Monitoring system and method for coal rock dynamic disaster and earthquake precursor monitoring

Abstract

The invention discloses a monitoring system and method for coal rock dynamic disaster and earthquake precursor monitoring. The monitoring system comprises a control cabinet, a vector magnetic force observation device and a plurality of electromagnetic radiation monitoring devices. The electromagnetic radiation monitoring device comprises an explosion-proof shell, a mounting bracket and a plurality of magnetic field sensors; a slave controller, a slave memory, a high-speed data acquisition module and a slave communication module are arranged in the explosion-proof shell; the vector magnetic force observation device is used for monitoring geomagnetism outside a mine; the magnetic field sensor is used for magnetic field detection. According to the monitoring system and method, full-waveform acquisition of multi-point combined electromagnetic signals inside and outside a mine can be realized by utilizing a vector magnetic force observation device and a plurality of electromagnetic radiation monitoring devices, so that reliable data support is provided for coal rock dynamic disasters and earthquake precursors; the magnetic field sensors are installed in an angle-adjustable manner, so that magnetic field signals at different angles are acquired, and the acquisition requirements in different space environments in a mine are met.

Description

Technical Field

[0001] The present invention relates to an electromagnetic radiation monitoring system and a monitoring method, and in particular to a monitoring system and method for monitoring coal and rock dynamic disasters and earthquake precursors. Background Art

[0002] With the increase of mining depth, the problems faced by mining engineering become more complex, and the resulting engineering disaster accidents are more serious, especially the increased risks of gas outburst and rock burst. Therefore, it is necessary to explore effective deep mining and construction technologies, as well as basic theories and technical means for preventing and controlling engineering disasters. Currently, the main methods for predicting and forecasting rock bursts include the drill cuttings method, microseismic method, acoustic emission method, electromagnetic radiation method, etc. Among them, the electromagnetic radiation method is to monitor the loading degree of coal and rock masses and the energy release of deformation and fracture, and judge the danger and degree of danger of rock bursts through its changes.

[0003] The earliest recorded electromagnetic disturbance can be traced back to the earthquake anomaly in 1887. In the early 1970s, the Uzbek Academy of Sciences confirmed that the earth's crust emits electromagnetic pulses, and the emission intensity rises sharply before an earthquake. After the Tangshan earthquake, China began to study the electromagnetic radiation anomaly before an earthquake. In the mid-1970s, Qian Shuqing, Hao Jinqi et al. from the Institute of Geophysics, China Earthquake Administration, and Zhang Deqi et al. from the Seismological Bureau of Jiangsu Province carried out experimental studies on rock electromagnetic radiation. Zhang Deqi et al. from the Seismological Bureau of Jiangsu Province completed the national 85 key project on the basis of the theoretical research on rock electromagnetic radiation, developed the DUF-1 type electromagnetic radiation monitoring device for impending earthquakes, and applied it to the observation of earthquake electromagnetic wave precursors. During the same period, Japan, Greece, the United States, Sweden, Germany, etc. also carried out research in this area. At the beginning of this century, Professor Dou Linming, Professor Wang Enyuan et al. from China University of Mining and Technology carried out relevant research on the electromagnetic radiation of coal and rock masses based on the phenomenon of rock electromagnetic radiation. On this basis, various monitoring instruments such as KDB5 and KDB7 for the electromagnetic radiation of coal and rock masses during the coal mining and excavation process were developed, and remarkable results have been achieved in the prevention and control of rock bursts. Recently, Feng Zhisheng, a second-level researcher et al. from the Seismological Bureau of Jiangsu Province carried out research on the propagation mechanism of earthquake electromagnetic waves, proposed a full-waveform acquisition and analysis scheme, and applied it to the observation of earthquake electromagnetic waves, achieving remarkable results.

[0004] Electromagnetic radiation and acoustic emission monitoring instruments such as the KBD5 type and KBD7 type electromagnetic radiation monitoring devices, the YDD16 portable acoustic and electric monitoring instrument, and the GDD12 on-line acoustic and electric monitoring equipment have been widely used in the monitoring of the electromagnetic radiation (acoustic emission) of coal and rock masses during the coal mining and excavation process. They mainly focus on the change process of the monitoring object in a frequency band and time domain, and are commonly expressed as the number of pulses and the field strength magnitude on the time axis, and certain results have been achieved in practical applications.

[0005] In summary, coal and rock electromagnetic radiation has the characteristics of wide frequency band and changing main frequency band. If the signal waveform characteristics are ignored and the original coal and rock electromagnetic radiation signal is directly described only by the pulse number and intensity, on the one hand, it may cause omission of coal and rock electromagnetic radiation information; on the other hand, electromagnetic interference may be misidentified as an effective signal, resulting in inaccurate coal and rock electromagnetic radiation information. Both of these aspects will have a serious impact on the identification of precursor information of rock bursts. None of the current monitoring instruments in application can achieve full-waveform acquisition with high speed and wide frequency band, and cannot obtain signal analysis in the frequency domain. It can be found from seismic electromagnetic research that electromagnetic wave monitoring should obtain the entire waveform of the signal within the observed frequency band to obtain its reliable information. Summary of the Invention

[0006] The object of the invention is to provide a monitoring system and a monitoring method for coal and rock dynamic disasters and earthquake precursors, which can perform full-waveform acquisition of electromagnetic waves inside and outside the mine, so as to provide reliable data support for coal and rock dynamic disasters and earthquake precursors.

[0007] Technical solution: The monitoring system for coal and rock dynamic disasters and earthquake precursors of the present invention includes a control cabinet, a vector magnetic force observation device, and a plurality of electromagnetic radiation monitoring devices; the electromagnetic radiation monitoring device includes an explosion-proof housing, a mounting bracket, and a plurality of magnetic field sensors; a slave controller, a slave memory, a signal generation circuit, a high-speed data acquisition module, and a slave communication module are arranged in the explosion-proof housing; the vector magnetic force observation device is installed on a protection platform outside the mine for monitoring the geomagnetism outside the mine; each magnetic field sensor is installed on the upper side and the lower side edge of the explosion-proof housing in an angle-adjustable manner for multi-angle magnetic field monitoring; the mounting bracket is arranged at the center of the lower side of the explosion-proof housing for fixing the explosion-proof housing on the installation surface inside the mine; the slave controller is electrically connected to the slave memory, the signal generation circuit, the slave communication module, and the high-speed data acquisition module respectively, the high-speed data acquisition module and the signal generation circuit are both electrically connected to each magnetic field sensor, the high-speed data acquisition module collects data from each magnetic field sensor, and the signal generation circuit sends a standard calibration signal to each magnetic field sensor; the control cabinet is arranged outside the mine and is provided with a main controller, a main memory, a router, and a main communication module; the main controller is electrically connected to the vector magnetic force observation device, the main memory, the router, and the main communication module respectively; the main communication module is electrically connected to the slave communication module through an explosion-proof cable.

[0008] Furthermore, the explosion-proof housing includes an upper housing and a lower housing, and the upper housing and the lower housing are detachably assembled; a hinge mounting groove is provided in the middle of the four edges of the upper side of the upper housing and in the middle of the four edges of the lower side of the lower housing; a sensor mounting seat is swingably hinged on the hinge mounting groove in a pitching manner, and the swinging angle of the end of the hinge shaft on one side of the sensor mounting seat is locked by an angle locking mechanism; the magnetic field sensor is fixedly installed on the sensor mounting seat.

[0009] Furthermore, the magnetic field sensor includes a coil assembly, a magnetic core, an internal circuit board, an explosion-proof housing, inner arc-shaped shielding vanes, and outer arc-shaped shielding vanes; the magnetic core is fixed inside the coil assembly; a coil fixing cavity and a circuit fixing cavity are provided inside the explosion-proof housing; the coil assembly is detachably installed in the coil fixing cavity; the internal circuit board is detachably installed in the circuit fixing cavity, and a signal processing circuit electrically connected to the coil assembly is provided on the internal circuit board, and the signal processing circuit is electrically connected to a high-speed data acquisition module and a signal generating circuit respectively; the end of the explosion-proof housing is fixed on the sensor mounting seat through mounting connection columns; two vane support rings are rotatably installed on the mounting connection columns; the ends of the inner arc-shaped shielding vanes and the outer arc-shaped shielding vanes are respectively connected and fixed to the two vane support rings through connecting support bars, and both the inner arc-shaped shielding vanes and the outer arc-shaped shielding vanes are locally surrounded outside the explosion-proof housing.

[0010] Furthermore, the coil assembly includes a bobbin, three middle induction coils, two end induction coils, six feedback coils, and two ground wires coils; the magnetic core is coaxially fixed inside the bobbin; six first annular grooves, three second annular grooves, and two third annular grooves are provided on the outer wall of the middle of the bobbin, and the three second annular grooves and the two third annular grooves are respectively located in five interval areas between the six first annular grooves, the three second annular grooves are located between the two third annular grooves, and the distance between adjacent first annular grooves and second annular grooves is equal to the distance between adjacent first annular grooves and third annular grooves; one fourth annular groove is provided on the outer wall of each end of the bobbin; the two ground wires coils are respectively located in the two fourth annular grooves and are both electrically connected to the ground input end of the signal processing circuit; the three middle induction coils are respectively located in the three second annular grooves, the two end induction coils are respectively located in the two third annular grooves, and the six feedback coils are respectively located in the six first annular grooves; the six feedback coils are connected in sequence to form a feedback coil circuit, and one end of the feedback coil circuit is electrically connected to the ground wires coil, and the other end is electrically connected to the feedback signal input end of the signal processing circuit; the three middle induction coils and the two end induction coils are connected in sequence according to their positions to form a detection coil circuit, and one end of the detection coil circuit is electrically connected to one end of the ground wires coil, and the other end is electrically connected to the electromagnetic signal input end of the signal processing circuit; the other end of the ground wires coil is electrically connected to the ground input end of the signal processing circuit; the signal processing circuit is used to amplify the electromagnetic signal at the electromagnetic signal input end and feedback the amplified electromagnetic signal to the feedback signal input end; the signal processing circuit is provided with an electromagnetic signal output end for outputting the amplified electromagnetic signal, and the electromagnetic signal output end is electrically connected to the signal acquisition end of the high-speed data acquisition module; the signal processing circuit is also provided with a calibration signal input end electrically connected to the feedback signal input end, and the calibration signal input end is electrically connected to the signal generating circuit.

