Rock burst multi-level monitoring and early warning method and device based on coal mine tunnel deformation

Abstract

The invention relates to a rock burst multi-level monitoring and early warning method and device based on coal mine tunnel deformation. The method comprises the following steps: acquiring three-dimensional coordinate data and historical data of a to-be-monitored coal mine tunnel surrounding rock at a current time node, and generating a contour model of the to-be-monitored coal mine tunnel surrounding rock at the current time node by using the three-dimensional coordinate data; the three-dimensional coordinate data and the historical data are utilized to determine the time change imbalance degree and the space change discordance degree of energy corresponding to each grid in the contour model; determining a rock burst danger coefficient by using the imbalance degree and the discordance degree corresponding to the grids, and outputting early warning information based on the rock burst danger coefficient; and under the condition that the rock burst danger coefficient of the grid does not meet a first preset condition, performing hierarchical grid division processing on the grid, and returning to execute the step of obtaining the three-dimensional coordinate data of the surrounding rock of the coal mine tunnel to be monitored and the calculation step. According to the scheme, the accuracy and timeliness of rock burst early warning are improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of coal mine mining, and particularly relates to a multi-level monitoring and early warning method and device for rock burst based on coal mine roadway deformation. Background Art

[0002] In the related art, rock burst is one of the main disasters faced by coal mines in China when entering deep mining. At present, timely and accurate monitoring and early warning of it have not been achieved. In rock burst mines, more than 90% of rock burst manifestations occur in the return roadways. Before a rock burst occurs, the roadway will deform under the state of stress and energy changes. Therefore, the rock burst can be monitored and early warned according to the deformation information of the roadway.

[0003] At present, the traditional method of using roadway deformation to monitor rock burst is only to simply judge whether the deformation degree of the roadway exceeds a preset value to determine the risk of rock burst. However, due to the irregular changes of stress and energy, the deformation degree of the roadway also has the characteristic of irregular changes, resulting in the difficulty of accurately and timely monitoring and early warning of rock burst by this single evaluation method. Summary of the Invention

[0004] To overcome the problems existing in the related art, the present disclosure provides a multi-level monitoring and early warning method and device for rock burst based on coal mine roadway deformation.

[0005] According to the first aspect of the embodiments of the present disclosure, a multi-level monitoring and early warning method for rock burst based on coal mine roadway deformation is provided, including:

[0006] Obtain the three-dimensional coordinate data and historical data of the surrounding rock of the coal mine roadway to be monitored at the current time node, and generate a roadway surrounding rock contour model of the surrounding rock of the coal mine roadway to be monitored at the current time node by using the three-dimensional coordinate data; the roadway surrounding rock contour model includes a plurality of grids; the sizes of the plurality of grids respectively correspond to the grid levels to which the grids belong; the grid level is less than or equal to N; N is an integer greater than 1; the historical data includes the historical three-dimensional coordinate data and historical contour model of the surrounding rock of the coal mine roadway to be monitored;

[0007] Use the three-dimensional coordinate data and the historical data to determine the uneven degree of change in time and the incoordination degree of change in space of the energy corresponding to each grid in the roadway surrounding rock contour model; the energy is the energy accumulated due to force deformation in the corresponding area of the grid in the surrounding rock of the coal mine roadway to be monitored;

[0008] For each grid, use the uneven degree and incoordination degree corresponding to the grid to determine the rock burst risk coefficient of the grid, and output a warning message based on the rock burst risk coefficient;

[0009] Store the three-dimensional coordinate data and the roadway surrounding rock contour model into the historical data;

[0010] In the case where there are grids in the multiple grids whose rock burst danger coefficients do not meet the first preset condition, perform hierarchical grid division processing on the grids to obtain multiple K-level grids, and return to execute the step of obtaining the three-dimensional coordinate data of the roadway surrounding rock to be monitored; K is an integer less than or equal to N + 1;

[0011] In the case where the rock burst danger coefficients of the multiple grids all meet the first preset condition, return to execute the step of obtaining the three-dimensional coordinate data of the roadway surrounding rock to be monitored.

[0012] According to the second aspect of the embodiments of the present disclosure, there is provided a multi-level monitoring and early warning device for rock burst based on coal mine roadway deformation, including:

[0013] A generating unit, configured to obtain the three-dimensional coordinate data and historical data of the roadway surrounding rock to be monitored at the current time node, and generate a roadway surrounding rock contour model of the roadway surrounding rock to be monitored at the current time node by using the three-dimensional coordinate data; the roadway surrounding rock contour model includes multiple grids; the sizes of the multiple grids respectively correspond to the grid levels to which the grids belong; the grid level is less than or equal to N; N is an integer greater than 1; the historical data includes the historical three-dimensional coordinate data and historical contour model of the roadway surrounding rock to be monitored;

[0014] A determining unit, configured to use the three-dimensional coordinate data and the historical data to determine the degree of imbalance in the change of energy corresponding to each grid in the roadway surrounding rock contour model in time and the degree of incoordination in the change in space; the energy is the energy accumulated due to force deformation in the corresponding area of the grid in the roadway surrounding rock to be monitored;

[0015] An early warning unit, configured to, for each grid, use the degree of imbalance and the degree of incoordination corresponding to the grid to determine the rock burst danger coefficient of the grid, and output an early warning message based on the rock burst danger coefficient;

[0016] A storage unit, configured to store the three-dimensional coordinate data and the roadway surrounding rock contour model into the historical data;

[0017] A dividing unit, configured to, in the case where there are grids in the multiple grids whose rock burst danger coefficients do not meet the first preset condition, perform hierarchical grid division processing on the grids to obtain multiple K-level grids, and return to execute the step of obtaining the three-dimensional coordinate data of the roadway surrounding rock to be monitored; K is an integer less than or equal to N + 1;

[0018] An execution unit, configured to return and execute the step of acquiring three-dimensional coordinate data of the surrounding rock of a coal mine roadway to be monitored when the rock burst risk coefficients of the respective multiple grids all meet the first preset condition.

[0019] According to a third aspect of the embodiments of the present disclosure, an electronic device includes: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the method described in any one of the first aspects is implemented.

[0020] According to a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method described in any one of the first aspects is implemented.

[0021] According to a fifth aspect of the embodiments of the present disclosure, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the method described in any one of the first aspects is implemented.

[0022] The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects: acquiring three-dimensional coordinate data and historical data of the surrounding rock of a coal mine roadway to be monitored at the current time node, and using the three-dimensional coordinate data to generate a roadway surrounding rock contour model of the coal mine roadway to be monitored at the current time node; using the three-dimensional coordinate data and historical data to determine the degree of imbalance in the change of energy corresponding to each grid in the roadway surrounding rock contour model over time and the degree of incoordination in the change in space; for each grid, using the degree of imbalance and incoordination corresponding to the grid to determine the rock burst risk coefficient of the grid, and outputting a warning message based on the rock burst risk coefficient; storing the three-dimensional coordinate data and the roadway surrounding rock contour model into the historical data; in the case where there are grids whose rock burst risk coefficients do not meet the first preset condition among the multiple grids, performing hierarchical grid division processing on the grids to obtain multiple K-level grids, and returning to execute the step of acquiring three-dimensional coordinate data of the surrounding rock of the coal mine roadway to be monitored and the corresponding analysis and warning work, so that it is possible to continuously judge the degree of imbalance in the change of energy over time and the degree of incoordination in the change in space according to the deformation of the surrounding rock of the coal mine roadway to be monitored, thereby comprehensively judging the positions and degrees of risk of rock burst in the surrounding rock of the roadway, improving the accuracy and timeliness of rock burst warning. In addition, adopting a multi-level grid division method to evaluate the degree of rock burst risk at different positions in the surrounding rock of the roadway can effectively reduce the amount of calculation, improve the calculation efficiency, and further enhance the timeliness of the warning.

[0023] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings here are incorporated into the description and form a part of this description, showing embodiments consistent with the present invention, and are used together with the description to explain the principles of the present invention.

[0025] Figure 1 It is a flowchart of a multi-level monitoring and early warning method for rock burst based on coal mine roadway deformation shown according to an exemplary embodiment.

[0026] Figure 2 It is a cross-sectional contour diagram before processing proposed according to an embodiment of the present disclosure.

[0027] Figure 3 It is a cross-sectional contour diagram after processing proposed according to an embodiment of the present disclosure.

[0028] Figure 4 It is a schematic diagram of the reference shape of the roadway surrounding rock proposed according to an embodiment of the present disclosure.

[0029] Figure 5 It is a schematic diagram for calculating the deformation amount of the first-level surrounding rock proposed according to an embodiment of the present disclosure.

[0030] Figure 6 It is a schematic diagram for calculating the deformation amount of the second-level surrounding rock proposed according to an embodiment of the present disclosure.

[0031] Figure 7 It is a schematic diagram for calculating the convergence area of the surrounding rock proposed according to an embodiment of the present disclosure.

[0032] Figure 8 It is a schematic diagram of grid division and anchor points proposed according to an embodiment of the present disclosure.

[0033] Figure 9 It is a schematic diagram of multi-level grid division proposed according to an embodiment of the present disclosure.

[0034] Figure 10 It is a schematic diagram of the membership relationship of the hierarchical division area proposed according to an embodiment of the present disclosure.

[0035] Figure 11 It is a schematic diagram of the hierarchical division process proposed according to an embodiment of the present disclosure.

[0036] Figure 12 It is a block diagram of a multi-level monitoring and early warning device for rock burst based on coal mine roadway deformation shown according to an exemplary embodiment.

[0037] Figure 13 It is a block diagram of a device for a multi-level monitoring and early warning method for rock burst based on coal mine roadway deformation shown according to an exemplary embodiment.

[0038] Reference Signs

[0039] 1 - Main rib; 2 - Auxiliary rib; 3 - Roof plate; 4 - Floor plate; 5 - Measured roadway section; 6 - Initial roadway section; 7 - Anchor point A; 8 - Anchor point B; 9 - Anchor point C; 10 - Anchor point D; 11 - Grid; 12 - Anchor point. Specific implementation manners

[0040] Exemplary embodiments will be described in detail herein, and examples thereof are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present invention. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0041] The terms used in the embodiments of the present disclosure are for the purpose of describing specific embodiments only and are not intended to limit the embodiments of the present disclosure. The singular forms "a" and "the" used in the embodiments of the present disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0042] It should be understood that although the terms first, second, third, etc. may be used in the embodiments of the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the embodiments of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "when" as used herein may be interpreted as "when" or "while" or "in response to determining".

[0043] In addition, various forms of processes shown in the embodiments of the present disclosure can be used, reordering, adding or deleting steps. For example, the steps described in the present application can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and no limitations are imposed herein.

[0044] In related technologies, rock burst is one of the main disasters faced by coal mines in China when entering deep mining, and timely and accurate monitoring and early warning of it have not been achieved yet. In rock burst mines, more than 90% of the rock burst manifestations occur in the gateway entries. Before a rock burst occurs, the roadway will deform under the state of stress and energy changes, so the rock burst can be monitored and early warned according to the deformation information of the roadway.

