Monitoring system and monitoring method for mine gas extraction long drill hole

Abstract

The invention discloses a monitoring system and a monitoring method for a mine gas extraction long drill hole. The monitoring system for the mine gas extraction long drill hole comprises a drilling robot; a fiber grating sensor; a pressure sensor; a temperature sensor; a gas concentration sensor; and the intelligent data analysis terminal is electrically connected with the scanning module, the fiber grating sensor, the pressure sensor, the temperature sensor and the gas concentration sensor. Therefore, the monitoring system can more accurately and comprehensively acquire relevant parameters in the mine gas extraction long drill hole, and the data acquired by each sensor is analyzed through the intelligent data analysis terminal, so that a plurality of relevant parameters can be mutually associated and fused, the mine gas extraction long drill hole can be better pre-warned, and the safety of the mine gas extraction long drill hole is improved. The reliability and the monitoring performance of the monitoring system can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine gas extraction, and in particular to a monitoring system and a monitoring method for a long borehole for mine gas extraction. Background Art

[0002] Efficient extraction of coal mine gas can ensure safe production in coal mines and increase the supply of clean energy. In existing technologies, the monitoring system of traditional coal mine gas extraction relies on manual operation. Sensors are prone to problems such as misplacement and posture deviation, with a low installation success rate. Precision sensors are also easily damaged during the process of entering the borehole.

[0003] In addition, it is difficult to establish a full-dimensional evaluation system for drilling status with existing monitoring equipment, and the existing monitoring equipment is disconnected from extraction control. The monitoring data cannot regulate the relevant parameters of gas extraction drilling, and cannot form a closed-loop feedback. It is difficult to achieve real-time linkage of "monitoring-early warning-control", resulting in reduced extraction efficiency and even causing sudden gas safety accidents. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a monitoring system for long boreholes for mine gas extraction, which provides more comprehensive and accurate monitoring and can provide early warning of long boreholes for mine gas extraction.

[0005] The present invention further proposes a monitoring method for long boreholes for mine gas extraction.

[0006] According to an embodiment of the present invention, a monitoring system for a long borehole for mine gas extraction includes: a scanning module, which is suitable for scanning the inner wall of the long borehole for mine gas extraction; a fiber optic Bragg grating sensor, wherein the fiber optic placement module is suitable for arranging the fiber optic Bragg grating sensor in the long borehole for mine gas extraction, so as to monitor the axial strain and lateral displacement of the long borehole for mine gas extraction; a pressure sensor, wherein the pressure sensor is arranged on the fiber optic Bragg grating sensor, so as to monitor the pressure in the long borehole for mine gas extraction; a temperature sensor, wherein the temperature sensor is suitable for monitoring the temperature in the long borehole for mine gas extraction; a gas concentration sensor, wherein the gas concentration sensor is suitable for monitoring the gas concentration in the long borehole for mine gas extraction; and an intelligent data analysis terminal, wherein the intelligent data analysis terminal is electrically connected to the scanning module, the fiber optic Bragg grating sensor, the pressure sensor, the temperature sensor and the gas concentration sensor respectively.

[0007] Therefore, by setting up fiber optic Bragg grating sensors, pressure sensors, temperature sensors, and gas concentration sensors to collect relevant data in long boreholes for mine gas extraction, the monitoring system can collect relevant parameters in long boreholes for mine gas extraction more accurately and comprehensively, and analyze the data collected by each sensor through an intelligent data analysis terminal, so that multiple related parameters can be interconnected and integrated, which can provide better early warning for long boreholes for mine gas extraction and improve the reliability and monitoring performance of the monitoring system.

[0008] In some examples of the present invention, the fiber grating sensor includes a plurality of fiber optic nodes, and the plurality of fiber optic nodes are axially spaced apart on the inner wall of the long borehole for mine gas extraction.

[0009] In some examples of the present invention, there are multiple pressure sensors, and the multiple pressure sensors are arranged at intervals in the long borehole for mine gas extraction.

[0010] In some examples of the present invention, the pressure sensor is a thin film flexible pressure sensor, and the thin film flexible pressure sensor is attached to the fiber Bragg grating sensor.

[0011] In some examples of the present invention, the scanning module integrates a three-dimensional laser radar and an inertial navigation unit.