[0011] Furthermore, a ventilation window is vertically provided in the middle of the upper shell, and a heat dissipation channel connected to the ventilation window is vertically provided in the middle of the lower shell; a middle platform is horizontally provided at the lower end of the heat dissipation channel through a radial support tube, a mounting bracket is provided on the lower side of the middle platform, and an electrical control box is provided on the upper side of the middle platform; a slave control circuit board and a drive motor are provided in the electrical control box, a slave controller, a slave memory and a slave communication module are all provided on the slave control circuit board, and a temperature sensor and a heat dissipation drive circuit electrically connected to the slave controller are provided on the slave control circuit board; a transmission shaft is rotatably installed through the top center of the electrical control box, and a plurality of cantilever rods are horizontally fixed at the upper end of the transmission shaft, and a heat dissipation suspension rod is vertically provided below the cantilevered end of each cantilever rod, A heat dissipation scraper is obliquely arranged on the lower end of the suspension rod, and each heat dissipation scraper is at a different height; the heat dissipation drive circuit is electrically connected to the drive motor, and the drive motor is used to drive the transmission shaft to rotate; a plurality of heat dissipation blocks are fixedly arranged on the circumferential side wall of the electrical control box, and the heat dissipation fins of each heat dissipation block extend horizontally out of the electrical control box, forming annular heat dissipation intervals of different heights outside the electrical control box, and each heat dissipation scraper moves horizontally in the annular heat dissipation intervals at different heights; an annular heat-conducting flat tube is arranged in the electrical control box, and the annular heat-conducting flat tube is close to the heat dissipation block; a chip heat dissipation strip extending to the slave control circuit board and a motor heat dissipation strip extending to the drive motor are fixedly connected to the annular heat-conducting flat tube, and an arc-shaped heat-conducting plate close to the side wall of the drive motor is arranged at the end of the motor heat dissipation strip.

[0012] Furthermore, the mounting bracket includes a bottom support plate, two articulated mounting seats, three telescopic support legs, an articulated main shaft and a rotating positioning bolt; the bottom support plate is rotatably mounted at the bottom center of the explosion-proof shell through the bottom support main shaft, the two articulated mounting seats are arranged on the lower side of the bottom support plate, and the articulated main shaft is installed on the two articulated mounting seats; an arc-shaped adjustment hole is arranged around the articulated main shaft on the two articulated mounting seats, the ends of the two telescopic support legs are respectively swing-hinged and mounted on the two ends of the articulated main shaft, and are locked on the arc-shaped adjustment hole by tension bolts, and the end of the other telescopic support leg is swing-hinged and mounted in the middle of the articulated main shaft; the rotating positioning bolt is threadedly screwed on the bottom support plate, and the screw end of the rotating positioning bolt is pressed on the bottom of the explosion-proof shell.

[0013] Furthermore, the vector magnetic force observation device includes an angle adjustment mechanism, a Helmholtz coil, a suspension adjustment mechanism, a spherical coil unit, a magnetic probe support, an optically pumped magnetic sensor, and a switching control circuit; the angle adjustment mechanism is arranged on the protection platform, the Helmholtz coil is installed on the angle adjustment mechanism, and the angle adjustment mechanism adjusts the rotation angle and the levelness of the Helmholtz coil; the spherical coil unit is installed on the Helmholtz coil through the suspension adjustment mechanism, and the spherical coil unit is located in the middle of the Helmholtz coil, and the suspension adjustment mechanism adjusts the suspension levelness of the spherical coil unit; the magnetic probe support is arranged on the angle adjustment mechanism, and the upper end of the magnetic probe support extends into the middle of the spherical coil unit, and the optically pumped magnetic sensor is installed on the upper end of the magnetic probe support, and the main controller is electrically connected to the optically pumped magnetic sensor; the switching control circuit is arranged in the control cabinet and is electrically connected to the main controller, and the main controller controls the switching control circuit to realize the series connection form of the Helmholtz coil and the spherical coil unit.

[0014] Furthermore, the angle adjustment mechanism includes a mechanism base plate, a support tray, a rotating disc, a rotating positioning bolt, and three bottom support units; the bottom support unit includes a sliding limit seat, a support adjustment screw, an adjustment pressing bolt, a sliding support plate, and a support thread seat; the mechanism base plate is fixed on the protection platform, and the support thread seats of the three bottom support units are fixed at three support points on the mechanism base plate, and the lower end of the support adjustment screw is threadedly installed in the corresponding support thread seat; an adjustment turntable is fixedly arranged in the middle of the support adjustment screw, a support ball head is arranged at the upper end of the support adjustment screw, and a sliding support seat that is spherically hinged to the support ball head is arranged on the lower side surface of the sliding support plate; the sliding limit seats of the three bottom support units are fixed at three support points on the lower side surface of the support tray, a flat cavity is arranged in the sliding limit seat, a moving window communicated with the flat cavity is arranged on the lower side surface of the sliding limit seat, the sliding support seat penetrates through the moving window, and the sliding support plate is supported in the flat cavity; the adjustment pressing bolt is threadedly installed on the sliding limit seat, and the end of the adjustment pressing bolt presses on the sliding support plate; a limit circular groove is arranged on the upper side surface of the support tray, the rotating disc is rotatably installed in the limit circular groove, the rotating positioning bolt is threadedly installed on the side edge of the support tray, and the end of the rotating positioning bolt presses on the rotating disc; the Helmholtz coil is installed on the rotating disc.

[0015] Furthermore, the suspension adjustment mechanism includes a suspension beam, suspension rods, a suspension shaft, a suspension seat, four cantilever screws, four adjustable counterweights, a counterweight pendulum, two arc-shaped suspension rods, an upper pressure plate, clamping bolts, and a lower pressure plate; the suspension beam is longitudinally fixed at the top of the Helmholtz coil, the upper end of the suspension rod is swingably mounted in the middle of the suspension beam, and the suspension seat is fixed to the lower end of the suspension rod; the middle of the suspension shaft is horizontally and rotatably mounted through the suspension seat, two cantilever screws are respectively horizontally fixed to the left and right ends of the suspension shaft, and the other two cantilever screws are respectively horizontally fixed to the front side of the left end and the rear side of the right end of the suspension shaft; the four adjustable counterweights are respectively threadedly screwed onto the four cantilever screws; the upper ends of the two arc-shaped suspension rods are respectively fixed to the lower sides of the left and right ends of the suspension shaft, and the lower ends of the two arc-shaped suspension rods are both fixed to the upper side of the upper pressure plate; a suspension connecting rod is connected between the upper ends of the two arc-shaped suspension rods, and the center of the top of the counterweight pendulum is connected to the middle of the suspension connecting rod through a suspension rope; circular windows are provided at both the top and the bottom of the spherical coil unit, the lower pressure plate is located within the circular window at the top, and the lower pressure plate is installed below the upper pressure plate by means of clamping bolts in a tensioned manner; an arc-shaped support surface that matches the inner spherical surface at the circular window is provided on the upper side of the lower pressure plate.

[0016] Furthermore, the present invention also discloses a monitoring method for a monitoring system for coal and rock dynamic disasters and earthquake precursors, including the following steps: Step 1, select each monitoring point in the mine according to the monitoring requirements, select the installation surface of the electromagnetic radiation monitoring device according to the installation environment at each monitoring point, then install the electromagnetic radiation monitoring device on the selected installation surface through the installation bracket, and the distance between the upper side of the upper shell and the top surface of the monitoring point is greater than the distance threshold, and the distance between the lower side of the lower shell and the ground surface of the monitoring point is greater than the distance threshold. Then, adjust the levelness of the explosion-proof shell through the installation bracket so that both the upper side of the upper shell and the lower side of the lower shell are in a horizontal state; Step 2, install the vector magnetic force observation device on the protection platform outside the mine, then electrically connect the vector magnetic force observation device to the main controller of the control cabinet, and then perform initialization adjustment on the vector magnetic force observation device; Step 3, rotate and adjust the explosion-proof shell, use the center of the upper side of the explosion-proof shell as the coordinate origin, rotate the magnetic field sensors on the four side edges of the upper side of the explosion-proof shell to the four directions of due south, due north, due east, and due west, and then lock the rotation of the explosion-proof shell; Step 4, perform tilt adjustment on the four magnetic field sensors on the upper shell, and use the corresponding angle locking mechanism to lock the tilt angles of the four magnetic field sensors on the upper side. Then, adjust the inner arc-shaped shielding blades and the outer arc-shaped shielding blades on the four magnetic field sensors on the upper side to shield the circumference of the coil assembly on the upper side within the shielding interval angle range; Step 5: Tilt-adjust the four magnetic field sensors on the lower housing, lock the tilt angles of the four magnetic field sensors on the lower side using the corresponding angle locking mechanism, and then adjust the inner arc shielding blades and outer arc shielding blades on the four magnetic field sensors on the lower side to shield the circumference of the lower coil assembly within the shielding interval angle range. Step 6: Electrically connect the slave communication modules of each electromagnetic radiation monitoring device to the master communication module of the control cabinet using respective explosion-proof cables, and the master controller communicates with the remote control center through the router. Step 7: Surround and shield each electromagnetic radiation monitoring device using respective electromagnetic shielding covers to isolate the interference of the ambient magnetic field on the electromagnetic radiation monitoring device. Then, the master controller sends a calibration instruction to the slave communication module of each electromagnetic radiation monitoring device through the master communication module. After the slave controller receives the calibration instruction, it generates a standard calibration signal through the signal generation circuit and inputs the calibration signal into the signal processing circuit through the calibration signal input terminal. Then, the standard calibration signal is output from the feedback signal input terminal of the signal processing circuit to the feedback coil circuit to generate a calibration electromagnetic field. Next, the signal processing circuit amplifies the electromagnetic signal sensed by the detection coil circuit, and then the high-speed data acquisition module acquires the amplified electromagnetic signal and uses the acquired electromagnetic signal as a calibration electromagnetic signal. Then, disassemble each electromagnetic shielding cover and stop the signal generation of the signal generation circuit. Step 8: The master controller continuously obtains the acquisition instruction from the remote control center. After the master controller obtains the acquisition instruction, it forwards the acquisition instruction to each slave communication module through the master communication module. After each slave controller receives the acquisition instruction, the signal processing circuit amplifies the actual electromagnetic signal sensed by the detection coil circuit, and then the high-speed data acquisition module acquires the amplified actual electromagnetic signal. Then, the slave controller normalizes the acquired actual electromagnetic signal according to the calibration electromagnetic signal to obtain the actual output signal, and sends the actual output signal to the master controller through the communication between the slave communication module and the master communication module. The master controller also performs magnetic field detection control on the vector magnetic force observation device to obtain the external mine magnetic field data, and the master controller temporarily stores the actual output signal and the external mine magnetic field data in the main memory. Step 9: The master controller forwards the actual output signal and the external mine magnetic field data in the main memory to the remote control center through the router.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: The vector magnetic force observation device and multiple electromagnetic radiation monitoring devices can be used to collect electromagnetic signals in combination at multiple points inside and outside the mine, thereby providing reliable data support for coal and rock dynamic disasters and earthquake precursors; The high-speed data acquisition module can be used to achieve high-speed full-waveform acquisition of electromagnetic signals during the process of electromagnetic energy radiation outward when the coal and rock mass is loaded, deformed, and fractured; The installation bracket can be used to fix the explosion-proof housing on the installation surface inside the mine, thereby meeting the installation requirements of different installation environments inside the mine; Each magnetic field sensor is installed on the explosion-proof housing in an angle-adjustable manner, thereby realizing the acquisition of magnetic field signals at different angles and meeting the acquisition requirements under different spatial environments inside the mine; The signal generation circuit sends standard calibration signals to each magnetic field sensor, thereby enabling the calibration of actual electromagnetic signals and ensuring the reliability of actual electromagnetic signal acquisition. Description of the Drawings