[0045] The currently commonly used method for measuring the deformation of roadway surrounding rock is the "cross" measuring point method. Usually, workers use a tape measure to pull a line at a special measuring station to measure the approaching amount of the two sides and the roof and floor of the roadway. The acquisition frequency is usually 1-2 times a week, and the distance between measuring stations is 100-300m. The advantage is that it is simple and convenient to operate. The disadvantages are large manual measurement errors, low reliability, poor data continuity, small data volume, low measurement accuracy. Moreover, the position of the measuring station is set based on manual experience, which has certain blindness and is extremely likely to miss the deformation data of the roadway surrounding rock in the rock burst danger area. With the progress of measuring instruments, laser scanning technology is gradually used to replace manual measurement for monitoring the deformation of roadway surrounding rock. The advantages are high monitoring accuracy, large monitoring range, high degree of intelligence, low cost, and significant improvement in data reliability and continuity. The disadvantages are large data volume, time-consuming calculation, and low calculation efficiency. Moreover, in a large part of the cases, during the process from obtaining monitoring data to inputting and storing it, manual input is still used, which may have problems such as data input errors, repetitions, omissions, and lags. And the obtained results of the above monitoring means are all relative amounts of roadway surrounding rock deformation, and the absolute amount of deformation cannot be obtained.

[0046] In addition, the traditional method of using roadway deformation to monitor rock bursts is only a single judgment on whether the deformation degree of the roadway exceeds the preset value to determine the danger of rock bursts. However, due to the irregular changes in stress and energy, the deformation degree of the roadway also has the characteristic of irregular changes, resulting in the difficulty of accurately and timely monitoring and warning rock bursts with this single evaluation method.

[0047] To solve the above problems, the present disclosure provides a multi-level monitoring and early warning method and device for rock burst based on coal mine roadway deformation. By obtaining the three-dimensional coordinate data and historical data of the surrounding rock of the coal mine roadway to be monitored at the current time node, a roadway surrounding rock contour model of the coal mine roadway to be monitored at the current time node is generated using the three-dimensional coordinate data; using the three-dimensional coordinate data and historical data, the degree of imbalance in the change of energy corresponding to each grid in the roadway surrounding rock contour model over time and the degree of incoordination in the change in space are determined; for each grid, using the degree of imbalance and incoordination corresponding to the grid, the rock burst risk coefficient of the grid is determined, and an early warning message is output based on the rock burst risk coefficient; the three-dimensional coordinate data and the roadway surrounding rock contour model are stored in the historical data; in the case where there are grids in which the rock burst risk coefficients do not meet the first preset condition among multiple grids, hierarchical grid division processing is performed on the grids to obtain multiple K-level grids, and the steps of obtaining the three-dimensional coordinate data of the surrounding rock of the coal mine roadway to be monitored and the corresponding analysis and early warning work are returned, so that it is possible to continuously judge the degree of imbalance in the change of energy over time and the degree of incoordination in the change in space according to the deformation of the surrounding rock of the coal mine roadway to be monitored, thereby comprehensively judging the location and degree of rock burst risk in the roadway surrounding rock, improving the accuracy and timeliness of rock burst early warning. In addition, by using a multi-level grid division method to evaluate the rock burst risk degree at different positions in the roadway surrounding rock, the amount of calculation can be effectively reduced, the calculation efficiency can be improved, and thus the timeliness of early warning can be enhanced.

[0048] Figure 1 is a flowchart of a multi-level monitoring and early warning method for rock burst based on coal mine roadway deformation shown according to an exemplary embodiment, as Figure 1 shown. It should be noted that the multi-level monitoring and early warning method for rock burst based on coal mine roadway deformation in the embodiments of the present disclosure is applied to a multi-level monitoring and early warning device for rock burst based on coal mine roadway deformation. As Figure 1 shown, the method may include the following steps:

[0049] Step 101, obtain the three-dimensional coordinate data and historical data of the surrounding rock of the coal mine roadway to be monitored at the current time node, and generate a roadway surrounding rock contour model of the coal mine roadway to be monitored at the current time node using the three-dimensional coordinate data.

[0050] Among them, the roadway surrounding rock contour model includes a plurality of grids; the sizes of the plurality of grids correspond to the grid levels to which the grids belong; the grid level is less than or equal to N; N is an integer greater than 1; the historical data includes the historical three-dimensional coordinate data and historical contour model of the surrounding rock of the coal mine roadway to be monitored.

[0051] In one embodiment, guide rails can be set along the roadway to be monitored (or manually held for roadway patrol monitoring), and a three-dimensional laser scanner can be used to collect and upload monitoring data (including the three-dimensional coordinate data of the surrounding rock of the coal mine roadway to be monitored) by scanning in real time during patrol. The data content can specifically also include: real-time monitoring time, monitoring location, and can also include scanning frequency, scanning accuracy, and scanning range.

[0052] As a possible example, a contour map of a certain cross-section of the roadway can be established based on the above monitoring data. First, according to the obtained three-dimensional coordinate data of the original points, a line segment can be connected between every two adjacent points, and the line segments are continuously connected to obtain a contour of a certain cross-section of the roadway, such as Figure 2 the cross-section contour map before processing shown; then, considering the local data loss caused by the occlusion of pipelines and cables in the roadway, Bezier curve interpolation calculation is used to remove local sharp (such as significant protrusions and recesses) shapes, perform difference calculation, and perform smooth correction processing on the roadway contour curve to obtain such as Figure 3 the processed cross-section contour map shown; finally, the cross-section contour maps at multiple consecutive positions are combined to form the above-mentioned surrounding rock contour model of the roadway, and pipelines, cables, etc. can be added to the surrounding rock contour model of the roadway to increase the visual effect.

[0053] Step 102: Use the three-dimensional coordinate data and historical data to determine the degree of imbalance in the temporal variation and the degree of incoordination in the spatial variation of the energy corresponding to each grid in the surrounding rock contour model of the roadway.

[0054] Wherein, the energy is the energy accumulated due to force deformation in the corresponding area of the surrounding rock of the coal mine roadway to be monitored for each grid.

[0055] It should be noted that when the energy of a certain local position of the surrounding rock of the coal mine roadway to be monitored is rapidly released at a certain moment, resulting in rock bursts, it will cause phenomena such as roof subsidence, floor heave, and rib heave in the surrounding rock of the roadway instantaneously. The speed of change of the deformation amount in time and space can reflect the speed of energy change. Therefore, the non-uniformity of the surrounding rock deformation of the roadway in time and the incoordination in space can reflect the gestation and development state of rock bursts, and the rock bursts can be effectively monitored and warned by monitoring the spatio-temporal deformation characteristics of the roadway.

[0056] In one embodiment, the historical data may include the reference shape data of the roadway surrounding rock. Among them, the reference shape of the roadway surrounding rock refers to the original roadway surrounding rock engineering structure position coordinates and dimensions before being affected by mining stress and before deformation after the roadway is excavated and formed. Determining the reference shape of the roadway surrounding rock is the primary task for calculating and analyzing the deformation and displacement of the roadway surrounding rock. The simplest and most effective way to determine the reference shape of the roadway surrounding rock is to conduct three-dimensional laser scanning along the roadway immediately after the roadway is excavated and formed to obtain the reference shape of the roadway surrounding rock. However, on-site, due to the tight construction process arrangement, the acquisition and preservation of basic data are often neglected. And the key target of monitoring and early warning is the absolute amount of deformation and displacement of the roadway surrounding rock, rather than the relative amount. Therefore, as Figure 4 shown, the following method can be used to confirm the reference shape of the roadway surrounding rock: By default, the initial roadway section 6 is rectangular, which is formed by connecting the outermost points on the four sides of the measured roadway section 5.

[0057] For example, at time T0, the position coordinates P 00 (x 00 , y 00 , z 00 ) of anchor point 1, anchor point 2, and anchor point 3 are obtained by scanning, P 10 (x 10 , y 10 , z 10 ), P 20 (x 20 , y 20 , z 20 ). According to the positions of anchor point 1, anchor point 2, and anchor point 3, adjacent points are connected, and interpolation calculation is performed using Bezier curves to obtain the real-time three-dimensional space coordinate set S0 of the roadway. S0 is a coordinate data set composed of the position coordinates (x, y, z) of all monitoring points in the positive side, negative side, floor, and roof in the three-dimensional space of the roadway; at time T1, the above work is repeated to obtain the position coordinates P01(x 01 , y 01 , z 01 ) of anchor point 1, anchor point 2, and anchor point 3, P 11 (x 11 , y 11 , z 11 ), P 21 (x 21 , y 21 , z 21 ). At time T1, the above work is repeated to obtain the three-dimensional space coordinate set S1 of the roadway.

[0058] In the embodiments of the present disclosure, the degree of surface displacement of the roadway surrounding rock can be represented by two indicators, the surface displacement of the surrounding rock and the convergence area of the surrounding rock.

[0059] In one example, the surface displacement of the surrounding rock can be determined in the following manner:

[0060] As Figure 5 shown in the schematic diagram for calculating the deformation amount of the first-level surrounding rock, it is assumed that the surface displacement of the roadway surrounding rock is perpendicular to the initial roadway section 6. In the case of the first-level grid division of the roadway surrounding rock contour model, the deformation amount at the center point of the grid, that is, the anchor point (anchor point A7, anchor point B8, anchor point C9, anchor point D10), is the length of the perpendicular intersection line between this point and the measured roadway section 5. The anchor points of the positive side 1, negative side 2, roof 3, and floor 4 of the roadway are shown in the figure (the positive side 1, negative side 2, roof 3, and floor 4 of the roadway are each an integral grid (grid 1, grid 2, grid 3, grid 4), that is, the first level). Through measurement and calculation, the displacement amounts of anchor point A7, anchor point B8, anchor point C9, and anchor point D10 are 327 mm, 337 mm, 173 mm, and 88 mm respectively; As Figure 6 shown, the second-level grid division results in grids 5 - 12 and their corresponding anchor points.

[0061] In another example, as Figure 7 shown, the surrounding rock convergence area can be determined in the following way:

[0062] The blank area between the initial roadway section 6 (that is, the reference form of the surrounding rock) and the measured roadway section 5 in the same grid is the generalized surrounding rock convergence area. Specifically in the calculation, as shown in the figure, the monitoring level is the first level, and the positive side, negative side, roof, and floor of the roadway are each an integral grid (grid 1, grid 2, grid 3, grid 4). Each of the corresponding areas of grids 1, 2, 3, and 4 has 4 convergence area indicators. Through measurement and calculation, the convergence areas of the regions of grids 1, 2, 3, and 4 are 555312 mm 2 、225030 mm 2 、957926 mm 2 、429385 mm 2 .

[0063] As an example of a possible implementation method, for calculating the surrounding rock convergence area, from time T0 to time T1, the three-dimensional coordinate data of the surrounding rock of the coal mine roadway to be monitored changes from S0 to S1, and the roadway surrounding rock contour model is divided into m grids. The grid area can be calculated according to the coordinates corresponding to the grid area in the coordinate data set. Assuming that the grid is located on the floor (XY direction), the area calculation formula of grid G1 at time T0 is as follows:

[0064]

[0065] Among them, P10 represents the anchor point corresponding to grid G1 at time T0. When performing integral calculation, the coordinate set contained in grid P10 is extracted from the three-dimensional space coordinate set of the roadway for integral calculation. Since the area projection of grid G1 is mainly reflected in the xy direction, the projection integral calculation is performed on the xy plane.

[0066] Correspondingly, if grid G1 is located on the secondary side (XZ direction), the area calculation formula of grid G1 at time T0 is as follows:

[0067]

[0068] An example of calculating the area convergence amount of grid G1 from time T0 to time T1 is as follows:

[0069] R11 = R1 11 -R1 10 .

[0070] In some embodiments of the present disclosure, step 102 may specifically include the following steps:

[0071] Step a1, for each grid, determine the geometric center point of the grid as the anchor point of the grid.