[0012] In some examples of the present invention, there are multiple temperature sensors and multiple gas concentration sensors, and multiple temperature sensors are arranged at intervals in the long borehole for mine gas extraction, and multiple gas concentration sensors are arranged at intervals in the long borehole for mine gas extraction.

[0013] In some examples of the present invention, the monitoring system for long boreholes for mine gas extraction further includes a hierarchical alarm device, which is electrically connected to the intelligent data analysis terminal.

[0014] According to an embodiment of the present invention, a monitoring method for a long borehole for mine gas extraction comprises the following steps: controlling a drilling robot to drill the long borehole for mine gas extraction; controlling the drilling robot to set the fiber grating sensor on the inner wall of the long borehole for mine gas extraction, and controlling the fiber grating sensor to monitor the axial strain and lateral displacement of the long borehole for mine gas extraction; controlling the drilling robot to attach the pressure sensor to the fiber grating sensor, and controlling the pressure sensor to monitor the pressure in the long borehole for mine gas extraction; controlling the scanning module of the drilling robot to scan ... scanning module of the drilling robot to scan the long borehole for mine gas extraction; controlling the scanning module of the drilling robot to scan the long borehole for mine gas extraction; controlling the scanning module of the drilling robot to scan the long borehole for mine gas extraction; controlling the scanning module of the drilling robot to scan the long borehole for mine gas extraction; controlling the scanning module of the drilling robot to scan the long borehole for mine gas extraction; controlling the scanning module of the drilling robot to scan the long borehole for mine gas extraction; controlling the scanning module of the drilling robot to scan the long borehole for mine gas extraction; controlling the scanning module of the drilling robot to scan the long borehole for mine gas extraction; controlling the scanning module of the drilling robot to scan the long borehole for mine gas extraction; controlling the scanning module of the drilling robot to scan the long borehole for mine gas extraction; controlling the scanning module of the The robot sets a temperature sensor and a gas concentration sensor in the long borehole for mine gas extraction, and controls the temperature sensor to monitor the temperature in the long borehole for mine gas extraction, and controls the gas concentration sensor to monitor the gas concentration in the long borehole for mine gas extraction; transmits the monitoring results of the fiber grating sensor, the monitoring results of the pressure sensor, the scanning results of the scanning module, the monitoring results of the temperature sensor and the monitoring results of the gas concentration sensor to the intelligent data analysis terminal; the intelligent data analysis terminal analyzes the monitoring results, dynamically evaluates the stability of the long borehole for mine gas extraction and warns of risks.

[0015] In some examples of the present invention, the transmitting of the monitoring results of the fiber grating sensor, the monitoring results of the pressure sensor, the scanning results of the scanning module, the monitoring results of the temperature sensor and the monitoring results of the gas concentration sensor to the intelligent data analysis terminal also includes: controlling the drilling robot to set a plurality of the fiber grating sensors spaced apart from each other in the axial direction of the long borehole for mine gas extraction, fusing and analyzing the axial strain values ​​and lateral displacement values ​​monitored in real time by the plurality of the fiber grating sensors to obtain real-time final axial strain and lateral displacement values, and transmitting the final axial strain and lateral displacement values ​​to the intelligent data analysis terminal; controlling the drilling robot to set a plurality of the pressure sensors spaced apart from each other in the axial direction of the long borehole for mine gas extraction, fusing and analyzing the axial strain values ​​and lateral displacement values ​​monitored in real time by the plurality of the fiber grating sensors to obtain real-time final axial strain and lateral displacement values, and transmitting the final axial strain and lateral displacement values ​​to the intelligent data analysis terminal; The pressure values ​​monitored in real time by the pressure sensors are fused and analyzed to obtain a real-time final pressure value, and the final pressure value is transmitted to the intelligent data analysis terminal; the drilling robot is controlled to set a plurality of temperature sensors spaced apart from each other on the axial direction of the long borehole for mine gas extraction, and the temperature values ​​monitored in real time by the plurality of temperature sensors are fused and analyzed to obtain a real-time final temperature value, and the final temperature value is transmitted to the intelligent data analysis terminal; the drilling robot is controlled to set a plurality of gas concentration sensors spaced apart from each other on the axial direction of the long borehole for mine gas extraction, and the gas concentration values ​​monitored in real time by the plurality of gas concentration sensors are fused and analyzed to obtain a real-time final gas concentration value, and the final gas concentration value is transmitted to the intelligent data analysis terminal.