[0018] Figure 1 It is a schematic layout diagram of the system of the present invention; Figure 2 It is a schematic structural diagram of the electromagnetic radiation monitoring device of the present invention; Figure 3 It is a partial structural diagram of the electromagnetic radiation monitoring device when installed horizontally of the present invention; Figure 4 It is a partial structural diagram of the electromagnetic radiation monitoring device when installed vertically of the present invention; Figure 5 It is a partial structural diagram of the installation bracket of the present invention; Figure 6 It is a schematic cross-sectional structure diagram of the explosion-proof housing of the present invention; Figure 7 It is a schematic cross-sectional structure diagram at the angle locking mechanism of the present invention; Figure 8 It is a schematic cross-sectional structure diagram of the magnetic field sensor of the present invention; Figure 9 It is a schematic structural diagram of the vector magnetic force observation device of the present invention; Figure 10 It is a partial structural diagram of the vector magnetic force observation device of the present invention; Figure 11 It is a schematic internal structure diagram after the spherical coil unit of the present invention is sectioned; Figure 12 It is a schematic cross-sectional structure diagram of the angle adjustment mechanism of the present invention; Figure 13 It is a schematic circuit diagram of the connection of each coil of the coil assembly of the present invention; Figure 14 It is a schematic diagram of the signal processing circuit of the present invention; Figure 15Schematic diagram of the switching control circuit of the present invention; Figure 16 Schematic diagram of the system circuit of the present invention. Detailed implementation manners

[0019] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the described embodiments.

[0020] As Figures 1 - 16 shown, the monitoring system for coal and rock dynamic disasters and earthquake precursors disclosed by the present invention includes: a control cabinet 113, a vector magnetic force observation device, and a plurality of electromagnetic radiation monitoring devices; the electromagnetic radiation monitoring devices include explosion-proof casings, mounting brackets, and a plurality of magnetic field sensors; a slave controller, a slave memory, a signal generation circuit, a high-speed data acquisition module, and a slave communication module are arranged in the explosion-proof casing; the vector magnetic force observation device is installed on a protection platform outside the mine for monitoring the geomagnetism outside the mine; each magnetic field sensor is installed on the upper side and the edge of the lower side of the explosion-proof casing in an angle-adjustable manner for multi-angle magnetic field monitoring; the mounting bracket is arranged at the center of the lower side of the explosion-proof casing for fixing the explosion-proof casing on the mounting surface inside the mine, including a horizontal mounting surface and / or a vertical mounting surface; the slave controller is electrically connected to the slave memory, the signal generation circuit, the slave communication module, and the high-speed data acquisition module respectively, and both the high-speed data acquisition module and the signal generation circuit are electrically connected to each magnetic field sensor. The high-speed data acquisition module collects data from each magnetic field sensor, and the signal generation circuit sends a standard calibration signal to each magnetic field sensor; the control cabinet 113 is arranged outside the mine and is provided with a main controller, a main memory, a router, and a main communication module; the main controller is electrically connected to the vector magnetic force observation device, the main memory, the router, and the main communication module respectively; the main communication module is electrically connected to the slave communication module through an explosion-proof cable.

[0021] By using the vector magnetic force observation device and a plurality of electromagnetic radiation monitoring devices, the acquisition of electromagnetic signals combined with multiple points inside and outside the mine can be realized, thereby providing reliable data support for coal and rock dynamic disasters and earthquake precursors; by using the high-speed data acquisition module, the full-waveform high-speed acquisition of electromagnetic signals during the process of the coal and rock mass being loaded, deformed, and fractured and radiating electromagnetic energy outward can be realized; by using the mounting bracket, the explosion-proof casing can be fixed on the mounting surface inside the mine, thereby meeting the installation requirements of different installation environments inside the mine; by installing each magnetic field sensor on the explosion-proof casing in an angle-adjustable manner, the acquisition of magnetic field signals at different angles can be realized, meeting the acquisition requirements in different spatial environments inside the mine; by using the signal generation circuit to send a standard calibration signal to each magnetic field sensor, the actual electromagnetic signal can be calibrated, ensuring the reliability of the actual electromagnetic signal acquisition.

[0022] Further, the main technical indicators of the high-speed data acquisition module are as follows: (1) The continuous sampling rate can reach 200 M / s; (2) 16-bit resolution and 0.1% accuracy; (3) 1 ppm time base accuracy.

[0023] Further, the signal generation circuit includes a digital-to-analog conversion circuit and an operational amplifier circuit. The digital signal sent from the controller is converted into an analog signal by the digital-to-analog conversion circuit, and then the generated analog signal is amplified by the operational amplifier circuit, and the amplified signal is used as the standard calibration signal.

[0024] Further, as Figures 2 - 4 shown, the explosion-proof housing includes an upper housing 18 and a lower housing 1. The upper housing 18 and the lower housing 1 are detachably assembled; a hinged mounting groove 3 is provided in the middle of the four edges of the upper side of the upper housing 18 and in the middle of the four edges of the lower side of the lower housing 1; a cable penetration pipe 4 for passing the explosion-proof cable is provided on the side edge of the lower housing 1; a sensor mounting seat 19 is swingably hinged to the hinged mounting groove 3, and the swing angle of the end of the hinge shaft 21 on one side of the sensor mounting seat 19 is locked by an angle locking mechanism; the magnetic field sensor is fixedly mounted on the sensor mounting seat 19. The hinged mounting is carried out by using the sensor mounting seat 19, so that the pitching angle of the magnetic field sensor can be adjusted, and the swing angle is locked by the angle locking mechanism.

[0025] Further, the other side of the sensor mounting seat 19 is a hinged pipe shaft 20 for passing the electrical connection cable of the magnetic field sensor, and the electrical connection cable is an explosion-proof cable.

[0026] Further, flange edges 2 are provided on the lower side edge of the upper housing 18 and the upper side edge of the lower housing 1, and the upper and lower flange edges 2 are detachably assembled by tie bolts.

[0027] Further, as Figure 7As shown in the figure, the angle locking mechanism includes a telescopic insertion bar 25, a resilient compression spring 29, and a locking disc 23; a locking cavity 22 is provided at the end of the hinge shaft 21, and the locking disc 23 is fixed to the end of the hinge shaft 21; the end of the telescopic insertion bar 25 is movably inserted into the locking cavity 22, and the other end extends out of the explosion-proof housing; an angle locking seat 24 is provided at the insertion end of the telescopic insertion bar 25, and an arc-shaped groove 30 that cooperates with the circumferential surface of the locking disc 23 is provided on the angle locking seat 24; limiting convex strips that are buckled with each other are provided on the circumferential surface of the locking disc 23 and the inner wall of the arc-shaped groove 30; a spring installation groove 28 is provided on the angle locking seat 24, one end of the resilient compression spring 29 is supported on the bottom of the locking cavity 22, and the other end is supported in the spring installation groove 28 for pushing the locking disc 23 to fit the arc-shaped groove 30; a T-shaped guiding chute 26 is provided on the side of the telescopic insertion bar 25 along the supporting direction of the resilient compression spring 29, and a T-shaped guiding slider 27 that is slidably inserted into the T-shaped guiding chute 26 is provided on the inner wall of the locking cavity 22. By using the cooperation between the locking disc 23 and the arc-shaped groove 30, the limiting convex strips can be fully buckled, and under the action of the resilient compression spring 29, the stability of the angle locking can be ensured; by using the cooperation between the T-shaped guiding chute 26 and the T-shaped guiding slider 27, the limiting and guiding of the telescopic insertion bar 25 can be realized.

[0028] Further, as Figure 7 and 8As shown in the figure, the magnetic field sensor includes a coil assembly, a magnetic core, a built-in circuit board 65, an explosion-proof housing, an inner arc-shaped shielding blade 47, and an outer arc-shaped shielding blade 48; the magnetic core is fixed inside the coil assembly, and the magnetic core is composed of multiple thin magnetic cores bundled and fixed, and the material of the magnetic core is selected as manganese-zinc ferrite material; a coil fixing cavity 53 and a circuit fixing cavity 64 are arranged inside the explosion-proof housing; the coil assembly is detachably installed in the coil fixing cavity 53; the built-in circuit board 65 is detachably installed in the circuit fixing cavity 64, and a signal processing circuit electrically connected to the coil assembly is arranged on the built-in circuit board 65, and the signal processing circuit is electrically connected to a high-speed data acquisition module and a signal generation circuit respectively; the end of the explosion-proof housing is fixed on the sensor mounting seat 19 through a mounting connection column 50; two blade support rings 45 are rotatably installed on the mounting connection column 50; the end parts of the inner arc-shaped shielding blade 47 and the outer arc-shaped shielding blade 48 are respectively connected and fixed to the two blade support rings 45 through connection support bars 46, and the inner arc-shaped shielding blade 47 and the outer arc-shaped shielding blade 48 are both located around the explosion-proof housing in a partial surrounding manner. By using the inner arc-shaped shielding blade 47 and the outer arc-shaped shielding blade 48 to be located around the explosion-proof housing in a partial surrounding manner, the magnetic field sensing angle range of each magnetic field sensor can be adjusted according to the on-site installation needs, and the aliasing of electromagnetic signal acquisition of each magnetic field sensor can be reduced; by using the explosion-proof housing, the coil assembly and the built-in circuit board 65 can be sealed and explosion-proof, ensuring the use safety inside the mine.

[0029] Further, the explosion-proof housing includes a cylindrical shell 49 and two end caps 51; end threaded holes are arranged at the upper and lower ends of the cylindrical shell 49, and the two end threaded holes are respectively communicated with the coil fixing cavity 53 and the circuit fixing cavity 64; threaded bosses 52 are arranged on the two end caps 51, and the two threaded bosses 52 are respectively screwed and installed on the two end threaded holes to achieve detachable installation; the mounting connection column 50 is fixed on the lower end cap 51.

