis and decision module; use the temperature sensor, humidity sensor and wind speed sensor installed in the mining area to monitor the temperature signal, humidity signal and wind speed signal in real time respectively, and send them to the intelligent analysis and decision module;

[0068] Step 3: The intelligent analysis and decision-making module obtains the atmospheric rainfall data Q1 of the mining area based on the atmospheric rainfall signal of the mining area; obtains the surface water volume data Q21 based on the surface water volume signal of the mining area, obtains the subsidence area water volume data Q22 based on the subsidence area water volume signal, and obtains the total surface water volume Q2 based on the sum of the surface water volume data Q21 and the subsidence area water volume data Q22; obtains the goaf water volume data Q31 based on the goaf water level signal, obtains the cave water volume data Q32 based on the cave water level signal, and obtains the total underground water volume Q3 based on the sum of the goaf water volume data Q31 and the cave water volume data Q32; obtains the total mine water inflow Q4 based on the monitoring water inflow signal; obtains the water volume Q51 of the water tank based on the water level signal of the water tank; obtains the temperature data, humidity data and wind speed data based on the temperature signal, humidity signal and wind speed signal;

[0069] At the same time, the atmospheric rainfall data Q1 of the mining area, the current temperature data, humidity data and wind speed data of the mining area are input into the rainfall prediction model of the mining area, and the future rainfall is predicted using the rainfall prediction model of the mining area to obtain the future rainfall prediction data Q1 预测 (t);

[0070] Step 4: Establish a dynamic risk assessment model according to formula (1) and obtain the dynamic risk level R(t);

[0071]

[0072] Where, Q1(t) represents the real-time atmospheric rainfall data in the mining area; Q2(t) represents the real-time total surface water accumulation; Q3(t) represents the real-time total underground water accumulation; Q4(t) represents the real-time total mine water inflow; Q5 represents the total capacity of the water tank; Q1 警 Indicates the preset warning threshold of atmospheric precipitation in the mining area; Q2 警 Indicates the preset warning threshold of the total surface water volume; Q3 警 Indicates the preset warning threshold of the total underground water volume; Q1 极 It represents the historical extreme value of atmospheric rainfall data in the mining area; β represents the prediction adjustment coefficient of the rainfall prediction model in the mining area, with a value range of 0.1 to 0.3, which is used to adjust the impact of future rainfall on current risks;

[0073] Step 5: Formulate a drainage strategy based on the dynamic risk level R(t). When R(t)<0.5, it is judged as L1 low risk, maintain the current normal drainage state, generate a low risk warning instruction, and send it to the warning module;

[0074] When 0.5≤R(t)<1.0, it is judged as L2 medium risk, and a control instruction is generated to start some drainage pumps in the surface water drainage pump group and the groundwater drainage pump group according to the set ratio to perform drainage operations, and sent to the automation control module. At the same time, a medium warning instruction is generated and sent to the warning module;

[0075] When R(t)≥1.0, it is judged as L3 high risk, and a control instruction is generated to start all the drainage pumps in the surface water drainage pump group and the groundwater drainage pump group to perform drainage operations, and sent to the automation control module. At the same time, an emergency warning instruction is generated and sent to the warning module;

[0076] At the same time, when R(t)≥0.5, based on the Bayesian theory and historical rainfall data, the impact of future rainfall on the water tank capacity is calculated according to formula (2), and the probability P of starting the water tank drainage pump group in advance to drain water is predicted. 排水 (t), when P 排水 When (t)≥0.5, a control instruction is generated to start the water tank drainage pump group to perform drainage operations and sent to the automation control module;

[0077]