[0016] In some examples of the present invention, the intelligent data analysis terminal analyzes the monitoring results, dynamically evaluates the stability of long boreholes for mine gas extraction and warns of risks, and the steps also include: generating a three-dimensional borehole model by fusing the laser cloud point data scanned by the scanning module and the data of the inertial measurement unit through a synchronous positioning and mapping algorithm; superimposing the axial strain value and lateral displacement value monitored by the fiber grating sensor with the three-dimensional borehole model to analyze the influence of geological stress on borehole deformation; combining the pressure value monitored by the pressure sensor with the gas concentration value monitored by the gas concentration sensor to establish a dynamic evaluation model for gas extraction efficiency; using a long short-term memory neural network to predict the borehole stability trend, and triggering a graded warning when the axial strain rate and lateral displacement rate or pressure value fluctuations exceed the threshold.

[0017] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which: Figure 1 is a schematic diagram of a monitoring system for long borehole gas extraction in a mine according to an embodiment of the present invention; Figure 2 is a schematic diagram of a drilling robot according to an embodiment of the present invention; Figure 3 is a flow chart of a monitoring system method for long borehole gas extraction in a mine according to an embodiment of the present invention; Figure 4 It is a partial flow chart of a monitoring system method for long borehole mine gas extraction according to an embodiment of the present invention.

[0019] Reference numerals: 100. Monitoring system; 10. Drilling robot; 11. Pressure sensor; 12. Temperature sensor; 13. Scanning module; 14. Fiber placement module; 15. Travel module; 16. Gas concentration sensor; 17. Fiber Bragg grating sensor; 18. Intelligent data analysis terminal; 19. Anchoring module. DETAILED DESCRIPTION

[0020] The embodiments of the present invention will be described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention will be described in detail below.

[0021] Reference below Figure 1-Figure 4 A monitoring system 100 for a long borehole for mine gas extraction according to an embodiment of the present invention is described.

[0022] Combine Figure 1-Figure 4 As shown, the monitoring system 100 for long boreholes for mine gas extraction according to the present invention can mainly include: a scanning module 13, a fiber grating sensor 17, a pressure sensor 11, a temperature sensor 12, a gas concentration sensor 16 and an intelligent data analysis terminal 18, wherein the scanning module 13 is suitable for scanning the inner wall of the long borehole for mine gas extraction, and the fiber placement module 14 is suitable for placing the fiber grating sensor 17 in the long borehole for mine gas extraction to monitor the axial strain and lateral displacement of the long borehole for mine gas extraction, and the pressure sensor 11, the temperature sensor 12, the gas concentration sensor 16 and the intelligent data analysis terminal 18. The force sensor 11 is arranged on the fiber optic Bragg grating sensor 17 to monitor the pressure in the long borehole for mine gas extraction. The temperature sensor 12 is arranged on the drilling robot 10 to monitor the temperature in the long borehole for mine gas extraction. The gas concentration sensor 16 is arranged on the drilling robot 10 to monitor the gas concentration in the long borehole for mine gas extraction. The intelligent data analysis terminal 18 is electrically connected to the scanning module 13, the fiber optic Bragg grating sensor 17, the pressure sensor 11, the temperature sensor 12 and the gas concentration sensor 16 respectively.

[0023] Specifically, the drilling robot 10 can be used to drill a long borehole for mine gas extraction, and the traveling module 15 on the drilling robot 10 can enter the long borehole for mine gas extraction. The scanning module 13 on the drilling robot 10 can scan the long borehole for mine gas extraction and form a laser point cloud, that is, a three-dimensional spatial data set. In the process of the drilling robot 10 entering the long borehole for mine gas extraction, the optical fiber placement module 14 can set the optical fiber Bragg grating sensor 17 on the inner wall of the long borehole for mine gas extraction, so that the optical fiber Bragg grating sensor 17 can extend in the axial direction of the long borehole for mine gas extraction. A plurality of spaced optical fiber Bragg gratings can be set in the axial direction of the inner wall of the long borehole for mine gas extraction, and the spacing between two adjacent optical fiber Bragg gratings is 0.5m-1m.