[0030] Further, as Figure 8 and 13As shown, the coil assembly includes a bobbin 54, three middle induction coils 62, two end induction coils 60, six feedback coils 61, and two ground coils 57; the magnetic core is coaxially and fixedly arranged inside the bobbin 54; six first annular grooves 58, three second annular grooves 59, and two third annular grooves 63 are provided on the outer wall of the middle part of the bobbin 54. The three second annular grooves 59 and the two third annular grooves 63 are respectively located in five interval areas between the six first annular grooves 58. The three second annular grooves 59 are located between the two third annular grooves 63. The distance between adjacent first annular grooves 58 and second annular grooves 59 is equal to the distance between adjacent first annular grooves 58 and third annular grooves 63; one fourth annular groove 55 is provided on the outer wall of each end of the bobbin 54; the two ground coils 57 are respectively located in the two fourth annular grooves 55 and are both electrically connected to the ground input end of the signal processing circuit; the three middle induction coils 62 are respectively located in the three second annular grooves 59, the two end induction coils 60 are respectively located in the two third annular grooves 63, and the six feedback coils 61 are respectively located in the six first annular grooves 58; the six feedback coils 61 are connected in sequence to form a feedback coil circuit, and one end of the feedback coil circuit is electrically connected to the ground coil 57, and the other end is electrically connected to the feedback signal input end of the signal processing circuit; the three middle induction coils 62 and the two end induction coils 60 are connected in sequence according to their positions to form a detection coil circuit, and one end of the detection coil circuit is electrically connected to one end of the ground coil 57, and the other end is electrically connected to the electromagnetic signal input end of the signal processing circuit; the other end of the ground coil 57 is electrically connected to the ground input end of the signal processing circuit; the signal processing circuit is used to amplify the electromagnetic signal at the electromagnetic signal input end and feedback the amplified electromagnetic signal to the feedback signal input end; the signal processing circuit is provided with an electromagnetic signal output end for outputting the amplified electromagnetic signal, and the electromagnetic signal output end is electrically connected to the signal acquisition end of the high-speed data acquisition module; the signal processing circuit is also provided with a calibration signal input end electrically connected to the feedback signal input end, and the calibration signal input end is electrically connected to the signal generation circuit. By using the first annular groove 58, the second annular groove 59, the third annular groove 63, and the fourth annular groove 55, it is convenient to respectively position and wind the feedback coil 61, the middle induction coil 62, the end induction coil 60, and the ground coil 57, thereby ensuring the stability of each coil and also ensuring the uniform distribution characteristics of the coil winding; by using the six feedback coils 61 to form a feedback coil circuit, on the one hand, the amplified actual electromagnetic signal can be fed back, so that the detection coil circuit can obtain a more stable and reliable actual electromagnetic signal, and on the other hand, it is also convenient for the signal generation circuit to input a standard calibration signal to generate a calibration electromagnetic field, and finally collect and obtain a calibrated electromagnetic signal, which is convenient to complete the normalization processing of the actual electromagnetic signal; by arranging the three middle induction coils 62 between the two end induction coils 60, the magnetic field induction acquisition at the middle position with stronger signal intensity can be better performed.

[0031] Further, as Figure 14As shown, the signal processing circuit includes a terminal block P1, a preamplifier U1, a constant current source chip U4, a first operational amplifier U2, a second operational amplifier U3, resistors R3, R4, R5, R6, R7, R8, R9, R10, R11, R12, R13, R14, R16, R19, R21, R24, R25, R28, R29, capacitors C3, C6, C7, C8, C9, C10, C12, and a diode D6; the preamplifier U1 uses a JFE2140 model chip, the constant current source chip U4 uses an LM234DT model chip, and both the first operational amplifier U2 and the second operational amplifier U3 use an LT1354CS8 model chip; the 1st pin of the terminal block P1 serves as the electromagnetic signal input terminal of the signal processing circuit, the 2nd pin of the terminal block P1 serves as the ground input terminal of the signal processing circuit, and the 3rd pin of the terminal block P1 serves as the feedback signal input terminal of the signal processing circuit; the electromagnetic signal input terminal is electrically connected to one end of the resistor R13 and the G1 pin of the preamplifier U1 respectively, the ground input terminal is electrically connected to the other end of the resistor R13 and then grounded, and the feedback signal input terminal is electrically connected to one end of the resistor R21, one end of the resistor R19, and one end of the resistor R28 respectively; the other end of the resistor R28 is electrically connected to one end of the resistor R29 and serves as the calibration signal input terminal, and the other end of the resistor R29 is grounded; the other end of the resistor R21 is electrically connected to one end of the capacitor C12, and the other end of the capacitor C12 is electrically connected to the other end of the resistor R19, one end of the capacitor C8, one end of the resistor R12, the output terminal of the first operational amplifier U2, and one end of the capacitor C7 respectively; the negative terminal of the diode D6 is electrically connected to one end of the resistor R25 and then to the negative voltage source VEE, the positive terminal of the diode D6 is electrically connected to the V- pin of the constant current source chip U4 and one end of the resistor R24 respectively, and the other end of the resistor R24 is electrically connected to the other end of the resistor R25 and the ADJ pin of the constant current source chip U4 respectively; the V+ pin of the constant current source chip U4 is electrically connected to the S1 pin and the S2 pin of the preamplifier U1 respectively; the VCL pin of the preamplifier U1 is electrically connected to the negative voltage source VEE, the G2 pin of the preamplifier U1 is electrically connected to one end of the resistor R14, the other end of the capacitor C8, and the other end of the resistor R12 respectively, and the other end of the resistor R14 is grounded; the VCH pin of the preamplifier U1 is electrically connected to the positive voltage source VCC, the D1 pin of the preamplifier U1 is electrically connected to one end of the resistor R3, one end of the resistor R6, and one end of the resistor R7 respectively, and the D2 pin of the preamplifier U1 is electrically connected to one end of the resistor R10, one end of the capacitor C6, and one end of the resistor R4 respectively; the other end of the resistor R3 is electrically connected to the other end of the resistor R4 and then to the positive voltage source VCC; the other end of the resistor R6 is electrically connected to the other end of the capacitor C6;The other end of resistor R7 is electrically connected to the negative input terminal of the first operational amplifier U2, and the other end of resistor R10 is electrically connected to the positive input terminal of the first operational amplifier U2; the other end of capacitor C7 is electrically connected to one end of resistor R8, and the other end of resistor R8 is respectively electrically connected to the negative input terminal of the second operational amplifier U3, one end of capacitor C3, and one end of resistor R5. The other end of capacitor C3 is respectively electrically connected to one end of resistor R9, the output terminal of the second operational amplifier U3, and the other end of resistor R5; the other end of resistor R9 serves as the electromagnetic signal output terminal of the signal processing circuit; the positive input terminal of the second operational amplifier U3 is respectively electrically connected to one end of resistor R11, one end of capacitor C9, and one end of resistor R16. After the other ends of capacitor C9 and resistor R16 are electrically connected, they are grounded; the other end of resistor R11 is electrically connected to one end of capacitor C10, and the other end of capacitor C10 is grounded.

[0032] Further, rubber rings 56 are sleeved on the outer walls at both ends of the bobbin 54, and the rubber rings 56 are tightly attached to the inner wall of the coil fixing cavity 53, so as to realize the stable installation of the bobbin 54 in the coil fixing cavity 53.

[0033] Further, as Figure 8 shown, the groove width of the fourth ring groove 55 is smaller than that of the first ring groove 58, the groove width of the first ring groove 58 is smaller than that of the third ring groove 63, and the groove width of the third ring groove 63 is smaller than that of the second ring groove 59; the middle induction coil 62 has forty turns and is laid flat in a single layer in the second ring groove 59; the end induction coil 60 has twenty turns and is laid flat in a single layer in the third ring groove 63; the feedback coil 61 has two turns and is laid flat in a single layer in the first ring groove 58; the ground wire coil 57 has one turn and is wound in the fourth ring groove 55. The three middle induction coils 62 are all set to have forty turns and are laid flat in a single layer, so that the coils are denser at the position with a stronger middle magnetic field, ensuring the magnetic field induction effect.

[0034] Further, as Figure 6As shown, a ventilation window 31 is vertically provided in the middle of the upper shell 18, and a heat dissipation channel connected to the ventilation window 31 is vertically provided in the middle of the lower shell 1; a middle platform 33 is horizontally provided at the lower end of the heat dissipation channel through a radial support tube 34, a mounting bracket is provided on the lower side of the middle platform 33, and an electrical control box 35 is provided on the upper side of the middle platform 33; a slave control circuit board 40 and a drive motor 36 are provided in the electrical control box 35, a slave controller, a slave memory and a slave communication module are all provided on the slave control circuit board 40, and a temperature sensor and a heat dissipation drive circuit electrically connected to the slave controller are provided on the slave control circuit board 40; a transmission shaft is rotatably installed through the top center of the electrical control box 35, and a plurality of cantilever rods 37 are horizontally fixed at the upper end of the transmission shaft, a heat dissipation suspension rod is vertically provided below the cantilevered end of each cantilever rod 37, and a heat dissipation scraper 39 is obliquely provided on the lower end of the heat dissipation suspension rod. , and each heat dissipation scraper 39 is at a different height; the heat dissipation drive circuit is electrically connected to the drive motor 36, and the drive motor 36 is used to drive the transmission shaft to rotate; a plurality of heat dissipation blocks are fixedly arranged on the circumferential side wall of the electrical control box 35, and the heat dissipation fins 38 of each heat dissipation block extend horizontally outside the electrical control box 35, and an annular heat dissipation zone of different heights is formed outside the electrical control box 35, and each heat dissipation scraper 39 moves horizontally in the annular heat dissipation zone at different height positions; the heat dissipation scraper 39 is made of non-metallic material, such as plastic material; an annular heat-conducting flat tube 42 is arranged in the electrical control box 35, and the annular heat-conducting flat tube 42 is closely attached to the heat dissipation block through a heat-conducting layer; a chip heat dissipation strip 41 extending to the slave control circuit board 40 and a motor heat dissipation strip 43 extending to the drive motor 36 are fixedly connected to the annular heat-conducting flat tube 42, and an arc-shaped heat-conducting plate 44 close to the side wall of the drive motor 36 is arranged at the end of the motor heat dissipation strip 43. The heat dissipation channel is connected with the ventilation window 31, and the heat dissipation fins 38 of each heat dissipation block are horizontally extended to form annular heat dissipation zones of different heights in the heat dissipation channel, so that rapid heat dissipation can be achieved under the action of the heat dissipation scraper 39, and the reliability of high-speed signal acquisition can be ensured; the heat dissipation scrapers 39 at different heights can promote the airflow in the heat dissipation channel for heat dissipation during the rotation process, and each heat dissipation scraper 39 can also scrape and clean the heat dissipation fins 38 of each heat dissipation block, so as to avoid too much dust accumulation on the heat dissipation fins 38 in a mine environment, and ensure the heat dissipation effect; the heat dissipation drive circuit and the drive motor 36 are both arranged in the electrical control box 35, so as to play an explosion-proof role; the annular heat-conducting flat tube 42, the chip heat dissipation strip 41, the motor heat dissipation strip 43 and the arc-shaped heat-conducting plate 44 are arranged to achieve accurate heat dissipation of the corresponding electrical appliances and ensure the safe operation of the electromagnetic radiation monitoring device.

[0035] Furthermore, a protective net 32 ​​is provided at the upper opening of the ventilation window 31 to provide safety protection for the cantilever rod 37 and ensure safety during work.