[0072] In one embodiment, as Figure 8 shown, to further reduce the number of monitored massive data, the center position of each grid 11 is used as the anchor point 12, and monitoring is performed based on the anchor point 12, that is, the deformation displacement amount of the anchor point 12 is used to characterize the deformation displacement amount of the grid 11 area.

[0073] Step a2, for each anchor point, use the three-dimensional coordinate data and historical three-dimensional coordinate data of the anchor point to determine the displacement amount of the anchor point, and determine the first degree of imbalance of the change of the displacement amount in time, and determine the first degree of incoordination of the change of the displacement amount in space.

[0074] In one embodiment, the displacement amount of the anchor point can be judged according to the difference between the three-dimensional coordinate data and the historical three-dimensional coordinate data of the anchor point, the first degree of imbalance of the change of the displacement amount in time can be determined according to the change of the displacement amount over time, and the first degree of incoordination of the change of the displacement amount in space can be determined according to the difference between the displacement amount of the anchor point and the displacement amounts of other anchor points.

[0075] In some embodiments of the present disclosure, the steps of using the three-dimensional coordinate data and historical three-dimensional coordinate data of the anchor point proposed in step a2 to determine the displacement amount of the anchor point and determine the first degree of imbalance of the change of the displacement amount in time may specifically include the following steps:

[0076] Using the three-dimensional coordinate data and the historical three-dimensional coordinate data, determine the displacement amount between the first position coordinate and the second position coordinate of the anchor point; the first position coordinate is the position coordinate of the anchor point at the current time node; the second position coordinate is the position coordinate of the grid at the previous adjacent time node;

[0077] Adopt the following formula to calculate the abnormal coefficient of the displacement change balance of the anchor point in time:

[0078]

[0079] where, TAC ij is the abnormal coefficient of the displacement change balance of the i-th anchor point at the j-th time node in time. The j-th time node is the current time node, and D ij is the displacement amount of the i-th anchor point at the j-th time node (the determination method of the displacement amount can adopt the method proposed in the embodiments of the present disclosure, which will not be elaborated here), is the average displacement value of the i-th anchor point among the 0-j time nodes, n = 1, 2,..., j, LD is the limit value of the displacement of the surrounding rock of the coal mine roadway to be monitored. For areas without obvious dynamic phenomena, LD takes 1.2maxD ij For areas with weak dynamic phenomena, LD takes 1.1maxD ij For areas with strong dynamic phenomena, LD takes maxD ij .

[0080] Adopt the following formula to calculate the abnormal coefficient of the displacement gradient change balance of the anchor point in time:

[0081]

[0082] GTD ij = D ij - D i(j-1)

[0083]

[0084] where, TGC ij is the abnormal coefficient of the displacement gradient change balance of the i-th anchor point at the j-th time node in time, is the average displacement gradient value of the i-th anchor point among the 0-j time nodes, n = 1, 2, 3,..., j, LGTD is the limit value of the displacement gradient of the surrounding rock of the coal mine roadway to be monitored in time. For areas without obvious dynamic phenomena, take 1.2max GTD ij For areas with weak dynamic phenomena, LGTD takes 1.1maxGTD ij For areas with strong dynamic phenomena, LGTD takes maxGTD ij . GTD ijis the gradient between the displacement of the i-th anchor point at the (j - 1)-th time node and the displacement at the j-th time node;

[0085] The weighted sum of the displacement change balance anomaly coefficient of the anchor point in time and the displacement gradient change balance anomaly coefficient of the anchor point in time is calculated to obtain a first imbalance index value representing the first degree of imbalance in the change of the displacement amount over time.

[0086] In one embodiment, the first imbalance index value TC representing the first degree of imbalance in the change of the displacement amount over time ij can be calculated using the following formula:

[0087] TC ij = a1 × TAC ij + b1 × TGC ij

[0088] where TC ij is the first imbalance index value of the displacement amount of the i-th anchor point at the j-th time node, a1 and b1 are the weight coefficients of the two coefficients, both taking the value of 0.5, TC is the data set, representing the degree of imbalance of the displacement deformation of the i-th anchor point obtained in real time at the j-th moment within the monitored time interval, and TC ij has a maximum value of 1 and a minimum value that may be negative, depending on the measured data. TC ij being negative indicates that the energy in the monitored area is released and the pressure is unloaded; TC ij being positive indicates that the energy in the monitored area is concentrated and the pressure is gradually increasing.

[0089] In some embodiments of the present disclosure, the determination of the first degree of incoordination in the change of the displacement amount in space proposed in step a2 may specifically include the following steps:

[0090] The following formula is used to calculate the displacement coordination anomaly coefficient of the anchor point in space:

[0091]

[0092] where SAC ij is the displacement change coordination anomaly coefficient of the i-th anchor point in space at the j-th time node, D ij is the displacement amount, is the average displacement of all anchor points in the roadway surrounding rock contour model corresponding to the j-th time node and belonging to the same layer as the i-th anchor point, m is the number of all anchor points in the roadway surrounding rock contour model corresponding to the j-th time node and belonging to the same layer as the i-th anchor point, LD is the displacement limit value corresponding to the roadway surrounding rock of the coal mine to be monitored, and the value is the same as above;

[0093] The following formula is used to calculate the abnormal coefficient of the coordination of the displacement gradient of the anchor point in space:

[0094]

[0095] GSD ij =D ij -D (i-1)j

[0096]

[0097] where SGC ij is the abnormal coefficient of the coordination of the displacement gradient of the i-th anchor point in space at the j-th time node, is the average value of the displacement gradients of all anchor points in the roadway surrounding rock contour model that are in the same layer as the i-th anchor point, LGSD is the limit value of the spatial displacement gradient change corresponding to the coal mine roadway surrounding rock to be monitored. For areas without obvious dynamic phenomena, LGSD takes 1.2maxGSD ij For areas with weak dynamic phenomena, LGSD takes 1.1maxGSD ij For areas with strong dynamic phenomena, LGSD takes maxGSD ij GSD ij is the gradient between the displacement of the i-th anchor point and the displacement of the (i - 1)-th anchor point; the (i - 1)-th anchor point is the anchor point adjacent to the i-th anchor point;

[0098] The abnormal coefficient of the coordination of the displacement change of the anchor point in space and the abnormal coefficient of the coordination of the displacement gradient of the anchor point in space are weighted and summed to obtain the first incoordination index value representing the first incoordination degree of the displacement change in space.

[0099] In one embodiment, the first incoordination index value SC ij representing the first incoordination degree of the displacement change in space can be calculated using the following formula:

[0100] SC ij =a2×SAC ij +b2×SGC ij

[0101] where SC ij is the first incoordination index value of the displacement change in space of the i-th anchor point at the j-th time node, a2 and b2 are the weight coefficients of the two coefficients, both taking the value of 0.5. SC is the data set, representing the incoordination degree of the displacement deformation of all anchor points obtained in real time at the j-th time node in space. SC ij has a maximum value of 1 and a minimum value that may be negative, depending on the measured data. SC ijis negative, indicating that the energy in the monitored area is released and the pressure is unloaded; SC ij is positive, indicating that the energy in the monitored area is concentrated and the pressure gradually increases.

[0102] Step a3: For each grid, using the roadway surrounding rock contour model at the current time node and the historical contour model at the previous adjacent time node, determine the convergence area of the corresponding area of the grid, and determine the second degree of imbalance in the change of the convergence area over time and the second degree of incoordination in the change of the convergence area in space.

[0103] In one embodiment, the convergence area of the corresponding area of the grid can be calculated using the roadway surrounding rock contour model, the first degree of imbalance in the change of the convergence area over time can be determined according to the change of the convergence area over time, and the first degree of incoordination in the change of the displacement amount in space can be determined according to the difference between the convergence area of the corresponding area of the grid and the convergence areas of the corresponding areas of other grids at the same level.

[0104] In some embodiments of the present disclosure, the historical data further includes the historical convergence area corresponding to each grid at each historical time node. The step of determining the second degree of imbalance in the change of the convergence area over time proposed in step a3 may specifically include the following steps:

[0105] Use the following formula to calculate the anomaly coefficient of the change balance of the grid convergence area over time:

[0106]

[0107]

[0108] where, TRAC ij is the anomaly coefficient of the change balance of the convergence area corresponding to the i-th grid at the j-th time node over time. The j-th time node is the current time node, and R ij is the convergence area corresponding to the i-th grid at the j-th time node, is the average value of the convergence areas of the i-th grid from the 0-th to the j-th time nodes, n = 1, 2,..., j, LR is the limit value of the convergence area corresponding to the surrounding rock of the coal mine roadway to be monitored. For areas without obvious dynamic phenomena, LR takes 1.2maxR ij For areas with weak dynamic phenomena, LR takes 1.1maxR ij For areas with strong dynamic phenomena, LR takes maxR ij ;

[0109] Use the following formula to calculate the anomaly coefficient of the change balance of the grid convergence area gradient over time:

[0110]

[0111] GTR ij =R ij -R i(j-1)

[0112]

[0113] Among them, TRGC ij is the anomaly coefficient of the change balance of the convergence area gradient corresponding to the i-th grid at the j-th time node in terms of time, is the average gradient of the convergence area gradient corresponding to the i-th grid at the 0-j-th time nodes, LGTR is the limit value of the change of the convergence area gradient corresponding to the surrounding rock of the coal mine roadway to be monitored in terms of time. For areas without obvious dynamic phenomena, LGTR takes 1.2maxGTR ij , for areas with weak dynamic phenomena, it takes 1.1maxGTR ij , for areas with strong dynamic phenomena, LGTR takes maxGTR ij ; GTR ij is the gradient of the convergence area of the i-th grid in terms of time between the (j-1)-th and j-th time nodes;

[0114] The weighted sum of the anomaly coefficient of the change balance of the convergence area of the grid in terms of time and the anomaly coefficient of the change balance of the convergence area gradient of the grid in terms of time is obtained to get the second imbalance index value representing the second imbalance degree of the change of the convergence area of the grid in terms of time.

[0115] In one embodiment, the second imbalance index value TRCij representing the second imbalance degree of the change of the convergence area of the grid in terms of time can be calculated by the following formula:

[0116] TRC ij =a3×TRAC ij +b3×TRGC ij

[0117] Among them, TRC ij is the second imbalance index value of the change of the convergence area of the i-th grid at the j-th time node, a3 and b3 are the weight coefficients of the two coefficients respectively, and both take the value of 0.5. TRC is a data set, representing the degree of imbalance of the change of the convergence area of the i-th grid obtained in real time at the j-th time node within the monitoring time interval.

[0118] TRC ij has a maximum value of 1 and a minimum value that may be negative, depending on the measured data. TRC ij being negative indicates that the energy in the monitoring area is released and the pressure is unloaded; TRC ijis a positive value, indicating that the energy in the monitoring area is concentrated and the pressure is gradually increasing.