[0024] In some embodiments of the present invention, the fiber Bragg grating sensor 17 can monitor the axial strain and lateral displacement of the long borehole for mine gas extraction, the pressure sensor 11 is arranged on the fiber Bragg grating sensor 17, the pressure sensor 11 can monitor the pressure of the long borehole for mine gas extraction, the temperature sensor 12 is arranged on the drilling robot 10, the temperature sensor 12 can monitor the temperature in the long borehole for mine gas extraction, the gas concentration sensor 16 is arranged on the drilling robot 10, the gas concentration sensor 16 can monitor the gas concentration in the long borehole for mine gas extraction, and the intelligent data analysis terminal 18 is respectively connected to the scanning module. Block 13, fiber grating sensor 17, pressure sensor 11, temperature sensor 12 and gas concentration sensor 16 are electrically connected, and the intelligent data analysis terminal 18 can conduct a comprehensive analysis of the laser point cloud scanned by the scanning module 13, the axial strain and lateral displacement of the long borehole for mine gas extraction monitored by the fiber grating sensor 17, the pressure value monitored by the pressure sensor 11, the temperature value monitored by the temperature sensor 12 and the gas concentration value monitored by the gas concentration sensor 16, so as to provide a graded early warning for the gas extraction of the long borehole for mine gas extraction, or to perform intelligent regulation of the internal pressure or other parameters.

[0025] With such an arrangement, on the one hand, the monitoring system 100 can collect relevant parameters in the long borehole for mine gas extraction more comprehensively, and can not only cover all stages of drilling, that is, the monitoring system 100 can monitor the construction stage, extraction stage and scrapping stage of the drilling, but also can realize dynamic tracking of all parameters of "morphology-mechanics-environment" in each stage, thereby improving the performance of the monitoring system 100, and further improving the extraction safety and extraction stability of the long borehole for mine gas extraction. On the other hand, the monitoring system 100 can also analyze the monitored data, so as to provide graded warnings for the situation in the long borehole for mine gas extraction. For example, when the strain rate exceeds the threshold, or when the pressure fluctuation exceeds the threshold, or when the temperature exceeds the threshold, or when the gas concentration exceeds the threshold, the monitoring system 100 can issue an early warning to remind the operator that the safety of the long borehole for mine gas extraction is low and corresponding measures need to be taken to solve the corresponding safety problems.

[0026] Furthermore, the monitoring system 100 can also be directly electrically connected to the corresponding control device. The monitoring system 100 directly controls the control device according to the results of data analysis to make corresponding intelligent adjustments to the long boreholes for mine gas extraction more timely and accurately. This can prevent safety hazards in the long boreholes for mine gas extraction caused by untimely or inaccurate manual adjustments, and can further improve the safety and stability of the long boreholes for mine gas extraction.

[0027] Therefore, by setting up fiber optic Bragg grating sensors 14, pressure sensors 11, temperature sensors 12 and gas concentration sensors 16 to collect relevant data in long boreholes for mine gas extraction, the monitoring system 100 can collect relevant parameters in long boreholes for mine gas extraction more accurately and comprehensively, and by analyzing the data collected by each sensor through the intelligent data analysis terminal, multiple related parameters can be interconnected and integrated, so that better early warning and regulation of long boreholes for mine gas extraction can be carried out, and the reliability and monitoring performance of the monitoring system 100 can be improved.

[0028] In some embodiments of the present invention, the fiber placement module 14 includes a robotic arm and an adhesive component, the fiber optic Bragg grating sensor 17 includes multiple optical fibers, and the robotic arm is suitable for selectively axially spacing the multiple optical fibers in a long borehole for mine gas extraction and fixing them with adhesive components.

[0029] Specifically, the robotic arm can set multiple optical fibers axially at intervals on the inner wall of the long borehole for mine gas extraction, and use adhesives to bond and fix the multiple optical fibers to the inner wall of the long borehole for mine gas extraction. This not only makes the setting of the fiber optic Bragg grating sensor 17 simpler and more direct, but also improves the stability and firmness of the installation of the fiber optic Bragg grating sensor 17 on the inner wall of the long borehole for mine gas extraction.