[0036] Further, such as Figures 2 - 5 As shown, the mounting bracket includes a bottom support plate 5, two articulated mounting seats 6, three telescopic support legs, an articulated main shaft 17 and a rotating positioning bolt 9; the bottom support plate 5 is rotatably mounted at the bottom center of the explosion-proof shell through the bottom support main shaft 8, the two articulated mounting seats 6 are arranged on the lower side of the bottom support plate 5, and the articulated main shaft 17 is installed on the two articulated mounting seats 6; an arc-shaped adjustment hole 7 is arranged around the articulated main shaft 17 on the two articulated mounting seats 6, the ends of the two telescopic support legs are respectively swing-hinged and mounted on the two ends of the articulated main shaft 17, and are locked on the arc-shaped adjustment hole 7 by the tension bolts 11, and the end of the other telescopic support leg is swing-hinged and mounted on the middle part of the articulated main shaft 17; the rotating positioning bolt 9 is threadedly screwed on the bottom support plate 5, and the screw end of the rotating positioning bolt 9 is pressed on the bottom of the explosion-proof shell. The three telescopic support legs can be telescopically adjusted according to the needs of on-site installation to meet the support needs of different angles; the rotating positioning bolts 9 can be used to realize the rotation positioning of the bottom support plate 5, thereby realizing the horizontal angle adjustment of the electromagnetic radiation monitoring device; the arc-shaped adjustment hole 7 and the tension bolts 11 can be used to realize the swing positioning of the two telescopic support legs, thereby ensuring the stability of the electromagnetic radiation monitoring device after installation.

[0037] Furthermore, the telescopic support leg includes an articulated swing arm 10, a telescopic adjustment screw 12, a telescopic adjustment internal threaded tube 13 and a fixed installation floor 16; one end of the articulated swing arm 10 is swing-hingedly installed on the articulated main shaft 17, and the other end is connected to one end of the telescopic adjustment screw 12; the other end of the telescopic adjustment screw 12 is threadedly screwed and installed in one end of the telescopic adjustment internal threaded tube 13; the edge of the fixed installation floor 16 is provided with a fixed installation waist hole, the middle of the fixed installation floor 16 is provided with a ball joint seat 15, and the other end of the telescopic adjustment internal threaded tube 13 is provided with an articulated ball head 14 that matches the ball joint seat 15; the tension bolt 11 passes through the middle of the articulated swing arm 10, and the middle of the articulated swing arm 10 is pressed and fixed at the arc adjustment hole 7. The fixed installation floor 16 can be used to achieve the positioning and fixed installation of the lower end of the telescopic support leg; the cooperation of the ball joint seat 15 and the articulated ball head 14 can meet the different angle requirements at the installation position.

[0038] Further, such as Figures 9 - 12As shown in the figure, the vector magnetic force observation device includes an angle adjustment mechanism, a Helmholtz coil, a suspension adjustment mechanism, a spherical coil unit, a magnetic probe bracket, an optically pumped magnetic sensor 91, and a switching control circuit. The angle adjustment mechanism is arranged on the protection platform. The Helmholtz coil is installed on the angle adjustment mechanism, and the angle adjustment mechanism adjusts the rotation angle and the levelness of the Helmholtz coil. The spherical coil unit is installed on the Helmholtz coil through the suspension adjustment mechanism, and the spherical coil unit is located in the middle of the Helmholtz coil. The suspension adjustment mechanism adjusts the suspension levelness of the spherical coil unit. The magnetic probe bracket is arranged on the angle adjustment mechanism, and the upper end of the magnetic probe bracket extends into the middle of the spherical coil unit. The optically pumped magnetic sensor 91 is installed on the upper end of the magnetic probe bracket. The main controller is electrically connected to the optically pumped magnetic sensor 91. The switching control circuit is arranged in the control cabinet 113 and is electrically connected to the main controller. The main controller controls the switching control circuit to realize the series connection form of the Helmholtz coil and the spherical coil unit. The angle adjustment mechanism can adjust the levelness and the rotation orientation angle to meet the needs of on-site installation and debugging. The suspension adjustment mechanism can realize the top suspension and the central axis adjustment of the spherical coil unit. The switching control circuit can realize the series connection form control of the Helmholtz coil and the spherical coil unit to meet the needs of on-site debugging.

[0039] Furthermore, the protection platform includes a placement platform 66 and a protective cover 67. The angle adjustment mechanism is placed on the placement platform 66, and the protective cover 67 covers the placement platform 66. The vector magnetic force observation device is located inside the protective cover 67. The protective cover 67 can realize the safety protection of the vector magnetic force observation device.

[0040] Furthermore, as Figure 9 and 12As shown, the angle adjustment mechanism includes a mechanism base plate 102, a support tray 96, a rotating disk 97, a rotating positioning bolt 99, and three bottom support units; the bottom support unit includes a sliding limit seat 104, a support adjustment screw 105, an adjustment pressing bolt 108, a sliding support plate 110, and a support thread seat 103; the mechanism base plate 102 is fixed on the protection platform, and the support thread seats 103 of the three bottom support units are fixed at three support points on the mechanism base plate 102. The lower end of the support adjustment screw 105 is threadedly installed in the corresponding support thread seat 103; an adjustment turntable 106 is fixedly arranged in the middle of the support adjustment screw 105, a support ball head 112 is arranged at the upper end of the support adjustment screw 105, and a sliding support seat 107 that is spherically hinged to the support ball head 112 is arranged on the lower side surface of the sliding support plate 110; the sliding limit seats 104 of the three bottom support units are fixed at three support points on the lower side surface of the support tray 96. A flat cavity 109 is arranged in the sliding limit seat 104, and a moving window 111 communicating with the flat cavity 109 is arranged on the lower side surface of the sliding limit seat 104. The sliding support seat 107 penetrates through the moving window 111, and the sliding support plate 110 is supported in the flat cavity 109; the adjustment pressing bolt 108 is threadedly installed on the sliding limit seat 104, and the end of the adjustment pressing bolt 108 presses on the sliding support plate 110; a limit circular groove is arranged on the upper side surface of the support tray 96, the rotating disk 97 is rotatably installed in the limit circular groove, the rotating positioning bolt 99 is threadedly installed on the side of the support tray 96, and the end of the rotating positioning bolt 99 presses on the rotating disk 97; the Helmholtz coil is installed on the rotating disk 97. The use of the three bottom support units can realize the level adjustment of the support tray 96 and is tightly fixed by the adjustment pressing bolt 108; the use of the rotational installation of the rotating disk 97 can realize the orientation angle adjustment and is tightly fixed by the rotating positioning bolt 99; the use of the ball hinge cooperation between the support ball head 112 and the sliding support seat 107 can realize a slight angle change during the level adjustment.

[0041] Further, as Figure 9 and 10As shown in the figure, the suspension adjustment mechanism includes a suspension beam 71, a suspension rod 72, a suspension shaft 74, a suspension seat 73, four cantilever screws 75, four adjustable counterweights 76, a counterweight pendulum 80, two arc-shaped suspension rods 77, an upper pressing plate 82, a clamping bolt 85, and a lower pressing plate 83; the suspension beam 71 is longitudinally fixed at the top of the Helmholtz coil, the upper end of the suspension rod 72 is swingably mounted in the middle of the suspension beam 71, and the suspension seat 73 is fixed at the lower end of the suspension rod 72; the middle of the suspension shaft 74 is rotatably mounted through the suspension seat 73 transversely, two cantilever screws 75 are respectively horizontally fixed on the left and right ends of the suspension shaft 74 transversely, and the other two cantilever screws 75 are respectively horizontally fixed on the front side of the left end and the rear side of the right end of the suspension shaft 74 longitudinally; four adjustable counterweights 76 are respectively screwed onto the four cantilever screws 75; the upper ends of the two arc-shaped suspension rods 77 are respectively fixed on the lower sides of the left and right ends of the suspension shaft 74, and the lower ends of the two arc-shaped suspension rods 77 are both fixed on the upper side of the upper pressing plate 82; a suspension connecting rod 78 is connected between the upper ends of the two arc-shaped suspension rods 77, and the center of the top of the counterweight pendulum 80 is connected to the middle of the suspension connecting rod 78 through a suspension rope 79; circular windows 87 are provided at both the top and the bottom of the spherical coil unit, the lower pressing plate 83 is located in the circular window 87 at the top, and the lower pressing plate 83 is installed under the upper pressing plate 82 by pulling with the clamping bolt 85; an arc-shaped supporting surface 84 that matches the inner spherical surface at the circular window 87 is provided on the upper side of the lower pressing plate 83. By using the cooperation of the four cantilever screws 75 and the four adjustable counterweights 76, the cantilever pressures in four directions can be adjusted to ensure that the central axis of the spherical coil unit is in a vertical state; the use of the counterweight pendulum 80 can achieve swing damping and enhance the stability of the suspension of the spherical coil unit; by suspending the spherical coil unit at the top, compared with the existing design of adjusting the axis by suspending a counterweight at the bottom, the spherical coil unit can be ensured not to deform during long-term use.

[0042] Further, the Helmholtz coil includes two longitudinally fixed support rods 101 and two circular coil units 70; the two longitudinally fixed support rods 101 are longitudinally fixed between the two circular coil units 70; two coil support columns 100 are vertically arranged on the longitudinally fixed support rods 101, and the lower ends of the coil support columns 100 are fixed on the rotating disc 97.

[0043] Further, as Figure 9 and 11As shown in the figure, the magnetic probe support includes a vertical support tube 86, a rotary locking nut 95, an annular support seat 94, a U-shaped support 88, a sensor sleeve 90, and a sensor locking bolt 92. The annular support seat 94 is fixed at the center of the upper side of the rotary disc 97. The lower end of the vertical support tube 86 passes through the annular support seat 94 and is rotatably installed on the rotary disc 97. A locking external thread is provided on the outer side of the lower end of the vertical support tube 86, and the rotary locking nut 95 is threadedly installed on the locking external thread, and the rotary locking nut 95 presses on the annular support seat 94. A handle tube 93 is communicatively provided on the lower side of the vertical support tube 86. The U-shaped support 88 is fixed to the upper end of the vertical support tube 86. Two support short shafts 89 are vertically provided on the outer wall of the middle part of the sensor sleeve 90, and the two support short shafts 89 are respectively installed through and rotatably on the two side supports of the U-shaped support 88. Angle locking external threads are provided at the ends of the two support short shafts 89, and angle locking nuts are threadedly installed on the angle locking external threads, and the angle locking nuts are pressed against the side supports of the U-shaped support 88. The optically pumped magnetic sensor 91 is inserted into the sensor sleeve 90, and the sensor locking bolt 92 is installed through and threadedly on the tube wall of the sensor sleeve 90, and the end of the sensor locking bolt 92 presses on the optically pumped magnetic sensor 91. The detection end of the optically pumped magnetic sensor 91 is located at the center of the spherical coil unit. By using the cooperation of the rotary locking nut 95 and the annular support seat 94, the rotation adjustment and positioning fixation of the vertical support tube 86 can be realized, so as to realize the adjustment of the orientation angle of the optically pumped magnetic sensor 91. By using the arrangement of the vertical support tube 86 and the handle tube 93, the threading of the cable of the optically pumped magnetic sensor 91 can be realized, and the rotation adjustment of the vertical support tube 86 can be facilitated. By using the cooperation of the U-shaped support 88, the rotary locking nut 95, the sensor locking bolt 92, and the sensor sleeve 90, the pitch angle adjustment and locking of the optically pumped magnetic sensor 91 can be realized.