[0078] Step 6: After receiving the control instruction to start the surface water drainage pump group and some drainage pumps in the groundwater drainage pump group for drainage according to the set ratio, the automation control module controls to start some surface water pumps in the surface water drainage pump group to drain the surface water of the mining area, and controls to start some groundwater pumps in the groundwater drainage pump group to drain the groundwater in the mining area, until R(t)<0.5 stops; after receiving the control instruction to start all surface water drainage pump groups and groundwater drainage pump groups for drainage, the automation control module controls to start all drainage pumps in the surface water drainage pump group to drain the surface water of the mining area, and controls to start all drainage pumps in the underground drainage pump group to drain the groundwater in the mining area, until R(t)<0.5 stops; after receiving the control instruction to start the water tank drainage pump group for drainage, the automation control module controls to start all drainage pumps in the water tank drainage pump group to drain the water tank, and stops when R(t)<0.5;

[0079] At the same time, during the synchronous operation of the surface water drainage pump group, the groundwater drainage pump group and the sump drainage pump group, based on the finite time consistency theory of the multi-agent system, the control input of the surface water pump, the groundwater pump and the sump water pump that are running simultaneously is obtained according to formula (3) to realize multi-dimensional linkage intelligent control;

[0080]

[0081] In the formula, u i (t) represents the control input of the i-th drainage pump; x i represents the current state of the i-th drainage pump; x N+1 represents the target state; k represents the control gain, which is used to adjust the response speed of the system; a ij represents the connection weight between multiple drainage pumps; b i represents the weight between the drainage pump and the target state; α represents the predictive adjustment coefficient, which ranges from 0.1 to 0.5 and is used to adjust the current drainage strategy according to future rainfall;

[0082] At the same time, the early warning module executes low-risk warning actions after receiving low-risk warning instructions, executes medium-risk warning actions after receiving medium-risk warning instructions, and executes emergency risk warning actions after receiving emergency warning instructions, so as to effectively remind relevant managers to take effective response measures in a timely manner.

[0083] In order to improve the accuracy of dynamic risk assessment, in step 4, Q1 警 The value is 60% to 70% of the historical maximum atmospheric rainfall data in the mining area; Q2 警The value is 70% to 80% of the historical maximum total surface water accumulation; Q3 警 The value is 70% to 80% of the historical maximum total underground water volume.

[0084] In the present invention, a mining area rainfall prediction module is established based on historical atmospheric rainfall data, which can facilitate accurate and effective prediction of future rainfall. At the same time, in view of the current situation of insufficient online monitoring and early warning capabilities of key factors such as atmospheric rainfall, surface water, and groundwater in underground mines, the method provides a comprehensive monitoring and early warning solution, realizes real-time online monitoring of multi-dimensional parameters such as atmospheric rainfall, surface water, and groundwater, effectively solves the problem of lack or inaccuracy of mine meteorological and hydrological data, and provides a strong guarantee for mine safety production. In addition, a dynamic risk assessment model is used to integrate real-time monitoring data, historical extreme values, and predicted future rainfall to conduct dynamic risk assessment, which not only takes into account the current water volume situation, but also effectively combines future rainfall prediction data and historical data, thereby ensuring that the results of risk assessment are more accurate and reliable, and this assessment process can realize accurate quantification of the risk level of mine water inrush, and then can formulate a corresponding drainage strategy according to different risk levels, realize scientific management of the drainage process, and can significantly reduce drainage energy consumption, and at the same time, can ensure the safety of mine production. After the automation control module receives the control instructions issued by the intelligent analysis and decision-making module according to different risk levels, it further optimizes the control inputs of the surface water pumps, groundwater pumps and sump pumps running simultaneously based on the finite time consistency theory of multi-agent systems. It can dynamically adjust the actions of multiple running drainage pumps through multi-dimensional linkage intelligent control, effectively optimizing the response of each drainage pump. Therefore, this method realizes the hierarchical and linkage control of groundwater drainage, surface water drainage and sump drainage by combining dynamic risk assessment and multi-dimensional linkage control, so that the actions of each running drainage pump can be dynamically adjusted according to the risk level, greatly improving the efficiency of drainage operations and significantly reducing the overall energy consumption in the drainage process. At the same time, when there is a medium risk of L2 and a high risk of L3, the impact of future rainfall on the sump capacity can be predicted based on Bayesian theory and historical rainfall data, so that the sump capacity can be predicted in advance, and then the action of the sump drainage pump can be started in advance, so that the capacity management of the sump can be effectively optimized in the process of surface water and groundwater drainage, significantly improving the foresight and initiative of prevention and control.