[0030] It should be noted that since the inner wall surface of the long borehole for mine gas extraction is uneven, the robotic arm can adapt to the inner wall surface of the long borehole for mine gas extraction, thereby further improving the stability and reliability of the optical fiber installation setting.

[0031] It should be noted that the drilling robot 10 is a relatively common intelligent mechanical device for drilling in the existing technology, and the robotic arm on the drilling robot 10 is also a relatively common technical means in the existing technology. The specific structure of the drilling robot 10 and the robotic arm is not described or illustrated in detail in the present invention.

[0032] In some embodiments of the present invention, the pressure sensor 11 is a thin film flexible pressure sensor, which is attached to the fiber Bragg grating sensor 17 .

[0033] Specifically, the pressure sensor 11 is configured as a thin film flexible pressure sensor, and the thin film flexible pressure sensor is attached to the fiber optic Bragg grating sensor 17. Such a configuration can prevent the setting of the thin film flexible pressure sensor from affecting the installation setting of the fiber optic Bragg grating sensor 17 while ensuring that the thin film flexible pressure sensor accurately and stably monitors the pressure inside the long borehole for mine gas extraction. It can also enable the thin film flexible pressure sensor and the fiber optic Bragg grating sensor 17 to form a composite sensing network, which can further improve the stability and reliability of the monitoring system 100.

[0034] In some embodiments of the present invention, the scanning module 13 is integrated with a three-dimensional laser radar and an inertial navigation unit. Specifically, by integrating the three-dimensional laser radar and / or the inertial navigation unit into the scanning module 13, the three-dimensional laser radar can scan a long borehole for mine gas extraction, thereby forming a laser point cloud. The inertial navigation unit can generate inertial navigation unit data. The laser point cloud and the inertial navigation unit data are fused based on a synchronous positioning and mapping algorithm to generate a three-dimensional model of the borehole. The strain data monitored by the fiber Bragg grating sensor 17 is superimposed on the three-dimensional model of the borehole, thereby analyzing the effect of stress within the long borehole for mine gas extraction on borehole deformation.

[0035] Combine Figure 1 As shown, the drilling robot 10 further includes a traveling module 15 . The traveling module 15 includes a crawler chassis. The crawler chassis can improve the stability and reliability of the drilling robot 10 in traveling.

[0036] Combine Figure 1As shown, the drilling robot 10 also includes an anchoring module 19, which is suitable for fixing an expansion anchor in a long mine gas extraction borehole to position the drilling robot 10 itself and secure the end of the fiber Bragg grating sensor 17. Specifically, the anchoring module 19 can fix the expansion anchor to the inner wall of the long mine gas extraction borehole, thereby achieving the positioning of the drilling robot 10 itself and securing the end of the fiber Bragg grating sensor 17. This can further improve the stability of the drilling robot 10 and further enhance the stability and reliability of the fiber Bragg grating robot installed on the inner wall of the long mine gas extraction borehole.

[0037] It should be noted that the drilling robot 10 uses the anchoring module 19 to position itself and fix the fiber grating sensor 17, which is also a relatively common technical means in the prior art. The specific structure of the anchoring module 19 is not described in detail or illustrated in the present invention.

[0038] In some embodiments of the present invention, the mine gas extraction system may further include a pressure control device electrically connected to the intelligent data analysis terminal 18 to selectively control the pressure within the mine gas extraction long borehole. Specifically, by electrically connecting the pressure control device to the intelligent data analysis terminal 18, the intelligent data analysis terminal 18 can analyze and obtain the pressure within the mine gas extraction long borehole in real time. When the pressure fluctuation exceeds a threshold, the intelligent data analysis terminal 18 can send a control signal to the pressure control device, thereby driving the pressure control device to adjust the pressure within the mine gas extraction long borehole accordingly.

[0039] It should be noted that the mine gas extraction system can also be equipped with a control device that intelligently adjusts other parameters within the mine gas extraction long borehole, thereby further improving the safety and reliability of the mine gas extraction long borehole. It should be noted that the pressure control device or other parameter control devices are also conventional technical means in the prior art, and the specific structure of the pressure control device or other parameter control devices is not described in detail or illustrated in this invention.