[0044] Further, the spherical coil unit includes an upper hemispherical coil 68 and a lower hemispherical coil 69. The spherical coil is formed by splicing the upper hemispherical coil 68 and the lower hemispherical coil 69, and the upper hemispherical coil 68 and the lower hemispherical coil 69 are connected in series. The vertical support tube 86 extends into the spherical coil unit through the circular window 87 at the bottom of the lower hemispherical coil 69.

[0045] Further, a first level 81 is provided on the upper side of the upper pressing plate 82 to ensure that the central axis of the spherical coil is in a vertical state during the suspension adjustment. A second level 98 is provided on the upper side of the rotary disc 97 to ensure that the rotary disc 97 is in a horizontal state during the level adjustment.

[0046] Further, as Figure 15 shown, the switching control circuit includes a current source, a single-pole relay K 1 and a double-pole relay K2 and double - pole relay K 3 ; double - pole relay K 2 and double - pole relay K 3 is for interlock setting. The Helmholtz coil and the spherical coil use the same set of current sources, and the input end of the current source is D 1 and D 2 ; the D 1 end of the current source is electrically connected to the S 1 end of the spherical coil. The S 2 end of the spherical coil is respectively electrically connected to the moving contact of single - pole relay K 1 , the first fixed contact of double - pole relay K 2 and the first fixed contact of double - pole relay K 3 ; the fixed contact of single - pole relay K 1 is respectively electrically connected to the D 2 end of the current source, the second fixed contact of double - pole relay K 2 and the second fixed contact of double - pole relay K 3 ; the first moving contact of double - pole relay K 2 is respectively electrically connected to the B 1 end of the Helmholtz coil and the second moving contact of double - pole relay K 3 ; the second moving contact of double - pole relay K 2 is respectively electrically connected to the B 2 end of the Helmholtz coil and the first moving contact of double - pole relay K 3 ; the first moving contact and the second moving contact of double - pole relay K 2 correspond to the first fixed contact and the second fixed contact respectively, and the first moving contact and the second moving contact of double - pole relay K 3 correspond to the first fixed contact and the second fixed contact respectively; the main controller is respectively used to control the energization and de - energization of the coils of single - pole relay K 1 , double - pole relay K 2 and double - pole relay K 3 . Single - pole relay K 1 , double - pole relay K 2 and double - pole relay K 3 can all be replaced with electronic switches with faster speed and longer life to achieve the corresponding single - pole or double - pole control.

[0047] Furthermore, the monitoring method of the monitoring system for coal - rock dynamic disasters and earthquake precursors disclosed by the present invention includes the following steps: Step 1: Select each monitoring point in the mine according to the monitoring needs. Select the installation surface of the electromagnetic radiation monitoring device at each monitoring point according to the installation environment. Then, install the three fixed installation floors 16 of the electromagnetic radiation monitoring device on the selected installation surface through the installation bracket. The distance between the upper side of the upper housing 18 and the top surface of the monitoring point is greater than 50 cm, and the distance between the lower side of the lower housing 1 and the ground of the monitoring point is greater than 50 cm. Then, adjust the telescopic length of the telescopic adjustment screw 12 to complete the leveling adjustment of the explosion-proof housing, so that the upper side of the upper housing 18 and the lower side of the lower housing 1 are both in a horizontal state; Step 2: Install the vector magnetic force observation device on the protection platform outside the mine. Then, electrically connect the vector magnetic force observation device to the main controller of the control cabinet 113, and perform initialization adjustment on the vector magnetic force observation device; Step 3: Rotate and adjust the explosion-proof housing. Using the center of the upper side of the explosion-proof housing as the coordinate origin, rotate the magnetic field sensors on the four side edges of the upper side of the explosion-proof housing to the four directions of due south, due north, due east, and due west. Then, lock the rotation of the explosion-proof housing. The installation on the horizontal plane is as shown in Figure 3 shown, and the installation on the vertical plane is as shown in Figure 5 shown; Step 4: Tilt and adjust the four magnetic field sensors on the upper housing 18 upward above the upper side of the upper housing 18, so that the central axis of the winding tube 54 forms an angle of 45° - 75° with the upper side of the upper housing 18. Use the corresponding angle locking mechanism to lock the tilt angles of the four upper magnetic field sensors. Then, adjust the inner arc shielding blades 47 and the outer arc shielding blades 48 on the four upper magnetic field sensors, so that the angle range of the shielding interval formed by the inner arc shielding blades 47 and the outer arc shielding blades 48 around the circumference of the coil assembly is 210° - 240°, and the inner arc shielding blades 47 and the outer arc shielding blades 48 perform shielding on the side close to the upper side of the upper housing 18. Thus, the four upper magnetic field sensors detect the magnetic field in the upper space, and the detection areas of each magnetic field sensor overlap as little as possible within a relatively small range. This adjustment can be completed according to the experience of the installer, and it is not necessary to achieve precise measurement angles, nor is it necessary to make the detection ranges completely non-overlapping; Step 5: Adjust the four magnetic field sensors on the lower housing 1 to incline downward to the lower side of the lower surface of the lower housing 1, so that the central axis of the solenoid 54 forms an angle of 45° to 75° with the lower surface of the lower housing 1, and use the corresponding angle locking mechanism to lock the inclination angles of the four magnetic field sensors on the lower side. Then, adjust the inner arc shielding blades 47 and the outer arc shielding blades 48 on the four magnetic field sensors on the lower side, so that the angle range of the shielding interval formed by the inner arc shielding blades 47 and the outer arc shielding blades 48 around the circumference of the coil assembly is 210° to 240°, and the inner arc shielding blades 47 and the outer arc shielding blades 48 perform shielding on the side close to the lower surface of the lower housing 1, so that the four magnetic field sensors at the lower part detect the magnetic field in the lower layer space, and the detection areas of the magnetic field sensors overlap as little as possible within a relatively small range. This adjustment can be completed according to the experience of the installer, and it is not necessary to achieve precise angle measurement, nor is it necessary to ensure that the detection ranges do not overlap completely; Step 6: Electrically connect the slave communication modules of each electromagnetic radiation monitoring device to the master communication module of the control cabinet 113 with each explosion-proof cable, and the master controller of the control cabinet 113 communicates with the remote control center through the router; Step 7: Use each electromagnetic shielding cover to surround and shield each electromagnetic radiation monitoring device to isolate the interference of the environmental magnetic field on the electromagnetic radiation monitoring device. Then, the master controller of the control cabinet 113 sends a calibration instruction to the slave communication module of each electromagnetic radiation monitoring device through the master communication module. After the slave controller obtains the calibration instruction, it generates a standard calibration signal through the signal generation circuit, and inputs the calibration signal into the signal processing circuit through the calibration signal input terminal. Then, the standard calibration signal is output from the feedback signal input terminal of the signal processing circuit to the feedback coil circuit to generate a calibration electromagnetic field. Then, the signal processing circuit amplifies the electromagnetic signal sensed by the detection coil circuit, and the high-speed data acquisition module acquires the amplified electromagnetic signal and uses the acquired electromagnetic signal as the calibration electromagnetic signal. Then, disassemble each electromagnetic shielding cover and stop the signal generation of the signal generation circuit; Step 8: The master controller of the control cabinet 113 continuously obtains the acquisition instruction of the remote control center. After the master controller obtains the acquisition instruction, it forwards the acquisition instruction to each slave communication module through the master communication module. After each slave controller receives the acquisition instruction, the signal processing circuit amplifies the actual electromagnetic signal sensed by the detection coil circuit, and the high-speed data acquisition module acquires the amplified actual electromagnetic signal. Then, the slave controller normalizes the acquired actual electromagnetic signal according to the calibration electromagnetic signal to obtain the actual output signal, and sends the actual output signal to the master controller through the communication between the slave communication module and the master communication module. The master controller also performs magnetic field detection control on the vector magnetic force observation device to obtain the external mine magnetic field data, and the master controller temporarily stores the actual output signal and the external mine magnetic field data in the main memory; Step 9: The main controller forwards the actual output signal in the main memory and the external mine magnetic field data to the remote control center through the router, facilitating the monitoring personnel to analyze the collected data.

[0048] During the operation of the electromagnetic radiation monitoring device, when the temperature sensor collects that the temperature inside the explosion-proof housing exceeds the set threshold, the slave controller rotates the drive motor 36 through the heat dissipation drive circuit, and uses each heat dissipation blade 39 to dissipate heat from and scrape dust off each heat dissipation fin 38, thereby quickly cooling the inside of the electrical control box 35 and ensuring the stable and safe operation of the electrical equipment inside the electrical control box 35.

[0049] In the monitoring system for coal and rock dynamic disasters and earthquake precursors disclosed by the present invention, the initialization adjustment steps of the vector magnetic force observation device are as follows: Step 2.1: Place the mechanism base plate 102 on the placement platform 66, place the connection direction of the two support threaded seats 103 in the magnetic north-south or magnetic east-west direction, align the center of the rotating disk 97 and the lower end center of the vertical support pipe 86 with the center of the placement platform 66, and adjust the attitude of the optically pumped magnetic sensor 91 so that the measured horizontal component, vertical component, total field, R + and R - avoid the measurement dead zone of the optically pumped magnetic sensor 91, and then bond the mechanism base plate 102 to the placement platform 66; Step 2.2: Adjust the bubble of the second level 98 to the middle position by rotating the three adjustment turntables 106; Step 2.3: Given a compensation current as the current source, orient with a compass, adjust the rotating disk 97 to adjust the four cantilever screws 75 to the east, west, south, and north directions, and then adjust the four adjustment counterweights 76 to adjust the bubble of the first level 81 to the middle position; Step 2.4: Measure the current orientation angle as the first horizontal component value through the optically pumped magnetic sensor 91, then rotate the rotating disk 97 by 180 degrees, and then measure the current orientation angle as the second horizontal component value through the optically pumped magnetic sensor 91. Then, the difference between the first horizontal component value and the second horizontal component value is the horizontal component turning difference. Adjust the two adjustment counterweights 76 in the north-south direction so that the horizontal component turning difference is less than 5 nT. Then rotate the rotating disk 97 by 90 degrees, measure the horizontal component turning difference in the current direction, and adjust the two adjustment counterweights 76 in the current north-south direction so that the horizontal component turning difference is less than 5 nT; Step 2.5: Rotate the rotating disk 97 to any angle, and determine that the current horizontal component turning difference should be less than 5 nT. If it is less than 5 nT, enter Step 2.6. If it is greater than or equal to 5 nT, return to Step 2.4; Step 2.6, with the compass orientation, set the axial direction of the Helmholtz coil in the magnetic east-west direction, finely adjust the orientation angle by rotating the disc 97, and make the measured resultant magnetic field R + and R - equal. At this time, the axial direction of the Helmholtz coil is the magnetic east-west direction, and measure the horizontal component H 1 and the horizontal component turning difference ΔH 1 , the horizontal component value is H = H 1 -ΔH 1 / 2. Then, according to the measured total magnetic field F of the magnetic field, calculate the vertical component; Step 2.7, reselect a compensation current of the horizontal component as the current source, rotate the disc 97 to any direction, and determine whether the current horizontal component turning difference is less than 5 nT. If it is less than, the initialization adjustment of the vector magnetic force observation device ends; otherwise, repeat steps 2.3 to 2.6.