[0085] The present invention breaks through the limitations of traditional single-dimensional monitoring, innovatively integrates dynamic risk assessment, predictive control and multi-agent collaborative algorithms, and can realize an intelligent management process of integrated water prevention and drainage, greatly improving the response efficiency of water hazard warnings. At the same time, it effectively optimizes the utilization rate of water tank capacity, and significantly enhances the intelligence level of mine water prevention and drainage systems and the ability to actively prevent and control water hazards. This method has a high degree of intelligence. It can realize dynamic monitoring of mine water inrush and highly intelligent management and control of drainage operations, and can perform intelligent graded dynamic drainage operations when water inrush occurs. At the same time, it can perform linkage warning reminder actions, which can effectively reduce the risk of mine water hazards and significantly improve the safety of mine production.

Claims

1. A multi-dimensional linkage intelligent monitoring drainage system based on underground mines, comprising a water tank and a plurality of drainage pumps, characterized in that: It also includes atmospheric rainfall monitoring module, surface water monitoring module, groundwater monitoring module, water inflow monitoring module, water tank water level monitoring module, environmental monitoring module, automatic control module, early warning module and intelligent analysis and decision-making module; A plurality of drainage pumps are divided into three groups, namely, a surface water drainage pump group, a groundwater drainage pump group and a sump drainage pump group; the surface water drainage pump group is composed of a plurality of surface water pumps; the groundwater drainage pump group is composed of a plurality of groundwater pumps; the sump drainage pump group is composed of a plurality of sump water pumps; The atmospheric rainfall monitoring module is arranged on the surface of the mining area; the surface water monitoring module is arranged on the surface of the mining area and in the subsidence area; the groundwater monitoring module is arranged in the goaf and caves of the mining area; the water inflow monitoring module is installed at the known water inflow points in the mining area; the water tank water level monitoring module is installed in the water tank; the environmental monitoring module is arranged on the surface of the mining area; the automatic control module is respectively connected to the surface water drainage pump group, the groundwater drainage pump group and the water tank drainage pump group; The intelligent analysis and decision-making module is respectively connected with the atmospheric rainfall monitoring module, the surface water monitoring module, the groundwater monitoring module, the water inflow monitoring module, the water tank water level monitoring module, the environmental monitoring module, the automatic control module and the early warning module.

2. The multi-dimensional linkage intelligent monitoring drainage system based on underground mines according to claim 1 is characterized in that: The atmospheric rainfall monitoring module is a high-precision rain gauge; the environmental monitoring module includes a temperature sensor, a humidity sensor and a wind speed sensor.

3. The multi-dimensional linkage intelligent monitoring drainage system based on underground mines according to claim 2 is characterized in that: The surface water monitoring module includes a surface water level sensor and a millimeter wave radar level meter. The surface water level sensor is installed on the surface of the mining area to monitor the surface water accumulation signal of the mining area. The millimeter wave radar level meter is installed in the subsidence area of ​​the mining area to monitor the subsidence area water accumulation signal of the mining area.

4. The multi-dimensional linkage intelligent monitoring drainage system based on underground mines according to claim 3 is characterized in that: The groundwater monitoring module includes a goaf water level sensor and a cave water level sensor. The goaf water level sensor is installed in the goaf to monitor the goaf water level signal. The cave water level sensor is installed in the cave to monitor the cave water level signal.

5. The multi-dimensional linkage intelligent monitoring drainage system based on underground mines according to claim 4 is characterized in that: The water inflow monitoring module includes a flow meter.