[0040] In some embodiments of the present invention, the monitoring system 100 for a long borehole for mine gas extraction further includes a hierarchical alarm device, which is electrically connected to the intelligent data analysis terminal 18. Specifically, by electrically connecting the hierarchical alarm device to the intelligent data analysis terminal 18, when the intelligent data analysis terminal 18 analyzes that relevant parameters within the long borehole for mine gas extraction exceed a threshold value, the hierarchical alarm device can sound an alarm to alert construction personnel.

[0041] Combine Figure 3 As shown, the monitoring method for long borehole gas extraction in a mine according to an embodiment of the present invention includes the following steps: S1, controlling the drilling robot 10 to drill a long borehole for mine gas extraction; S2. Control the drilling robot 10 to place the fiber Bragg grating sensor 17 on the inner wall of the long borehole for mine gas extraction, and control the fiber Bragg grating sensor 17 to monitor the axial strain and lateral displacement of the long borehole for mine gas extraction; S3, controlling the drilling robot 10 to attach the pressure sensor 11 to the fiber grating sensor 17, and controlling the pressure sensor 11 to monitor the pressure in the long borehole for mine gas extraction; S4, controlling the scanning module 13 of the drilling robot 10 to scan the long borehole for mine gas extraction; S5. Control the drilling robot 10 to place the temperature sensor 12 and the gas concentration sensor 16 in the long borehole for mine gas extraction, and control the temperature sensor 12 to monitor the temperature in the long borehole for mine gas extraction, and control the gas concentration sensor 16 to monitor the gas concentration in the long borehole for mine gas extraction; S6. Transmit the monitoring results of the fiber Bragg grating sensor 14, the monitoring results of the pressure sensor 11, the scanning results of the scanning module 13, the monitoring results of the temperature sensor 12, and the monitoring results of the gas concentration sensor 16 to the intelligent data analysis terminal; S7. The intelligent data analysis terminal analyzes the monitoring results, dynamically evaluates the stability of long boreholes for mine gas extraction, and warns of risks.

[0042] Such an arrangement not only enables the monitoring method for long boreholes for mine gas extraction to monitor relevant parameters in long boreholes for mine gas extraction more comprehensively, but also enables the monitoring results to be more accurate.

[0043] Furthermore, by performing intelligent analysis on various monitoring data through the intelligent data analysis terminal, the parameters of gas extraction in long boreholes for mine gas extraction can be adjusted accordingly to form a closed-loop feedback, which can improve the efficiency of gas extraction and also improve the safety of gas extraction.

[0044] In some embodiments of the present invention, transmitting the monitoring results of the fiber Bragg grating sensor 14, the monitoring results of the pressure sensor 11, the scanning results of the scanning module 13, the monitoring results of the temperature sensor 12, and the monitoring results of the gas concentration sensor 16 to the intelligent data analysis terminal further includes: The drilling robot 10 is controlled to set multiple fiber grating sensors 14 spaced apart from each other in the axial direction of a long borehole for mine gas extraction. The axial strain values ​​and lateral displacement values ​​monitored in real time by the multiple fiber grating sensors 14 are integrated and analyzed to obtain final axial strain and lateral displacement values ​​in real time. The final axial strain and lateral displacement values ​​are then transmitted to an intelligent data analysis terminal. The drilling robot 10 is controlled to set a plurality of pressure sensors 11 spaced apart from each other in the axial direction of the long borehole for mine gas extraction. The pressure values ​​monitored in real time by the plurality of pressure sensors 11 are integrated and analyzed to obtain a final pressure value in real time, and the final pressure value is transmitted to the intelligent data analysis terminal. The drilling robot 10 is controlled to set a plurality of temperature sensors 12 spaced apart from each other in the axial direction of a long borehole for mine gas extraction. The temperature values ​​monitored in real time by the plurality of temperature sensors 12 are integrated and analyzed to obtain a final temperature value in real time, and the final temperature value is transmitted to an intelligent data analysis terminal. The drilling robot 10 is controlled to set multiple gas concentration sensors 16 spaced apart from each other in the axial direction of the long borehole for mine gas extraction. The gas concentration values ​​monitored in real time by the multiple gas concentration sensors 16 are integrated and analyzed to obtain a real-time final gas concentration value, and the final gas concentration value is transmitted to the intelligent data analysis terminal.