[0050] When the vector magnetic force observation device disclosed in the present invention performs magnetic field detection and control, it includes the following steps: Step a, measure the initial direction N m of the magnetic declination: Control the single-pole relay K 1 , double-pole relay K 2 and double-pole relay K 3 to be all disconnected by the main controller. Adjust the upper pressing plate 82 to be in a horizontal state by four adjusting counterweights 76. At this time, the axis of the spherical coil is in a vertical state. Then, perform a rotation operation on the disc 97 so that the axis of the Helmholtz coil points to the magnetic east-west direction, and measure the initial total magnetic field F 0 by the optically pumped magnetic sensor 91. The initial total magnetic field F 0 can be decomposed into the initial horizontal component H 0 on the horizontal plane and the initial vertical component Z 0 perpendicular to the horizontal plane. At this time, the direction of the initial horizontal component H 0 is the initial direction N m of the magnetic declination; Step b, measure the horizontal component H and vertical component Z of the magnetic field: Control the single-pole relay K 1 to be closed by the main controller, and double-pole relays K 2 and double-pole relay K 3 to be all disconnected. Obtain the compensation current I h of the horizontal component by using the classical Nelson method. Take I hSet to the current of the current source and remain unchanged or remain unchanged within each measurement period. After each measurement period, the current is tracked in real time. The total magnetic field F is measured by the optically pumped magnetic sensor 91. The total magnetic field F can be decomposed into a horizontal component H on the horizontal plane and a vertical component Z perpendicular to the horizontal plane. At this time, the angle between the horizontal component H and the initial direction N of the magnetic declination m is θ; Step c, measure the bias composite magnetic field R + : The main controller controls the double-pole relay K 2 to close, and the single-pole relay K 1 and the double-pole relay K 3 are all disconnected, so that the spherical coil and the Helmholtz coil are in series. The coil constant of the spherical coil is K s , and the coil constant of the Helmholtz coil is K h . The spherical coil and the Helmholtz coil are simultaneously passed through the current I h . At this time, a compensation magnetic field C 1 is generated. There is I h K s =Z 1 =Z, and the direction is opposite to that of the vertical component Z; then the compensation magnetic field C 1 and the composite magnetic field R of the total magnetic field F + On the horizontal plane, the projection of the compensation magnetic field C 1 on the horizontal component H is C 1h =I h K h . Then there is: . Further obtain ; Step d, measure the bias composite magnetic field R - : The main controller controls the double-pole relay K 3 to close, and the single-pole relay K 1 and the double-pole relay K 2 are all disconnected, so that the spherical coil and the Helmholtz coil are reversely connected in series. The spherical coil and the Helmholtz coil are simultaneously passed through the current I h . At this time, a compensation magnetic field C 2 is generated. There is I h K s =Z 2 =Z, and the direction is opposite to that of the vertical component Z; then the compensation magnetic field C 2 and the composite magnetic field R of the total magnetic field F - On the horizontal plane, the projection of the compensation magnetic field C 2 on the horizontal component H is C 2h =I h K h . Then there is: . Further obtain: ; Step e, calculate , and then measure the initial direction N of the magnetic declination m The included angle with the true north direction of the earth is D 0 , then the magnetic declination D = D 0 +θ; Since the coil constant K s of the spherical coil and the coil constant K h of the Helmholtz coil generally conform to the relationship of K s / K h = Z / H, so it meets the application in different latitude regions; Step f, take the initial direction N of the magnetic declination m , the horizontal component H of the magnetic field, the vertical component Z of the magnetic field, the bias composite magnetic field R + and the bias composite magnetic field R - as the external mine magnetic field data.

[0051] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as a limitation of the present invention itself. Various changes in form and detail may be made without departing from the spirit and scope of the present invention defined by the appended claims.

Claims

1. A monitoring system for coal-rock dynamic disasters and earthquake precursor monitoring, characterized in that: The invention comprises a control cabinet (113), a vector magnetic force observation device and a plurality of electromagnetic radiation monitoring devices; the electromagnetic radiation monitoring device comprises an explosion-proof housing, a mounting bracket and a plurality of magnetic field sensors; a slave controller, a slave memory, a signal generating circuit, a high-speed data acquisition module and a slave communication module are arranged in the explosion-proof housing; the vector magnetic force observation device is installed on a protective platform outside the mine, and is used to monitor the geomagnetism outside the mine; each magnetic field sensor is installed on the upper side and the lower side edge of the explosion-proof housing in an angle-adjustable manner, and is used to perform multi-angle magnetic field monitoring; the mounting bracket is arranged at the center of the lower side of the explosion-proof housing, and is used to fix the explosion-proof housing inside the mine. The control cabinet (113) is arranged outside the mine and is provided with a main controller, a main memory, a router and a main communication module; the main controller is electrically connected to the vector magnetic observation device, the main memory, the router and the main communication module; the main communication module is electrically connected to the main communication module through an explosion-proof cable.

2. The monitoring system for coal-rock dynamic disaster and earthquake precursor monitoring according to claim 1 is characterized in that: The explosion-proof housing comprises an upper housing (18) and a lower housing (1), wherein the upper housing (18) and the lower housing (1) are detachably assembled; a hinged mounting groove (3) is provided at the middle of the four edges of the upper side surface of the upper housing (18) and at the middle of the four edges of the lower side surface of the lower housing (1); a sensor mounting seat (19) is hingedly mounted on the hinged mounting groove (3) in a pitch-swinging manner, and an end of a hinged shaft (21) on one side of the sensor mounting seat (19) is locked in a swing angle by an angle locking mechanism; and a magnetic field sensor is fixedly mounted on the sensor mounting seat (19).

3. The monitoring system for coal-rock dynamic disaster and earthquake precursor monitoring according to claim 2 is characterized in that: The magnetic field sensor comprises a coil assembly, a magnetic core, a built-in circuit board (65), an explosion-proof housing, an inner arc-shaped shielding blade (47), and an outer arc-shaped shielding blade (48); the magnetic core is fixed inside the coil assembly; a coil fixing cavity (53) and a circuit fixing cavity (64) are provided inside the explosion-proof housing; the coil assembly is detachably mounted in the coil fixing cavity (53); the built-in circuit board (65) is detachably mounted in the circuit fixing cavity (64); a signal processing circuit electrically connected to the coil assembly is provided on the built-in circuit board (65), and the signal processing circuit is respectively The device is electrically connected to a high-speed data acquisition module and a signal generating circuit; the end of the explosion-proof housing is fixed to a sensor mounting seat (19) via a mounting connection column (50); two blade support rings (45) are rotatably mounted on the mounting connection column (50); the ends of the inner arc-shaped shielding blade (47) and the outer arc-shaped shielding blade (48) are respectively connected and fixed to the two blade support rings (45) via a connecting support bar (46), and the inner arc-shaped shielding blade (47) and the outer arc-shaped shielding blade (48) are both partially surrounded and located on the periphery of the explosion-proof housing.

4. The monitoring system for coal-rock dynamic disaster and earthquake precursor monitoring according to claim 3 is characterized in that: The coil assembly comprises a bobbin (54), three middle induction coils (62), two end induction coils (60), six feedback coils (61) and two ground coils (57); the magnetic core is coaxially fixedly arranged in the bobbin (54); six first annular grooves (58), three second annular grooves (59) and two third annular grooves (63) are arranged on the middle outer wall of the bobbin (54); the three second annular grooves (59) and the two third annular grooves (63) are respectively located in the six first annular grooves (58), three second annular grooves (59) and two third annular grooves (63) In the five intervals between the grooves (58), three second annular grooves (59) are located between two third annular grooves (63), and the spacing between adjacent first annular grooves (58) and second annular grooves (59) is equal to the spacing between adjacent first annular grooves (58) and third annular grooves (63); a fourth annular groove (55) is provided on the outer wall at both ends of the winding tube (54); two ground wire coils (57) are respectively located in the two fourth annular grooves (55), and are both electrically connected to the ground input terminal of the signal processing circuit; The three middle induction coils (62) are respectively located in the three second annular grooves (59), the two end induction coils (60) are respectively located in the two third annular grooves (63), and the six feedback coils (61) are respectively located in the six first annular grooves (58); the six feedback coils (61) are connected in sequence to form a feedback coil circuit, and one end of the feedback coil circuit is electrically connected to the ground coil (57), and the other end is electrically connected to the feedback signal input end of the signal processing circuit; the three middle induction coils (62) and the two end induction coils (60) are connected in sequence according to their positions to form a detection coil circuit, and one end of the detection coil circuit is electrically connected to the ground coil (57). One end of the ground coil (57) is electrically connected to the electromagnetic signal input end of the signal processing circuit, and the other end is electrically connected to the electromagnetic signal input end of the signal processing circuit; the other end of the ground coil (57) is electrically connected to the ground input end of the signal processing circuit; the signal processing circuit is used to amplify the electromagnetic signal at the electromagnetic signal input end and feed back the amplified electromagnetic signal to the feedback signal input end; the signal processing circuit is provided with an electromagnetic signal output end for outputting the amplified electromagnetic signal, and the electromagnetic signal output end is electrically connected to the signal acquisition end of the high-speed data acquisition module; the signal processing circuit is also provided with a calibration signal input end electrically connected to the feedback signal input end, and the calibration signal input end is electrically connected to the signal generating circuit.

5. The monitoring system for coal-rock dynamic disaster and earthquake precursor monitoring according to claim 2 is characterized in that: A ventilation window (31) is vertically provided in the middle of the upper shell (18), and a heat dissipation channel connected to the ventilation window (31) is vertically provided in the middle of the lower shell (1); a middle platform (33) is horizontally provided at the lower end of the heat dissipation channel through a radial support tube (34), a mounting bracket is provided on the lower side of the middle platform (33), and an electrical control box (35) is provided on the upper side of the middle platform (33); a slave control circuit board (40) and a drive circuit are provided in the electrical control box (35). The electric control box (36) comprises a slave controller, a slave memory and a slave communication module, all of which are arranged on a slave control circuit board (40), and a temperature sensor and a heat dissipation drive circuit electrically connected to the slave controller are arranged on the slave control circuit board (40); a transmission shaft is rotatably installed through the center of the top of the electric control box (35), and a plurality of cantilever rods (37) are horizontally fixed on the upper end of the transmission shaft, and a heat dissipation suspension rod is vertically arranged below the cantilevered end of each cantilever rod (37), and a heat dissipation scraper (39) is obliquely arranged on the lower end of the heat dissipation suspension rod, and each heat dissipation scraper (39) is at a different height; the heat dissipation drive circuit is electrically connected to the drive motor (36), and the drive motor (36) is used to drive the transmission shaft to rotate; a plurality of heat dissipation blocks are fixedly arranged on the circumferential side wall of the electric control box (35), and the heat dissipation fins (38) of each heat dissipation block extend horizontally outside the electric control box (35), forming annular heat dissipation zones of different heights outside the electric control box (35), and each heat dissipation scraper (39) is respectively arranged at a certain height. The electric control box (35) is provided with an annular heat-conducting flat tube (42), and the annular heat-conducting flat tube (42) is closely attached to the heat-dissipating block; a chip heat-dissipating strip (41) extending to the slave control circuit board (40) and a motor heat-dissipating strip (43) extending to the drive motor (36) are fixedly connected to the annular heat-conducting flat tube (42); and an arc-shaped heat-conducting plate (44) closely attached to the side wall of the drive motor (36) is provided at the end of the motor heat-dissipating strip (43).