6. The multi-dimensional linkage intelligent monitoring drainage system based on underground mines according to claim 5 is characterized in that: The water tank water level monitoring module includes a water tank water level sensor.

7. The multi-dimensional linkage intelligent monitoring drainage system based on underground mines according to claim 6 is characterized in that: It also includes a power supply module, a communication module and a remote monitoring terminal. The power supply module is connected to the intelligent analysis and decision-making module for supplying electricity. The communication module is connected to the intelligent analysis and decision-making module for establishing a communication connection between the intelligent analysis and decision-making module and external equipment.

8. A drainage method based on multi-dimensional linkage intelligent monitoring of underground mines, using a drainage system based on multi-dimensional linkage intelligent monitoring of underground mines as claimed in claim 7, characterized in that: The following steps are involved: Step 1: Collect historical atmospheric rainfall data of the mining area, and establish a rainfall prediction model for the mining area based on the historical atmospheric rainfall data; Step 2: Use a high-precision rain gauge installed on the surface of the mining area to monitor the atmospheric rainfall signal of the mining area in real time, and send it to the intelligent analysis and decision-making module; use a surface water level sensor installed on the surface of the mining area to monitor the surface water volume signal of the mining area in real time, and send it to the intelligent analysis and decision-making module; use a millimeter-wave radar level meter installed in the subsidence area of ​​the mining area to monitor the subsidence area water volume signal of the subsidence area of ​​the mining area in real time, and send it to the intelligent analysis and decision-making module; use a goaf water level sensor installed in the goaf to monitor the goaf water level signal in real time, and send it to the intelligent analysis and decision-making module module; use the cave water level sensor installed in the cave to monitor the cave water level signal in real time and send it to the intelligent analysis and decision module; use the water inflow monitoring module installed at the known water inflow point to monitor the water inflow signal in real time and send it to the intelligent analysis and decision module; use the water tank water level sensor installed in the water tank to monitor the water tank water level signal in real time and send it to the intelligent analysis and decision module; use the temperature sensor, humidity sensor and wind speed sensor installed in the mining area to monitor the temperature signal, humidity signal and wind speed signal in real time respectively, and send them to the intelligent analysis and decision module; Step 3: The intelligent analysis and decision-making module obtains the atmospheric rainfall data Q1 of the mining area based on the atmospheric rainfall signal of the mining area; obtains the surface water volume data Q21 based on the surface water volume signal of the mining area, obtains the subsidence area water volume data Q22 based on the subsidence area water volume signal, and obtains the total surface water volume Q2 based on the sum of the surface water volume data Q21 and the subsidence area water volume data Q22; obtains the goaf water volume data Q31 based on the goaf water level signal, obtains the cave water volume data Q32 based on the cave water level signal, and obtains the total underground water volume Q3 based on the sum of the goaf water volume data Q31 and the cave water volume data Q32; obtains the total mine water inflow Q4 based on the monitoring water inflow signal; obtains the water volume Q51 of the water tank based on the water level signal of the water tank; obtains the temperature data, humidity data and wind speed data based on the temperature signal, humidity signal and wind speed signal; At the same time, the current mining area atmospheric rainfall data Q1, the current mining area temperature data, humidity data and wind speed data are input into the mining area rainfall prediction model, and the mining area rainfall prediction model is used to predict the future rainfall to obtain the future rainfall prediction data Q1 预测 (t); Step 4: Establish a dynamic risk assessment model according to formula (1) and obtain the dynamic risk level R(t); Where, Q1(t) represents the real-time atmospheric rainfall data in the mining area; Q2(t) represents the real-time total surface water accumulation; Q3(t) represents the real-time total underground water accumulation; Q4(t) represents the real-time total mine water inflow; Q5 represents the total capacity of the water tank; Q1 警 Indicates the preset warning threshold of atmospheric precipitation in the mining area; Q2 警 Indicates the preset warning