[0119] In some embodiments of the present disclosure, the historical data further includes the historical convergence area corresponding to each grid at each historical time node. The determination of the second degree of disharmony of the change of the convergence area in space proposed in step a3 may specifically include the following steps:

[0120] The following formula is used to calculate the coefficient of abnormal change in the coordination of the change of the convergence area of the grid in space:

[0121]

[0122] where SRAC ij is the coefficient of abnormal change in the coordination of the change of the convergence area corresponding to the i-th grid at the j-th time node in space, and R ij is the convergence area, is the average value of the convergence areas of all grids in the roadway surrounding rock contour model corresponding to the j-th time node and belonging to the same layer as the i-th grid, m is the number of all grids in the roadway surrounding rock contour model corresponding to the j-th time node and belonging to the same layer as the i-th grid, and LSR is the limit value of the convergence area corresponding to the grid area of this layer of the roadway surrounding rock to be monitored. For areas without obvious dynamic phenomena, take 1.2maxR ij For areas with weak dynamic phenomena, take 1.1maxR ij For areas with strong dynamic phenomena, take maxR ij ;

[0123] The following formula is used to calculate the coefficient of abnormal change in the coordination of the change of the convergence area gradient of the grid in space:

[0124]

[0125] GSR ij =R ij -R (i-1)j

[0126]

[0127] where SRGC ij is the coefficient of abnormal change in the coordination of the change of the convergence area gradient corresponding to the i-th anchor point at the j-th time node in space, is the average value of the convergence area gradients of all grids in the roadway surrounding rock contour model belonging to the same layer as the i-th grid, and LGSR is the limit value of the change in the convergence area gradient corresponding to the roadway surrounding rock to be monitored in space. For areas without obvious dynamic phenomena, take 1.2maxGSR ij For areas with weak dynamic phenomena, take 1.1maxGSRij For areas with strong dynamic phenomena, take maxGSR ij ;

[0128] GSR ij is the change gradient between the convergence area of the i-th grid and the convergence area of the (i - 1)-th grid; the (i - 1)-th grid is the grid adjacent to the i-th grid;

[0129] The weighted sum of the spatial change coordination anomaly coefficient of the convergence area of the grid and the spatial change coordination anomaly coefficient of the convergence area gradient of the grid is obtained to get the second incoordination index value representing the second incoordination degree of the spatial change of the convergence area of the grid.

[0130] In one embodiment, the second incoordination index value SRC representing the second incoordination degree of the spatial change of the convergence area of the grid ij can be calculated using the following formula:

[0131] SRC ij = a4 × SRAC ij + b4 × SRGC ij

[0132] where, SRC ij is the second incoordination index value of the convergence area of the i-th grid at the j-th time node, a4 and b4 are the weight coefficients of the two coefficients, both taking the value of 0.5. SRC ij is the data set, representing the degree of incoordination of the spatial change of the convergence area of all regions obtained in real time at the j-th time node. SRC ij The maximum value of SRC is 1, and the minimum value may be negative, depending on the measured data. SRC ij If it is negative, it indicates that the energy in the monitoring area is released and the pressure is unloaded; SRC ij If it is positive, it indicates that the energy in the monitoring area is concentrated and the pressure is gradually increasing.

[0133] Step a4, based on the first imbalance degree, the first incoordination degree, the second imbalance degree, and the second incoordination degree, determine the imbalance degree of the energy change over time and the incoordination degree of the spatial change of each grid in the roadway surrounding rock contour model.

[0134] Step 103, for each grid, use the imbalance degree and incoordination degree corresponding to the grid to determine the rock burst danger coefficient of the grid, and output a warning message based on the rock burst danger coefficient.

[0135] In one embodiment, the rock burst danger coefficient can be calculated based on the imbalance degree and incoordination degree corresponding to the grid, and corresponding early warning information can be output according to the value of the rock burst danger coefficient.

[0136] In some embodiments of the present disclosure, step 103 may specifically include the following steps:

[0137] Step b1, calculate the average value of the first imbalance degree, the first incoordination degree, the second imbalance degree, and the second incoordination degree to obtain the determined rock burst danger coefficient;

[0138] In one embodiment, the following formula can be used to determine the rock burst danger coefficient C of the grid ij :

[0139]

[0140] Among them, when TC ij 、SC ij 、TRC ij 、SRC ij are negative values, their values are taken as 0 when calculating in the formula. For example, when TC ij 、SC ij 、TRC ij 、SRC ij take the values of 0.3, 0.4, 0.5, and 0.6 respectively, then C ij = (0.3 + 0.4 + 0.5 + 0.6) / 4 = 0.45; when TC ij 、SC ij 、TRC ij 、SRC ij take the values of -2, 0.4, -1, and 0.6 respectively, then C ij = (0 + 0.4 + 0 + 0.6) / 4 = 0.25. In addition, when C ij ≥ C1 (the value of C1 is determined according to the on-site historical monitoring data, generally 0.5 can be taken), hierarchical grid division processing is performed, otherwise hierarchical grid division processing is not performed.

[0141] Step b2, when the size of the grid corresponding to the anchor point is greater than the preset minimum grid division size, determine the level to which the grid belongs, and based on the level to which it belongs, determine the target early warning level corresponding to the anchor point according to the first mapping relationship, and output early warning information according to the target early warning level.

[0142] Among them, the first mapping relationship includes the mapping relationship between the grid level, multiple first rock burst danger coefficient intervals, and the early warning level.

[0143] Step b3, when the size of the grid corresponding to the anchor point is equal to the minimum grid division size, determine the target warning level corresponding to the anchor point according to the second mapping relationship, and output a warning message according to the target warning level.

[0144] Among them, the first mapping relationship includes the mapping relationship between multiple second rock burst danger coefficient intervals and warning levels.

[0145] It should be noted that according to relevant industry regulations, the evaluation results of rock burst danger warnings are divided into four categories: no rock burst danger area, weak rock burst danger area, medium rock burst danger area, and strong rock burst danger area. Combining the warning index value range of 0-1 and referring to the corresponding relationship between the index value range and the rock burst danger in the comprehensive rock burst index method, the warning result determination criteria are shown in Table 1. When the grid length is divided to the minimum degree, the rock burst danger is determined according to the C ij value.

[0146] Table 1 Warning result determination criteria table including the first mapping relationship

[0147] Serial Number <![CDATA[C ij value]]> Risk of Bump 1 0～0.25 No Risk of Bump 2 0.25～0.5 Weak Risk of Bump 3 0.5～0.75 Moderate Risk of Bump 4 0.75～1 Strong Risk of Bump

[0148] In the actual on-site monitoring of rock burst danger, due to different on-site geological conditions and mining conditions, it is possible that when the grid has not been divided to the minimum degree, there is also rock burst danger in this grid area. To make up for the deficiencies of Table 1, the supplementary index warning determination results are shown in Table 2. In actual operation, the determination results based on Table 2 may conflict with the results of Table 1. According to the principle of conservative risk prediction, a higher risk level is selected for assessment and prevention.

[0149] Table 2 Warning result determination criteria table including the second mapping relationship

[0150]

[0151]

[0152] Explanation of the possible conflict between the determination results of Table 2 and Table 1: For example, in the case of continuous hierarchical grid division of the grid 4 times, when the grid cell length reaches the minimum degree exactly at the 4th hierarchical grid division, the warning determination criteria in Table 10-1 meet the applicable conditions. For example, at this time, the warning coefficient is 0.6. According to Table 10-1, the warning result is medium rock burst danger; according to Table 2, the warning result is no rock burst danger; the determination results of the two conflict.

[0153] Table 2 Explanation of the decision criteria for early warning results: Taking the number of consecutive hierarchical grid division processes 4, 5, and 6 as examples, the specific values in on-site applications should be determined according to the calculation results of historical monitoring data analysis or other means. For example, according to historical monitoring results, when the number of consecutive hierarchical grid division processes is 6, rock burst occurs. At this time, when the number of consecutive hierarchical grid division processes is 6, 0 - 0.25, 0.25 - 0.5, 0.5 - 0.75, and 0.75 - 1 represent the early warning results as follows: no rock burst danger, weak rock burst danger, medium rock burst danger, and strong rock burst danger. Then, subtract 1 from the number of consecutive hierarchical grid division processes 6 in reverse, that is, when the number of consecutive hierarchical grid division processes is 5, 0 - 0.5, 0.5 - 0.75, and 0.75 - 1 represent the early warning results as follows: no rock burst danger, weak rock burst danger, and medium rock burst danger. Then, subtract 2 from the number of consecutive hierarchical grid division processes 6 in reverse, that is, when the number of consecutive hierarchical grid division processes is 4, 0 - 0.75 and 0.75 - 1 represent the early warning results as follows: no rock burst danger and weak rock burst danger.

[0154] Step 104: Store the three-dimensional coordinate data and the roadway surrounding rock contour model in the historical data.

[0155] Step 105: In the case where there are grids in multiple grids whose rock burst danger coefficients do not meet the first preset condition, perform hierarchical grid division processing on the grids to obtain multiple K-level grids, and return to execute the step of obtaining the three-dimensional coordinate data of the roadway surrounding rock of the coal mine to be monitored.

[0156] Where K is an integer less than or equal to N + 1.

[0157] It can be understood that this round of hierarchical grid division processing belongs to the (N + 1)-th round. Therefore, the maximum value of the levels to which all grids belong is N + 1. Since in this embodiment, only the grids whose rock burst danger coefficients do not meet the first preset condition are divided each time, for a single grid, the level it belongs to increases by 1 after each division. Therefore, the levels corresponding to the multiple K-level grids obtained by performing hierarchical grid division processing on the grids may be N + 1 or less than N + 1.

[0158] For example, as Figure 9 shown, the first-level grid in the figure is divided into 4 monitoring areas (respectively Grid 1, Grid 2, Grid 3, and Grid 4. For example, the length and width of each grid are both 2m, and the area of each grid is 4m 2, in practice, the roadway height is about 4m, the width is about 5m, and the roadway strike length is about 3000. The hierarchical grid division is mainly for the roadway strike length. For example, it is divided into 100m, 80m, 50m, 20m, 10m, and 5m successively along the strike length). During real-time monitoring, it is found that the rock burst danger degree of the 3rd grid increases (that is, the rock burst danger coefficient corresponding to the 3rd grid does not meet the first preset condition). Subsequently, the 3rd grid is divided into 4 regions at the 2nd level grid (grid 5, grid 6, grid 7, grid 8. For example, the grid length is divided into 1m, and the area of each grid is divided into 1m 2 ). Similarly, it is further found that the rock burst danger degree of grid 7 increases. Subsequently, grid 7 is divided into 4 regions at the 3rd level grid (grid 9, grid 10, grid 11, grid 12. For example, the grid length is divided into 0.5m, and the area of each grid is divided into 0.25m 2 ). Then, the 4th level and 5th level divisions are carried out, and so on. Among them, the subordination relationship of the hierarchical division regions is as Figure 10 shown.

[0159] It should be noted that due to the large amount of roadway scanning data (more than 3000 data for each cross-section, and the daily data volume can reach thousands of megabytes), directly applying the massive data for calculation analysis and monitoring and early warning will cause a series of problems: First, the response times of data storage, query, extraction, insertion, update, etc. will all increase significantly, occupying computing resources, reducing the computing speed, with an obvious delay effect, and the early warning effect is limited; Second, the data storage space is insufficient, affecting the normal operation of the database, and may lead to system crashes; Third, data backup and recovery are difficult and time-consuming, with serious disk fragmentation, increasing maintenance costs and hardware resources; Fourth, data consistency problems may also occur, especially in concurrent transaction processing.

[0160] To solve the above technical problems, the commonly used means are: First, data partitioning and parallel computing. Dividing the large-scale data into smaller partitions can make the computing tasks easier to manage and execute. Through parallel computing, multiple data partitions can be processed simultaneously, accelerating the computing speed; Second, adopting data compression algorithms to reduce the storage requirements of data; Third, adopting a distributed system to store the massive data on multiple nodes to achieve high throughput and scalability; Fourth, adopting stream computing to process the stream data in real time, reducing latency and improving computing efficiency.