6. The monitoring system for coal-rock dynamic disaster and earthquake precursor monitoring according to claim 1 is characterized in that: The mounting bracket comprises a bottom support plate (5), two hinged mounting seats (6), three telescopic support legs, an articulated spindle (17) and a rotational positioning bolt (9); the bottom support plate (5) is rotationally mounted at the bottom center of the explosion-proof housing via the bottom support spindle (8); the two articulated mounting seats (6) are arranged on the lower side of the bottom support plate (5); the articulated spindle (17) is mounted on the two articulated mounting seats (6); an arc-shaped adjustment hole (7) is arranged around the articulated spindle (17) on the two articulated mounting seats (6); the ends of the two telescopic support legs are swing-hingedly mounted on the two ends of the articulated spindle (17) and locked on the arc-shaped adjustment hole (7) via tension bolts (11); the end of the other telescopic support leg is swing-hingedly mounted on the middle of the articulated spindle (17); the rotational positioning bolt (9) is threadedly screwed on the bottom support plate (5), and the screw end of the rotational positioning bolt (9) is pressed on the bottom of the explosion-proof housing.

7. The monitoring system for coal-rock dynamic disaster and earthquake precursor monitoring according to claim 1 is characterized in that: The vector magnetic observation device comprises an angle adjustment mechanism, a Helmholtz coil, a suspension adjustment mechanism, a spherical coil unit, a magnetic probe bracket, an optical pump magnetic sensor (91), and a switching control circuit; the angle adjustment mechanism is arranged on a protective platform, the Helmholtz coil is mounted on the angle adjustment mechanism, and the angle and horizontality of the Helmholtz coil are adjusted by the angle adjustment mechanism; the spherical coil unit is mounted on the Helmholtz coil through the suspension adjustment mechanism, and the spherical coil unit is located in the middle of the Helmholtz coil, and the suspension adjustment mechanism adjusts the suspension horizontality of the spherical coil unit; the magnetic probe bracket is arranged on the angle adjustment mechanism, and the upper end of the magnetic probe bracket extends into the middle of the spherical coil unit, the optical pump magnetic sensor (91) is mounted on the upper end of the magnetic probe bracket, and the main controller is electrically connected to the optical pump magnetic sensor (91); the switching control circuit is arranged in a control cabinet (113) and is electrically connected to the main controller, and the main controller controls the switching control circuit to realize the series connection of the Helmholtz coil and the spherical coil unit.

8. The monitoring system for coal-rock dynamic disaster and earthquake precursor monitoring according to claim 7 is characterized in that: The angle adjustment mechanism comprises a mechanism bottom plate (102), a support tray (96), a rotating disc (97), a rotating positioning bolt (99) and three bottom support units; the bottom support unit comprises a sliding limit seat (104), a support adjustment screw rod (105), an adjustment clamping bolt (108), a sliding support plate (110) and a support thread seat (103); the mechanism bottom plate (102) is fixed on the protection platform, the support thread seats (103) of the three bottom support units are fixed at three support points on the mechanism bottom plate (102), and the lower end of the support adjustment screw rod (105) is threadedly mounted on the corresponding support thread seat (103); an adjustment rotating disc (106) is fixedly arranged in the middle of the support adjustment screw rod (105), a support ball head (112) is arranged at the upper end of the support adjustment screw rod (105), and a sliding support seat (107) spherically hinged to the support ball head (112) is arranged on the lower side surface of the sliding support plate (110); the three bottom support units The sliding limit seat (104) of the element is fixed at three supporting points on the lower side of the support tray (96); a flat cavity (109) is arranged in the sliding limit seat (104); a movable window (111) connected to the flat cavity (109) is arranged on the lower side of the sliding limit seat (104); the sliding support seat (107) passes through the movable window (111); and the sliding support plate (110) is supported in the flat cavity (109); the thread of the clamping bolt (108) is adjusted to rotate The support tray (96) is mounted on the sliding limit seat (104), and the end of the adjusting clamping bolt (108) is pressed on the sliding support plate (110); a limited circular groove is provided on the upper side of the support tray (96), the rotating disk (97) is rotatably mounted in the limited circular groove, the rotating positioning bolt (99) is threadedly mounted on the side of the support tray (96), and the end of the rotating positioning bolt (99) is pressed on the rotating disk (97); the Helmholtz coil is mounted on the rotating disk (97).

9. The monitoring system for coal-rock dynamic disaster and earthquake precursor monitoring according to claim 7 is characterized in that: The suspension adjustment mechanism comprises a suspension beam (71), a suspension rod (72), a suspension shaft (74), a suspension seat (73), four cantilever screw rods (75), four adjustment counterweight blocks (76), a counterweight pendulum (80), two arc-shaped suspension rods (77), an upper pressure plate (82), a clamping bolt (85) and a lower pressure plate (83); the suspension beam (71) is longitudinally fixed to the top of the Helmholtz coil, the upper end of the suspension rod (72) is swingably mounted on the middle of the suspension beam (71), and the suspension seat (73) is fixed on the lower end of the suspension rod (72); the middle of the suspension shaft (74) is rotatably mounted on the suspension seat (73) in a transverse through-type manner, two cantilever screw rods (75) are respectively transversely and horizontally fixed on the left and right ends of the suspension shaft (74), and the other two cantilever screw rods (75) are respectively longitudinally and horizontally fixed on the left front side and the right rear side of the suspension shaft (74); the four The adjusting counterweight blocks (76) are respectively screwed and installed on the four cantilever screw rods (75); the upper ends of the two arc-shaped suspension rods (77) are respectively fixed on the lower sides of the left and right ends of the suspension shaft (74), and the lower ends of the two arc-shaped suspension rods (77) are fixed on the upper side of the upper pressure plate (82); a suspension connecting rod (78) is connected between the upper ends of the two arc-shaped suspension rods (77), and the top center of the counterweight pendulum (80) is connected to the middle of the suspension connecting rod (78) through a suspension rope (79); circular windows (87) are provided on the top and bottom of the spherical coil unit, and the lower pressure plate (83) is located in the circular window (87) at the top, and the lower pressure plate (83) is installed under the upper pressure plate (82) by clamping bolts (85); the upper side of the lower pressure plate (83) is provided with an arc-shaped supporting surface (84) that matches the inner spherical surface of the circular window (87).

10. A monitoring method for a monitoring system for coal-rock dynamic disaster and earthquake precursor monitoring according to claim 4, characterized in that: The steps include: Step 1, selecting each monitoring point in the mine according to monitoring needs, and selecting the installation surface of the electromagnetic radiation monitoring device at each monitoring point according to the installation environment, and then installing the electromagnetic radiation monitoring device on the selected installation surface by means of a mounting bracket, and the distance between the upper side surface of the upper shell (18) and the top surface of the monitoring point is greater than a distance threshold, and the distance between the lower side surface of the lower shell (1) and the ground surface of the monitoring point is greater than a distance threshold, and then adjusting the horizontality of the explosion-proof shell by means of the mounting bracket, so that the upper side surface of the upper shell (18) and the lower side surface of the lower shell (1) are both in a horizontal state; Step 2, installing the vector magnetic observation device on a protective platform outside the mine, electrically connecting the vector magnetic observation device to a main controller of a control cabinet (113), and then initializing and adjusting the vector magnetic observation device; Step 3: Rotate and adjust the explosion-proof housing, take the center of the upper side of the explosion-proof housing as the coordinate origin, rotate the magnetic field sensors on the four edges of the upper side of the explosion-proof housing to the four directions of due south, due north, due east and due west, and then lock the rotation of the explosion-proof housing; Step 4, adjusting the inclination of the four magnetic field sensors on the upper shell (18), and using the corresponding angle locking mechanism to lock the inclination angle of the four magnetic field sensors on the upper side, and then adjusting the inner arc-shaped shielding blades (47) and the outer arc-shaped shielding blades (48) on the four magnetic field sensors on the upper side to shield the circumference of the coil assembly on the upper side within the shielding interval angle range; Step 5, the four magnetic field sensors on the lower housing (1) are tilted and adjusted, and the tilt angles of the four magnetic field sensors on the lower side are locked using corresponding angle locking mechanisms, and the inner arc-shaped shielding blades (47) and the outer arc-shaped shielding blades (48) on the four magnetic field sensors on the lower side are adjusted to shield the circumference of the coil assembly on the lower side within the shielding interval angle range; Step 6, using explosion-proof cables to electrically connect the slave communication modules of the electromagnetic radiation monitoring devices to the master communication module of the control cabinet (113), and the master controller communicates with the remote control center through a router; Step 7, using each electromagnetic shielding cover to surround and shield each electromagnetic radiation monitoring device to isolate the interference of the environmental magnetic field on the electromagnetic radiation monitoring device, and then the main controller sends a calibration instruction to the slave communication module of each electromagnetic radiation monitoring device through the main communication module. After the slave controller obtains the calibration instruction, a standard calibration signal is generated by the signal generating circuit, and the calibration signal input end is input into the signal processing circuit, and then the feedback signal input end of the signal processing circuit outputs the standard calibration signal to the feedback coil circuit to generate a calibration electromagnetic field, and then the signal processing circuit amplifies the electromagnetic signal sensed by the detection coil circuit, and then the high-speed data acquisition module collects the amplified electromagnetic signal, and the collected electromagnetic signal is used as the calibration electromagnetic signal, and then the electromagnetic shielding covers are detached, and the signal generation of the signal generating circuit is stopped; Step 8, the main controller obtains the collection instruction of the remote control center in real time, and after the main controller obtains the collection instruction, the main controller forwards the collection instruction to each slave communication module through the main communication module. After each slave controller receives the collection instruction, the signal processing circuit amplifies the actual electromagnetic signal sensed by the detection coil circuit, and then the high-speed data acquisition module collects the amplified actual electromagnetic signal. The slave controller then normalizes the collected actual electromagnetic signal according to the calibration electromagnetic signal to obtain the actual output signal, and then sends the actual output signal to the main controller through the communication between the slave communication module and the main communication module. The main controller also performs magnetic field detection control on the vector magnetic observation device to obtain the magnetic field data outside the mine, and the main controller temporarily stores the actual output signal and the magnetic field data outside the mine in the main memory; Step 9: The main controller forwards the actual output signal in the main memory and the magnetic field data outside the mine to the remote control center through the router.

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