threshold of the total surface water volume; Q3 警 Indicates the preset warning threshold of the total underground water volume; Q1 极 It represents the historical extreme value of atmospheric rainfall data in the mining area; β represents the prediction adjustment coefficient of the rainfall prediction model in the mining area, with a value range of 0.1 to 0.3, which is used to adjust the impact of future rainfall on current risks; Step 5: Formulate a drainage strategy based on the dynamic risk level R(t). When R(t)<0.5, it is judged as L1 low risk, maintain the current normal drainage state, generate a low risk warning instruction, and send it to the warning module; When 0.5≤R(t)<1.0, it is judged as L2 medium risk, and a control instruction is generated to start some drainage pumps in the surface water drainage pump group and the groundwater drainage pump group according to the set ratio to perform drainage operations, and sent to the automation control module. At the same time, a medium warning instruction is generated and sent to the warning module; When R(t)≥1.0, it is judged as L3 high risk, and a control instruction is generated to start all the drainage pumps in the surface water drainage pump group and the groundwater drainage pump group to perform drainage operations, and sent to the automation control module. At the same time, an emergency warning instruction is generated and sent to the warning module; At the same time, when R(t)≥0.5, based on the Bayesian theory and historical rainfall data, the impact of future rainfall on the water tank capacity is calculated according to formula (2), and the probability P of starting the water tank drainage pump group in advance to drain water is predicted. 排水 (t), when P 排水 When (t)≥0.5, a control instruction is generated to start the water tank drainage pump group to perform drainage operations and sent to the automation control module; Step 6: After receiving the control instruction to start the surface water drainage pump group and some drainage pumps in the groundwater drainage pump group for drainage according to the set ratio, the automation control module controls to start some surface water pumps in the surface water drainage pump group to drain the surface water of the mining area, and controls to start some groundwater pumps in the groundwater drainage pump group to drain the groundwater in the mining area, until R(t)<0.5 stops; after receiving the control instruction to start all surface water drainage pump groups and groundwater drainage pump groups for drainage, the automation control module controls to start all drainage pumps in the surface water drainage pump group to drain the surface water of the mining area, and controls to start all drainage pumps in the underground drainage pump group to drain the groundwater in the mining area, until R(t)<0.5 stops; after receiving the control instruction to start the water tank drainage pump group for drainage, the automation control module controls to start all drainage pumps in the water tank drainage pump group to drain the water tank, and stops when R(t)<0.5; At the same time, during the synchronous operation of the surface water drainage pump group, the groundwater drainage pump group and the sump drainage pump group, based on the finite time consistency theory of the multi-agent system, the control input of the surface water pump, the groundwater pump and the sump water pump that are running simultaneously is obtained according to formula (3) to realize multi-dimensional linkage intelligent control; In the formula, u i (t) represents the control input of the i-th drainage pump; x i represents the current state of the i-th drainage pump; x N+1 represents the target state; k represents the control gain, which is used to adjust the response speed of the system; a ij represents the connection weight between multiple drainage pumps; b i represents the weight between the drainage pump and the target state; α represents the predictive adjustment coefficient, which ranges from 0.1 to 0.5 and is used to adjust the current drainage strategy according to future rainfall; At the same time, the early warning module executes low-risk warning actions after receiving low-risk warning instructions, executes medium-risk warning actions after receiving medium-risk warning instructions, and executes emergency risk warning actions after receiving emergency warning instructions, so as to effectively remind relevant managers to take effective response measures in a timely manner.

9. A drainage method based on multi-dimensional linkage intelligent monitoring of underground mines according to claim 8, characterized in that: In step 4, Q1 警 The value is 60% to 70% of the historical maximum atmospheric rainfall data in the mining area; Q2 警 The value is 70% to 80% of the historical maximum total surface water accumulation; Q3 警 The value is 70% to 80% of the historical maximum total underground water volume.

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