[0161] The above measures only increase the data processing capacity from the perspectives of data storage and computing algorithms to reduce the processing difficulty caused by the maintenance and calculation of massive data. However, it does not solve the problem of how to obtain the deformation of the roadway surrounding rock accurately and in a timely manner based on the monitoring data, and how to appropriately reduce the monitoring data to improve the monitoring efficiency. Therefore, the present disclosure adopts a method of multi-level grid division for the roadway surrounding rock contour model, and gradually hierarchically divides the grid according to the increasing degree of the spatio-temporal deformation degree of the monitoring area, so as to improve the monitoring accuracy and monitoring frequency on the premise of reducing the data volume, reduce the processing difficulty caused by the operation and maintenance and calculation of massive monitoring data, effectively guarantee the monitoring accuracy of long-distance complex roadways, reduce unnecessary repetitive operations in the non-rockburst dangerous area, and improve the monitoring accuracy and timeliness.

[0162] In some embodiments of the present disclosure, step 105 may specifically include the following steps:

[0163] Step c1, when there are grids with a rockburst danger coefficient greater than a preset threshold among multiple grids, determine the grids with a rockburst danger coefficient greater than the preset threshold as target grids.

[0164] Step c2, determine the size of the target grid.

[0165] Step c3, perform grid division processing on the target grid according to the size of the target grid to obtain multiple K-level grids.

[0166] Among them, the target grid is a K-1 level grid.

[0167] In one embodiment, when there is at least one grid with a rockburst danger coefficient greater than a preset threshold among multiple grids, determine the at least one grid as the target grid. For each target grid, determine the size of the target grid, and perform grid division processing on the target grid according to the size of the target grid to obtain multiple K-level grids.

[0168] It can be understood that since grid division processing is performed on each pair of grids, the level of the obtained grids is increased by one compared with the level of the divided grids. For example, after dividing a 1-level grid, 4 2-level grids can be obtained.

[0169] In some embodiments of the present disclosure, step c3 may specifically include the following steps:

[0170] Step c31, when the size of the target grid is greater than a preset size, perform grid division processing on the target grid perpendicular to the extension direction of the monitored coal mine roadway surrounding rock to obtain multiple K-level grids.

[0171] Among them, the preset size is greater than the preset minimum grid division size.

[0172] In one embodiment, when the length of the target grid in the extension direction of the roadway surrounding rock is greater than the first preset length, grid division processing is performed on the target grid in the direction perpendicular to the strike direction of the monitored coal mine roadway surrounding rock, that is, the density of the grid is increased in the extension direction of the roadway surrounding rock to obtain multiple K-level grids.

[0173] Step c32, when the size of the target grid is first less than or equal to the preset size and greater than the minimum grid division size, determine the location of the target grid;

[0174] When the location is the roof or floor of the coal mine roadway surrounding rock to be monitored, grid division processing is performed on the target grid in the direction parallel to the strike direction of the monitored coal mine roadway to obtain multiple K-level grids; and,

[0175] When the location is the main side or the secondary side of the coal mine roadway surrounding rock to be monitored, grid division processing is performed on the target grid in the direction parallel to the strike direction of the monitored coal mine roadway to obtain multiple K-level grids.

[0176] In one embodiment, when the length of the target grid in the extension direction of the roadway surrounding rock is first less than or equal to the first preset length, determine the location of the target grid. For example, as Figure 9 shown, the target grid may be at any position in the main side, secondary side, roof or floor. When the location is the roof or floor, grid division processing is performed on the target grid in the direction parallel to the strike direction of the monitored coal mine roadway; when the location is the main side or the secondary side, grid division processing is performed on the target grid in the direction parallel to the strike direction of the monitored coal mine roadway.

[0177] For example, as Figure 11 shown in the grid division of the 4th level, after the length of the target grid in the extension direction of the roadway surrounding rock is first less than or equal to 5m, if the target grid is at the roof or floor position, grid division processing is performed on the target grid in the direction parallel to the strike direction of the monitored coal mine roadway; if the target grid is at the main side or the secondary side position, grid division processing is performed on the target grid in the direction parallel to the strike direction of the monitored coal mine roadway.

[0178] Further, as Figure 11 shown, the 0th level: not divided;

[0179] The grid division of the 1st level: the roof, floor, main side and secondary side are all divided into 2 grids, and the overall monitoring network of the roadway includes 8 grids;

[0180] The second-level grid division: The left-side grids of the roof, floor, positive side, and negative side are warned and divided. At this time, the roof, floor, positive side, and negative side are all divided into 3 grids, and the overall monitoring network of the roadway includes 12 grids.

[0181] The third-level grid division: The left-side grids of the roof, floor, positive side, and negative side are warned and divided. At this time, the roof, floor, positive side, and negative side are all divided into 3 grids, and the overall monitoring network of the roadway includes 20 grids.

[0182] The fourth-level grid division: One grid in the local part of the roof, floor, and positive side is warned, and the length of the warned grid in the x-direction or z-direction is less than 5m. Therefore, the corresponding grid division direction is the y-direction or z-direction. At this time, there are 6 roof grids, 6 floor grids, 6 positive-side grids, and 5 negative-side grids, and the overall monitoring network of the roadway includes 23 grids.

[0183] The fifth-level grid division: One grid in the positive side of the roadway is warned and divided. At this time, there are 7 positive-side grids, and the roof, floor, and negative side remain unchanged. The overall monitoring network of the roadway includes 24 grids.

[0184] The sixth-level grid division: One grid in the positive side of the roadway is warned and divided. At this time, there are 8 positive-side grids, and the roof, floor, and negative side remain unchanged. The overall monitoring network of the roadway includes 25 grids.

[0185] Step c33, when the size of the target grid is less than or equal to the preset size and greater than the minimum grid division size for the non-first time, perform grid division processing on the target grid in the direction perpendicular to the trend direction of the monitored coal mine roadway to obtain multiple K-level grids.

[0186] It can be understood that since after the size of the target grid is less than 5m for the first time, grid division processing has been performed on the target grid once in the direction parallel to the trend direction of the monitored coal mine roadway or in the direction of the dip of the monitored coal mine roadway. In order to mainly divide in the trend direction of the surrounding rock of the monitored coal mine roadway, therefore, when the size of the target grid is less than or equal to the preset size and greater than the minimum grid division size for the non-first time, perform grid division processing on the target grid in the direction perpendicular to the trend direction of the coal mine roadway to be monitored to obtain multiple K-level grids.

[0187] Step c34, when the size of the target grid is less than or equal to the minimum grid division size, do not perform grid division processing on the target grid.

[0188] In one embodiment, when the size of the target grid is less than or equal to the minimum grid division size, stop performing grid division processing on the target grid.

[0189] In one embodiment, the X - direction can be defined as the strike direction of the coal mine roadway to be monitored (0 - 3000 m, the working face extraction direction), the Y - direction as the dip direction (0 - 5 m), and the Z - direction as the vertical direction (0 - 5 m). For on - site rock burst monitoring, it is necessary to determine the rock burst hazard in the X - direction area so as to take corresponding measures in time; in addition, it is also necessary to evaluate the rock burst hazard in the Y - direction, compare and analyze the rock burst hazards in the areas near the positive side or the negative side, or evaluate the rock burst hazard in the Z - direction and compare and analyze the rock burst hazards in the areas near the roof or the floor.

[0190] Therefore, the principle for selecting the hierarchical division direction and determining the division grid length is as follows:

[0191] When performing hierarchical grid division on the grid, first divide in the X - direction, and do not divide in the Y - direction and Z - direction;

[0192] During the monitoring process, according to the rock burst risk coefficient calculated in real - time, for the grid whose rock burst risk coefficient is greater than the preset threshold, perform hierarchical grid division in the X - direction in real - time. When the length of the grid in the X - direction is less than or equal to 5 m and the grid needs to be divided again, the division direction is adjusted to the Y - direction; subsequently, when the grid needs to be divided again according to the rock burst risk coefficient, the division direction is adjusted to the X - direction; thereafter, when the grid needs to be divided again according to the rock burst risk coefficient, the division direction is fixed in the X - direction.

[0193] When the length of the grid in the X - direction is less than or equal to 1 m, stop the grid division process for this grid.

[0194] In some embodiments of the present disclosure, step 102 of determining the imbalance degree of the energy change over time and the incoordination degree of the energy change in space corresponding to each grid in the roadway surrounding rock contour model by using three - dimensional coordinate data and historical contour models may specifically include the following steps:

[0195] For each grid, select the target historical contour data that matches the grid and the level to which the grid belongs from the historical contour data;

[0196] Use the three - dimensional coordinate data and the target historical contour model to determine the imbalance degree of the energy change over time and the incoordination degree of the energy change in space corresponding to each grid in the roadway surrounding rock contour model diagram.

[0197] It should be noted that after generating a new roadway surrounding rock contour model based on the latest collected three-dimensional coordinate data each time, only the meshes with a relatively high rock burst danger coefficient are meshed. Therefore, there are some meshes that are not meshed and their levels remain unchanged, while the meshed meshes are decomposed into multiple meshes at a higher level. To ensure the rationality and accuracy of evaluating the degree of imbalance in the temporal variation and the degree of incoordination in the spatial variation of the energy corresponding to the meshes, it is necessary to select the target historical round data that matches the mesh and the level to which the mesh belongs from the historical round data for evaluation. That is, select the historical data in the same state as the current level to which the mesh belongs from the historical data to evaluate the mesh.

[0198] For example, the level of a certain mesh is level 3 at times t4, t5, and t6, and the level is level 2 at time t3. When evaluating this mesh at time t6 (that is, determining the degree of imbalance in the temporal variation and the degree of incoordination in the spatial variation of the energy corresponding to this mesh), it is necessary to select the historical data of this mesh at times t4 and t5 from the historical data. That is to say, select all the historical data of this mesh when its level is level 3.

[0199] Step 106, when the rock burst danger coefficients of each of the multiple meshes all meet the first preset condition, return to execute the step of obtaining the three-dimensional coordinate data of the roadway surrounding rock of the coal mine to be monitored.

[0200] It should be noted that steps 105 and 106 do not distinguish the order of execution.

[0201] It can be understood that it is possible that the rock burst danger coefficients of all the meshes in the roadway surrounding rock contour model are relatively low. In this case, there is no need to perform mesh division processing, and it is only necessary to return to execute the step of obtaining the three-dimensional coordinate data of the roadway surrounding rock of the coal mine to be monitored.

[0202] The multi-level monitoring and early warning of rock burst based on the deformation of coal mine roadways proposed according to the embodiments of the present disclosure obtains the three-dimensional coordinate data and historical data of the surrounding rock of the coal mine roadway to be monitored at the current time node, and generates a roadway surrounding rock contour model of the surrounding rock of the coal mine roadway to be monitored at the current time node by using the three-dimensional coordinate data; uses the three-dimensional coordinate data and historical data to determine the degree of imbalance in the change of energy corresponding to each grid in the roadway surrounding rock contour model over time and the degree of incoordination in the change in space; for each grid, determines the rock burst risk coefficient of the grid by using the degree of imbalance and incoordination corresponding to the grid, and outputs a warning message based on the rock burst risk coefficient; stores the three-dimensional coordinate data and the roadway surrounding rock contour model into the historical data; in the case that there are grids in which the rock burst risk coefficients do not meet the first preset condition among multiple grids, performs a hierarchical grid division process on the grids to obtain multiple K-level grids, and returns to execute the step of obtaining the three-dimensional coordinate data of the surrounding rock of the coal mine roadway to be monitored, so as to continuously judge the degree of imbalance in the change of energy over time and the degree of incoordination in the change in space according to the deformation of the surrounding rock of the coal mine roadway to be monitored, thereby comprehensively judging the location and degree of risk of rock burst in the roadway surrounding rock, and improving the accuracy and timeliness of rock burst early warning. In addition, using a multi-level grid division method to evaluate the degree of rock burst risk at different positions in the roadway surrounding rock can effectively reduce the amount of computation, improve the computational efficiency, and further enhance the timeliness of early warning.

[0203] Figure 12 FIG. is a block diagram of a multi-level monitoring and early warning device for rock burst based on the deformation of a coal mine roadway shown according to an exemplary embodiment. Referring to Figure 12 FIG., the device includes a generating unit 1201, a determining unit 1202, a warning unit 1203, a storage unit 1204, a dividing unit 1205, and an executing unit 1206.

[0204] Among them, the generating unit 1201 is configured to obtain the three-dimensional coordinate data and historical data of the surrounding rock of the coal mine roadway to be monitored at the current time node, and generate a roadway surrounding rock contour model of the surrounding rock of the coal mine roadway to be monitored at the current time node by using the three-dimensional coordinate data; the roadway surrounding rock contour model includes a plurality of grids; the sizes of the plurality of grids respectively correspond to the grid levels to which the grids belong; the grid levels are less than or equal to N; N is an integer greater than 1; the historical data includes the historical three-dimensional coordinate data and historical contour model of the surrounding rock of the coal mine roadway to be monitored;

[0205] The determining unit 1202 is configured to use the three-dimensional coordinate data and historical data to determine the degree of imbalance in the change of energy corresponding to each grid in the roadway surrounding rock contour model over time and the degree of incoordination in the change in space; the energy is the energy of the grid in the corresponding area of the surrounding rock of the coal mine roadway to be monitored;

[0206] The early warning unit 1203 is configured to determine the rock burst risk coefficient of each grid by using the imbalance degree and incoordination degree corresponding to the grid, and output early warning information based on the rock burst risk coefficient;

[0207] The storage unit 1204 is configured to store the three-dimensional coordinate data and the roadway surrounding rock contour model into the historical data;

[0208] The partitioning unit 1205 is configured to perform a hierarchical grid partitioning process on the grids when there are grids whose rock burst risk coefficients do not meet the first preset condition among multiple grids, obtain multiple K-level grids, and return to execute the step of acquiring the three-dimensional coordinate data of the roadway surrounding rock to be monitored; K is an integer less than or equal to N + 1;

[0209] The execution unit 1206 is configured to return to execute the step of acquiring the three-dimensional coordinate data of the roadway surrounding rock to be monitored when the rock burst risk coefficients of each of the multiple grids all meet the first preset condition.

[0210] In some embodiments of the present disclosure, the determination unit 1202 may specifically be configured to:

[0211] For each grid, determine the geometric center point of the grid as the anchor point of the grid;

[0212] For each anchor point, use the three-dimensional coordinate data of the anchor point and the historical three-dimensional coordinate data to determine the displacement amount of the anchor point, and determine the first imbalance degree of the change of the displacement amount in time, and determine the first incoordination degree of the change of the displacement amount in space;

[0213] For each grid, use the roadway surrounding rock contour model at the current time node and the historical contour model at the previous adjacent time node to determine the convergence area of the area corresponding to the grid, and determine the second imbalance degree of the change of the convergence area in time and the second incoordination degree of the change of the convergence area in space;

[0214] Based on the first imbalance degree, the first incoordination degree, the second imbalance degree, and the second incoordination degree, determine the imbalance degree of the change of the energy corresponding to each grid in the roadway surrounding rock contour model in time and the incoordination degree of the change in space.

[0215] In some embodiments of the present disclosure, the determination unit 1202 may specifically further be configured to:

[0216] Use the three-dimensional coordinate data and the historical three-dimensional coordinate data to determine the displacement amount between the first position coordinate and the second position coordinate of the anchor point; the first position coordinate is the position coordinate of the anchor point at the current time node; the second position coordinate is the position coordinate of the grid at the previous adjacent time node;

[0217] The following formula is used to calculate the anomaly coefficient of the displacement change balance of the anchor point in time:

[0218]

[0219] Where TAC ij is the anomaly coefficient of the displacement change balance of the i-th anchor point at the j-th time node. The j-th time node is the current time node, and D ij is the displacement of the i-th anchor point at the j-th time node. is the average displacement of the i-th anchor point at the 0 - j time nodes, n = 1, 2, …, j, and LD is the limit value of the displacement of the surrounding rock of the coal mine roadway to be monitored;

[0220] The following formula is used to calculate the anomaly coefficient of the displacement gradient change balance of the anchor point in time:

[0221]

[0222] GTD ij = D ij - D i(j-1)

[0223]

[0224] Where TGC ij is the anomaly coefficient of the displacement gradient change balance of the i-th anchor point at the j-th time node. is the average displacement gradient of the i-th anchor point at the 0 - j time nodes, n = 1, 2, …, j, LGTD is the limit value of the displacement gradient of the surrounding rock of the coal mine roadway in time, and GTD ij is the gradient between the displacement of the i-th anchor point at the j - 1 time node and the displacement at the j-th time node;

[0225] The anomaly coefficient of the displacement change balance of the anchor point in time and the anomaly coefficient of the displacement gradient change balance of the anchor point in time are weighted and summed to obtain the first imbalance index value representing the first degree of imbalance of the displacement change in time.

[0226] In some embodiments of the present disclosure, the determination unit 1202 can specifically be further configured to:

[0227] The following formula is used to calculate the anomaly coefficient of the displacement change coordination of the anchor point in space:

[0228]

[0229]

[0230] Where SAC ijis the abnormal coefficient of the displacement change coordination of the i-th anchor point at the j-th time node in space, D ij is the displacement amount, is the average displacement of all anchor points in the roadway surrounding rock contour model corresponding to the j-th time node that belong to the same layer as the i-th anchor point, m is the number of all anchor points in the roadway surrounding rock contour model corresponding to the j-th time node that belong to the same layer as the i-th anchor point, and LD is the limit value of the displacement amount corresponding to the roadway surrounding rock of the coal mine to be monitored;

[0231] The abnormal coefficient of the displacement gradient change coordination of the anchor point in space is calculated using the following formula:

[0232]

[0233] GSD ij = D ij - D (i-1)j

[0234] where, SGC ij is the abnormal coefficient of the displacement gradient change coordination of the i-th anchor point at the j-th time node in space, is the average displacement gradient of all anchor points in the roadway surrounding rock contour model that belong to the same layer as the i-th anchor point, LGSD is the limit value of the displacement gradient change in space corresponding to the roadway surrounding rock of the coal mine to be monitored, and GSD ij is the gradient between the displacement amount of the i-th anchor point and the displacement amount of the (i - 1)-th anchor point; the (i - 1)-th anchor point is the anchor point adjacent to the i-th anchor point;

[0235] The abnormal coefficient of the displacement change coordination of the anchor point in space and the abnormal coefficient of the displacement gradient change coordination of the anchor point in space are weighted and summed to obtain a first incoordination index value representing the first incoordination degree of the displacement amount changing in space.

[0236] In some embodiments of the present disclosure, the determining unit 1202 can specifically be further used for:

[0237] Determining the second imbalance degree of the change of the convergence area in time, including:

[0238] The abnormal coefficient of the change balance of the grid convergence area in time is calculated using the following formula:

[0239]

[0240] where, TRAC ij is the abnormal coefficient of the change balance of the convergence area corresponding to the i-th grid at the j-th time node in time, the j-th time node is the current time node, R ijis the convergence area corresponding to the i-th grid at the j-th time node, is the average value of the convergence area of the i-th grid at the 0-j time nodes, n = 1, 2, …, j, and LR is the limit value of the convergence area corresponding to the surrounding rock of the coal mine roadway to be monitored;

[0241] The following formula is used to calculate the anomaly coefficient of the change balance of the grid convergence area in time:

[0242]

[0243] GTR ij = R ij - R i(j-1)

[0244]

[0245] where TRGC ij is the anomaly coefficient of the change balance of the convergence area gradient corresponding to the i-th grid at the j-th time node in time, is the average value of the displacement gradient of the convergence area of the i-th grid at the 0-j time nodes, LGTR is the limit value of the change of the convergence area gradient corresponding to the surrounding rock of the coal mine roadway to be monitored, and GTR ij is the gradient in time of the convergence area between the (j-1)-th and j-th time nodes of the i-th grid;

[0246] The weighted sum of the anomaly coefficient of the change balance of the grid convergence area in time and the anomaly coefficient of the change balance of the grid convergence area gradient in time is obtained to get the second imbalance index value representing the second degree of imbalance of the change of the grid convergence area in time.

[0247] In some embodiments of the present disclosure, the determining unit 1202 can specifically be further used for:

[0248] The following formula is used to calculate the anomaly coefficient of the change coordination of the grid convergence area in space:

[0249]

[0250] where SRAC ij is the anomaly coefficient of the change coordination of the convergence area corresponding to the i-th grid at the j-th time node in space, R ij is the convergence area, is the average value of the convergence areas of all grids at this level corresponding to the j-th time node, m is the number of all grids with the same level as the i-th grid in the roadway surrounding rock contour model corresponding to the j-th time node, and LSR is the limit value of the convergence area corresponding to the grid area at this level of the surrounding rock of the coal mine roadway to be monitored;

[0251] The following formula is used to calculate the coefficient of abnormal coordination of the change in the convergence area gradient of the grid in space:

[0252]

[0253] GSR ij = R ij - R (i-1)j

[0254]

[0255] where SRGC ij is the coefficient of abnormal coordination of the change in the convergence area gradient corresponding to the i-th anchor point at the j-th time node in space, is the average value of the convergence area gradients of all grids in the roadway surrounding rock contour model diagram with the same layer as the i-th grid, LGSR is the limit value of the change in the convergence area gradient corresponding to the surrounding rock of the coal mine roadway to be monitored in space, and GSR ij is the change gradient between the convergence area of the i-th grid and the convergence area of the (i - 1)-th grid; the (i - 1)-th grid is the grid adjacent to the i-th grid;

[0256] The weighted sum of the coefficient of abnormal coordination of the change in the convergence area of the grid in space and the coefficient of abnormal coordination of the change in the convergence area gradient of the grid in space is calculated to obtain the second incoordination index value representing the second degree of incoordination of the change in the convergence area of the grid in space.

[0257] In some embodiments of the present disclosure, the warning unit 1203 can specifically be used for:

[0258] Calculate the average value of the first degree of imbalance, the first degree of incoordination, the second degree of imbalance, and the second degree of incoordination to obtain the determined rock burst danger coefficient;

[0259] When the size of the grid corresponding to the anchor point is greater than the preset minimum grid division size, determine the layer to which the grid belongs. Based on the layer to which it belongs, determine the target warning level corresponding to the anchor point according to the first mapping relationship, and output a warning message according to the target warning level; the first mapping relationship includes the mapping relationship between the grid layer, multiple first rock burst danger coefficient intervals, and the warning level;

[0260] When the size of the grid corresponding to the anchor point is equal to the minimum grid division size, determine the target warning level corresponding to the grid according to the second mapping relationship, and output a warning message according to the target warning level; the first mapping relationship includes the mapping relationship between multiple second rock burst danger coefficient intervals and the warning level.

[0261] In some embodiments of the present disclosure, the partitioning unit 105 may specifically be configured to:

[0262] In the case where there are grids with a rock burst risk coefficient greater than a preset threshold among multiple grids, determine the grids with a rock burst risk coefficient greater than the preset threshold as target grids;

[0263] Determine the size of the target grid;

[0264] According to the size of the target grid, perform grid partitioning processing on the target grid to obtain multiple K-level grids; the target grid is a K-1 level grid.

[0265] In some embodiments of the present disclosure, the partitioning unit 1205 may specifically further be configured to:

[0266] In the case where the size of the target grid is greater than a preset size, perform grid partitioning processing on the target grid in a direction perpendicular to the strike direction of the surrounding rock of the monitored coal mine roadway to obtain multiple K-level grids; the preset size is greater than the preset minimum grid partitioning size;

[0267] In the case where the size of the target grid is less than or equal to the preset size for the first time and greater than the minimum grid partitioning size, determine the location of the target grid, and perform grid partitioning processing on the target grid in a direction parallel to the strike direction of the monitored coal mine roadway to obtain multiple K-level grids

[0268] In the case where the size of the target grid is less than or equal to the preset size and greater than the minimum grid partitioning size non-for the first time, perform grid partitioning processing on the target grid in a direction perpendicular to the strike direction of the monitored coal mine roadway to obtain multiple K-level grids;

[0269] In the case where the size of the target grid is less than or equal to the minimum grid partitioning size, do not perform grid partitioning processing on the target grid.

[0270] In some embodiments of the present disclosure, the determination unit 1202 may specifically further be configured to:

[0271] For each grid, select target historical round data that matches the grid and the level to which the grid belongs from the historical round data;

[0272] Using the three-dimensional coordinate data and the target historical contour model, determine the degree of unevenness of the energy change over time and the degree of incoordination of the change in space for each grid corresponding to the roadway surrounding rock contour model diagram.

[0273] Regarding the device in the above embodiments, the specific manner in which each module performs operations has been described in detail in the embodiments related to the method, and will not be elaborated in detail here.

[0274] An impact ground pressure multi-level monitoring and early warning device based on coal mine roadway deformation according to an embodiment of the present disclosure obtains three-dimensional coordinate data and historical data of the surrounding rock of a coal mine roadway to be monitored at the current time node, and generates a roadway surrounding rock contour model of the surrounding rock of the coal mine roadway to be monitored at the current time node by using the three-dimensional coordinate data; uses the three-dimensional coordinate data and historical data to determine the degree of imbalance of the energy corresponding to each grid in the roadway surrounding rock contour model changing over time and the degree of incoordination of the change in space; for each grid, determines the impact ground pressure risk coefficient of the grid by using the degree of imbalance and incoordination corresponding to the grid, and outputs an early warning message based on the impact ground pressure risk coefficient; stores the three-dimensional coordinate data and the roadway surrounding rock contour model into the historical data; in the case that there are grids in which the impact ground pressure risk coefficients do not meet the first preset condition among multiple grids, performs a hierarchical grid division process on the grids to obtain multiple K-level grids, and returns to execute the step of obtaining the three-dimensional coordinate data of the surrounding rock of the coal mine roadway to be monitored, so as to continuously judge the degree of imbalance of the energy changing over time and the degree of incoordination of the change in space according to the deformation condition of the surrounding rock of the coal mine roadway to be monitored, thereby comprehensively judging the location and degree of risk of impact ground pressure in the roadway surrounding rock, and improving the accuracy and timeliness of impact ground pressure early warning. In addition, by adopting a multi-level grid division method to evaluate the degree of impact ground pressure risk at different positions in the roadway surrounding rock, the amount of calculation can be effectively reduced, the calculation efficiency can be improved, and further the timeliness of early warning can be enhanced.

[0275] Figure 13 FIG. is a block diagram of an apparatus for a method of multi-level monitoring and early warning of impact ground pressure based on coal mine roadway deformation shown according to an exemplary embodiment. For example, apparatus 1300 may be an electronic device, such as a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0276] Referring to Figure 13 , apparatus 1300 may include one or more of the following components: a processing component 1302, a memory 1304, a power component 1306, a multimedia component 1308, an audio component 1310, an input / output (I / O) interface 1312, a sensor component 1314, and a communication component 1316.

[0277] The processing component 1302 generally controls the overall operation of the device 1300, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 1302 may include one or more processors 1320 to execute instructions to complete all or part of the steps of the above-described methods. Additionally, the processing component 1302 may include one or more modules to facilitate interaction between the processing component 1302 and other components. For example, the processing component 1302 may include a multimedia module to facilitate interaction between the multimedia component 1308 and the processing component 1302.

[0278] The memory 1304 is configured to store various types of data to support the operation of the device 1300. Examples of such data include instructions for any application or method operating on the device 1300, contact data, phone book data, messages, pictures, videos, etc. The memory 1304 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disk, or an optical disk.

[0279] The power component 1306 provides power to the various components of the device 1300. The power component 1306 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device 1300.

[0280] The multimedia component 1308 includes a screen that provides an output interface between the device 1300 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors can not only sense the boundaries of the touch or swipe actions but also detect the duration and pressure associated with the touch or swipe operations. In some embodiments, the multimedia component 1308 includes a front camera and / or a rear camera. When the device 1300 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera can receive external multimedia data. Each of the front camera and the rear camera can be a fixed optical lens system or have focal length and optical zoom capabilities.

[0281] The audio component 1310 is configured to output and / or input audio signals. For example, the audio component 1310 includes a microphone (MIC) that is configured to receive external audio signals when the device 1300 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals can be further stored in the memory 1304 or transmitted via the communication component 1316. In some embodiments, the audio component 1310 further includes a speaker for outputting audio signals.

[0282] The I / O interface 1312 provides an interface between the processing component 1302 and peripheral interface modules, and the peripheral interface modules may be a keyboard, a click wheel, buttons, etc. These buttons may include but are not limited to: a home button, a volume button, a start button, and a lock button.

[0283] The sensor component 1314 includes one or more sensors for providing an assessment of various aspects of the state of the device 1300. For example, the sensor component 1314 can detect the open / closed state of the device 1300, the relative positioning of components, such as the display and keypad of the device 1300. The sensor component 1314 can also detect a change in the position of the device 1300 or a component of the device 1300, the presence or absence of user contact with the device 1300, the orientation or acceleration / deceleration of the device 1300, and a change in the temperature of the device 1300. The sensor component 1314 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor component 1314 can also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor component 1314 can further include an acceleration sensor, a gyro sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0284] The communication component 1316 is configured to facilitate communication between the device 1300 and other devices in a wired or wireless manner. The device 1300 can access a wireless network based on communication standards, such as WiFi, 2G, or 3G, or a combination thereof. In an exemplary embodiment, the communication component 1316 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 1316 further includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0285] In an exemplary embodiment, the apparatus 1300 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above method.

[0286] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions, such as a memory 1304 including instructions, is also provided. The above instructions may be executed by a processor 1320 of the apparatus 1300 to complete the above method. For example, the non-transitory computer-readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0287] In an exemplary embodiment, a computer program product including a computer program is also provided. The computer program implements the above method when executed by a processor 1320 of the apparatus 1300.

[0288] Those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include known common knowledge or conventional technical means in the technical field not disclosed in this disclosure. The specification and embodiments are only to be considered as exemplary, and the true scope and spirit of the present invention are pointed out by the following claims.

[0289] It should be understood that the present invention is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present invention is only limited by the appended claims.

Claims

1. A multi-level monitoring and early warning method for rock burst based on the deformation of coal mine roadways, characterized in that, Including: Obtain the three-dimensional coordinate data and historical data of the surrounding rock of the coal mine roadway to be monitored at the current time node, and generate a roadway surrounding rock contour model of the coal mine roadway to be monitored at the current time node by using the three-dimensional coordinate data; the roadway surrounding rock contour model includes a plurality of grids; the sizes of the plurality of grids respectively correspond to the grid levels to which the grids belong; the grid levels are less than or equal to N; N is an integer greater than 1; the historical data includes the historical three-dimensional coordinate data and historical contour model of the surrounding rock of the coal mine roadway to be monitored; Use the three-dimensional coordinate data and the historical data to determine the degree of imbalance in the temporal variation and the degree of incoordination in the spatial variation of the energy corresponding to each grid in the roadway surrounding rock contour model; the energy is the energy accumulated due to force deformation in the corresponding area of the surrounding rock of the coal mine roadway of the grid; For each grid, use the degree of imbalance and the degree of incoordination corresponding to the grid to determine the rock burst danger coefficient of the grid, and output a warning message based on the rock burst danger coefficient; Store the three-dimensional coordinate data and the roadway surrounding rock contour model into the historical data; In the case where there are grids in the plurality of grids whose rock burst danger coefficients do not meet the first preset condition, perform hierarchical grid division processing on the grids to obtain a plurality of K-level grids, and return to execute the step of obtaining the three-dimensional coordinate data of the surrounding rock of the coal mine roadway to be monitored; K is an integer less than or equal to N + 1; In the case where the rock burst danger coefficients of the plurality of grids all meet the first preset condition, return to execute the step of obtaining the three-dimensional coordinate data of the surrounding rock of the coal mine roadway to be monitored.

2. The multi-level monitoring and early warning method for rock burst based on the deformation of coal mine roadways according to claim 1, characterized in that The using the three-dimensional coordinate data and the historical data to determine the degree of imbalance in the temporal variation and the degree of incoordination in the spatial variation of the energy corresponding to each grid in the roadway surrounding rock contour model includes: For each grid, determine the geometric center point of the grid as the anchor point of the grid; For each anchor point, use the three-dimensional coordinate data and historical three-dimensional coordinate data of the anchor point to determine the displacement of the anchor point, and determine the first degree of imbalance in the temporal variation of the displacement, and determine the first degree of incoordination in the spatial variation of the displacement; For each grid, use the roadway surrounding rock contour model at the current time node and the historical contour model at the previous adjacent time node to determine the convergence area of the corresponding area of the grid, and determine the second degree of imbalance in the temporal variation of the convergence area and the second degree of incoordination in the spatial variation of the convergence area; Based on the first degree of imbalance, the first degree of incoordination, the second degree of imbalance, and the second degree of incoordination, determine the degree of imbalance in the temporal variation and the degree of incoordination in the spatial variation of the energy corresponding to each grid in the roadway surrounding rock contour model.

3. The multi-level monitoring and early warning method for rock burst based on the deformation of coal mine roadways according to claim 2, characterized in that, The using the three-dimensional coordinate data and historical three-dimensional coordinate data of the anchor point to determine the displacement of the anchor point, and determining the first degree of imbalance in the temporal variation of the displacement includes: Using the three-dimensional coordinate data and the historical three-dimensional coordinate data, determine the displacement amount between the first position coordinate and the second position coordinate of the anchor point; the first position coordinate is the position coordinate of the anchor point at the current time node; the second position coordinate is the position coordinate of the grid at the previous adjacent time node; Calculate the abnormal coefficient of the displacement change balance of the anchor point in time using the following formula: Among them, TAC ij is the abnormal coefficient of the displacement change balance in time for the i-th anchor point at the j-th time node, and the j-th time node is the current time node, D ij is the displacement of the i-th anchor point at the j-th time node, is the average displacement of the i-th anchor point at the 0-j time nodes, n = 1, 2,..., j, and LD is the limit value of the displacement of the surrounding rock of the coal mine roadway to be monitored; Calculate the abnormal coefficient of the displacement gradient change balance of the anchor point in time using the following formula: GTD ij = D ij - D i(j-1) Among them, TGC ij is the abnormal coefficient of the displacement gradient change balance at the i-th anchor point at the j-th time node in terms of time, is the average value of the displacement gradients of the i-th anchor point at the 0-j-th time nodes, where n = 1, 2, 3,..., j, LGTD is the limit value of the displacement gradient of the surrounding rock of the coal mine roadway to be monitored in terms of time, and GTD ij is the gradient between the displacement at the (j-1)-th time node and the displacement at the j-th time node of the i-th anchor point; Perform a weighted sum of the abnormal coefficient of the displacement change balance of the anchor point in time and the abnormal coefficient of the displacement gradient change balance of the anchor point in time to obtain a first imbalance index value representing the first degree of imbalance of the change of the displacement amount in time.

4. The multi-level monitoring and early warning method for rock burst based on the deformation of coal mine roadways according to claim 3, characterized in that, The determination of the first degree of incoordination of the change of the displacement amount in space includes: Calculate the abnormal coefficient of the displacement change coordination of the anchor point in space using the following formula: Among them, SAC ij is the abnormal coefficient of the displacement change coordination in space of the i-th anchor point at the j-th time node, D ij is the displacement, is the average displacement of all anchor points in the roadway surrounding rock contour model corresponding to the j-th time node that belong to the same layer as the i-th anchor point, m is the number of all anchor points in the roadway surrounding rock contour model corresponding to the j-th time node that belong to the same layer as the i-th anchor point, and LD is the limit value of the displacement corresponding to the roadway surrounding rock of the coal mine to be monitored; Calculate the abnormal coefficient of the displacement gradient change coordination of the anchor point in space using the following formula: GSD ij = D ij - D (i-1)j Among them, SGC ij is the abnormal coefficient of the coordination of the displacement gradient change of the i-th anchor point at the j-th time node in space, is the average value of the displacement gradients of all anchor points in the roadway surrounding rock contour model that are at the same level as the i-th anchor point, LGSD is the limit value of the displacement gradient change in space corresponding to the roadway surrounding rock of the coal mine to be monitored, and GSD ij is the gradient between the displacement of the i-th anchor point and the displacement of the (i - 1)-th anchor point; the (i - 1)-th anchor point is the anchor point adjacent to the i-th anchor point; Perform a weighted sum of the abnormal coefficient of the displacement change coordination of the anchor point in space and the abnormal coefficient of the displacement gradient change coordination of the anchor point in space to obtain a first incoordination index value representing the first degree of incoordination of the change of the displacement amount in space.

5. The multi-level monitoring and early warning method for rock burst based on the deformation of coal mine roadways according to claim 2, wherein The historical data also includes the historical convergence area corresponding to each grid at each historical time node; The determination of the second degree of imbalance of the change of the convergence area in time includes: Calculate the abnormal coefficient of the change balance of the grid convergence area in time using the following formula: Among them, TRAC ij is the anomaly coefficient of the temporal variation balance of the convergence area corresponding to the i-th grid at the j-th time node, and the j-th time node is the current time node, R ij is the convergence area corresponding to the i-th grid at the j-th time node, is the average value of the convergence areas of the i-th grid at the 0-j time nodes, n = 1, 2,..., j, and LR is the limit value of the convergence area corresponding to the surrounding rock of the coal mine roadway to be monitored; Calculate the abnormal coefficient of the change balance of the grid convergence area gradient in time using the following formula: GTR ij = R ij -R i(j-1) Among them, TRGC ij is the anomaly coefficient of the change balance of the convergence area gradient corresponding to the i-th grid at the j-th time node in terms of time, is the average value of the displacement gradient of the convergence area corresponding to the i-th grid at the 0-jth time nodes, LGTR is the change limit value of the convergence area gradient corresponding to the surrounding rock of the coal mine roadway to be monitored in terms of time, and GTR ij is the gradient of the convergence area of the i-th grid in terms of time between the (j-1)-th time node and the j-th time node; Perform a weighted sum of the abnormal coefficient of the change balance of the grid convergence area in time and the abnormal coefficient of the change balance of the grid convergence area gradient in time to obtain a second imbalance index value representing the second degree of imbalance of the change of the grid convergence area in time.

6. The multi-level monitoring and early warning method for rock burst based on the deformation of coal mine roadways according to claim 5, characterized in that The determination of the second degree of incoordination of the change of the convergence area in space includes: Calculate the abnormal coefficient of the change coordination of the grid convergence area in space using the following formula: Among them, SRAC ij is the abnormal coefficient of the spatial variation coordination of the convergence area corresponding to the i-th grid at the j-th time node, R ij is the convergence area, is the average value of the convergence areas of all grids at this level corresponding to the j-th time node, m is the number of all grids in the roadway surrounding rock contour model corresponding to the j-th time node that belong to the same level as the i-th grid, and LSR is the limit value of the convergence area corresponding to the grid area at this level of the roadway surrounding rock of the coal mine to be monitored; Calculate the abnormal coefficient of the change coordination of the grid convergence area gradient in space using the following formula: GSR ij = R ij -R (i-1)j Among them, SRGC ij is the anomaly coefficient of the spatial variation coordination of the convergence area gradient corresponding to the i-th anchor point at the j-th time node, is the average value of the convergence area gradients of all the grids in the roadway surrounding rock contour model that belong to the same layer as the i-th grid, LGSR is the limit value of the spatial variation of the convergence area gradient corresponding to the roadway surrounding rock of the coal mine to be monitored, and GSR ij is the change gradient between the convergence area of the i-th grid and the convergence area of the (i - 1)-th grid; the (i - 1)-th grid is the grid adjacent to the i-th grid; Perform a weighted sum of the abnormal coefficient of the change coordination of the grid convergence area in space and the abnormal coefficient of the change coordination of the grid convergence area gradient in space to obtain a second incoordination index value representing the second degree of incoordination of the change of the grid convergence area in space.

7. The multi-level monitoring and early warning method for rock burst based on the deformation of coal mine roadways according to claim 2, characterized in that, Using the degree of imbalance and the degree of incoordination corresponding to the grid to determine the rock burst danger coefficient of the grid, and outputting a warning message based on the rock burst danger coefficient includes: Calculate the average value of the first degree of imbalance, the first degree of incoordination, the second degree of imbalance, and the second degree of incoordination to obtain the determination of the rock burst danger coefficient; When the size of the grid corresponding to the anchor point is greater than the preset minimum grid division size, determine the level to which the grid belongs. Based on the level to which it belongs, determine the target warning level corresponding to the grid according to the first mapping relationship, and output a warning message according to the target warning level; the first mapping relationship includes the mapping relationship between the grid level, multiple first rock burst danger coefficient intervals, and the warning level. When the size of the grid corresponding to the anchor point is equal to the minimum grid division size, determine the target warning level corresponding to the anchor point according to the second mapping relationship, and output a warning message according to the target warning level; the first mapping relationship includes the mapping relationship between multiple second rock burst danger coefficient intervals and the warning level.

8. The multi-level monitoring and early warning method for rock burst based on the deformation of coal mine roadways according to claim 1, wherein, When there are grids in the multiple grids whose rock burst danger coefficients do not meet the first preset condition, perform hierarchical grid division processing on the grids to obtain multiple K-level grids, including: When there are grids in the multiple grids whose rock burst danger coefficients are greater than the preset threshold, determine the grids with rock burst danger coefficients greater than the preset threshold as target grids. Determine the size of the target grid. According to the size of the target grid, perform grid division processing on the target grid to obtain multiple K-level grids; the target grid is a K-1 level grid.

9. The multi-level monitoring and early warning method for rock burst based on the deformation of coal mine roadways according to claim 8, wherein, The performing grid division processing on the target grid according to the size of the target grid to obtain multiple K-level grids includes: When the size of the target grid is greater than the preset size, perform grid division processing on the target grid in a direction perpendicular to the trend of the surrounding rock of the monitored coal mine roadway to obtain multiple K-level grids; the preset size is greater than the preset minimum grid division size. When the size of the target grid is less than or equal to the preset size for the first time and greater than the minimum grid division size, perform grid division processing on the target grid in a direction parallel to the trend of the monitored coal mine roadway to obtain multiple K-level grids. When the size of the target grid is less than or equal to the preset size and greater than the minimum grid division size non-first time, perform grid division processing on the target grid in a direction perpendicular to the trend of the monitored coal mine roadway to obtain multiple K-level grids. When the size of the target grid is less than or equal to the minimum grid division size, do not perform grid division processing on the target grid.

10. The multi-level monitoring and early warning method for rock burst based on the deformation of coal mine roadways according to claim 2, wherein The determining the degree of imbalance in the change of energy corresponding to each grid in the roadway surrounding rock contour model in time and the degree of incoordination in the change in space by using the three-dimensional coordinate data and the historical contour model includes: For each grid, select target historical contour data that matches the grid and the level to which the grid belongs from the historical contour data. Use the three-dimensional coordinate data and the target historical contour model to determine the degree of imbalance in the change of energy corresponding to each grid in the roadway surrounding rock contour model diagram in time and the degree of incoordination in the change in space.

11. A multi-level monitoring and early warning device for rock burst based on the deformation of coal mine roadways, characterized in that, including: A generating unit configured to obtain three-dimensional coordinate data and historical data of the surrounding rock of a coal mine roadway to be monitored at a current time node, and generate a roadway surrounding rock contour model of the surrounding rock of the coal mine roadway to be monitored at the current time node by using the three-dimensional coordinate data; the roadway surrounding rock contour model includes a plurality of grids; sizes of the plurality of grids respectively correspond to grid levels to which the grids belong; the grid levels are less than or equal to N; N is an integer greater than 1; the historical data includes historical three-dimensional coordinate data and a historical contour model of the surrounding rock of the coal mine roadway to be monitored. A determining unit configured to determine an unevenness degree of change in time and a disharmony degree of change in space of energy corresponding to each grid in the roadway surrounding rock contour model by using the three-dimensional coordinate data and the historical data; the energy is energy accumulated due to stress deformation in a corresponding area of the surrounding rock of the coal mine roadway of the grid. An early warning unit configured to, for each grid, determine a rock burst risk coefficient of the grid by using the unevenness degree and the disharmony degree corresponding to the grid, and output an early warning message based on the rock burst risk coefficient. A storage unit configured to store the three-dimensional coordinate data and the roadway surrounding rock contour model into the historical data. A dividing unit configured to, when there are grids in the plurality of grids whose rock burst risk coefficients do not meet a first preset condition, perform a hierarchical grid division process on the grids to obtain a plurality of K-level grids, and return to execute the step of obtaining the three-dimensional coordinate data of the surrounding rock of the coal mine roadway to be monitored; K is an integer less than or equal to N + 1. An execution unit configured to, when the rock burst risk coefficients of the plurality of grids all meet the first preset condition, return to execute the step of obtaining the three-dimensional coordinate data of the surrounding rock of the coal mine roadway to be monitored.

12. An electronic device, characterized in that, Comprising: A memory, a processor, and a computer program stored on the memory and executable on the processor, wherein when the processor executes the computer program, the method according to any one of claims 1 to 10 is implemented.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, The computer program, when executed by the processor, implements the method according to any one of claims 1 to 10.

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

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