[0045] Specifically, since the long borehole for mine gas extraction has a certain length in the axial direction, the parameters of the relevant parameters in the long borehole for mine gas extraction may be different at different axial positions, and even there may be a large difference. Therefore, by arranging multiple spaced fiber grating sensors 17 on the axial direction of the inner wall of the long borehole for mine gas extraction, multiple spaced pressure sensors 11 are arranged on the axial direction of the inner wall of the long borehole for mine gas extraction, multiple spaced temperature sensors 12 are arranged on the axial direction of the long borehole for mine gas extraction, and multiple spaced gas concentration sensors 16 are arranged on the axial direction of the long borehole for mine gas extraction. Multiple fiber grating sensors 14 can monitor and collect the axial strain values ​​and lateral displacement values ​​at different axial positions of the long borehole for mine gas extraction, and the axial strain values ​​and lateral displacement values ​​at different positions are mutually integrated and analyzed to obtain the final axial strain and lateral displacement values. It should be noted that the final axial strain and lateral displacement values ​​refer to relatively more accurate axial strain and lateral displacement values ​​in the long borehole for mine gas extraction.

[0046] Similarly, by fusing and analyzing the pressure values ​​monitored by multiple pressure sensors 11, the final pressure value can be obtained. It should be noted that the final pressure value refers to a relatively more accurate pressure value in long boreholes for mine gas extraction; by fusing and analyzing the temperature values ​​monitored by multiple temperature sensors 12, the final temperature value can be obtained. It should be noted that the final temperature value refers to a relatively more accurate temperature value in long boreholes for mine gas extraction; by fusing and analyzing the gas concentration values ​​monitored by multiple gas concentration sensors 16, the final gas concentration value can be obtained. It should be noted that the final gas concentration value refers to a relatively more accurate gas concentration value in long boreholes for mine gas extraction.

[0047] Combine Figure 4 As shown, the intelligent data analysis terminal 18 analyzes the monitoring results, dynamically evaluates the stability of the long borehole for mine gas extraction, and warns of risks, further comprising: S7-1, generating a three-dimensional model of the borehole by fusing the laser cloud point data scanned by the scanning module 13 and the data of the inertial measurement unit through a synchronous positioning and mapping algorithm; S7-2, superimposing the axial strain value and lateral displacement value monitored by the fiber Bragg grating sensor 14 with the three-dimensional model of the borehole to analyze the influence of geological stress on the borehole deformation; S7-3. Combine the pressure value monitored by the pressure sensor 11 and the gas concentration value monitored by the gas concentration sensor 16 to establish a dynamic evaluation model for gas extraction efficiency; S7-4. Use long short-term memory neural network to predict drilling stability trends, and trigger graded warnings when the axial strain rate, lateral displacement rate, or pressure value fluctuations exceed the threshold.

[0048] Such a setting can make the multiple parameters monitored by the monitoring system 100 interconnected. For example, the axial strain value and lateral displacement value monitored by the fiber grating sensor 14 can be superimposed on the three-dimensional model of the borehole obtained by the scanning module 13, which can make the analysis of the influence of geological stress on the borehole deformation clearer. For example, the pressure value monitored by the pressure sensor 11 and the gas concentration value monitored by the gas concentration sensor 16 are used to establish a dynamic evaluation model for gas extraction efficiency, which can make the dynamic evaluation of gas extraction efficiency more stable and accurate, thereby further improving the reliability of the monitoring system 100.

[0049] In some specific embodiments of the present invention, the dynamic evaluation model of gas extraction efficiency can introduce the time dimension through the numerical values ​​of relevant parameters in the long borehole for mine gas extraction monitored by various sensors, that is, use sliding window technology or recursive neural network (RNN) to process time series data to obtain the changing trend of gas extraction efficiency. The changing trend of gas extraction efficiency includes but is not limited to the gas extraction volume per unit time, the gas concentration decay rate and the cumulative gas extraction efficiency.

[0050] Furthermore, Long Short-Term Memory Networks (LSTMs) are a special type of recurrent neural network (RNN) that are widely used to process and predict time series data, build language models, and other tasks that require processing sequential data. They can address the vanishing or exploding gradient problems encountered by traditional RNNs when processing long-term dependencies through their cell state structure. Cell states act like the network's memory units, transmitting relevant information across many time steps. LSTMs control the flow of information through so-called gates, which allow information to selectively enter or leave the cell state.

[0051] In the present invention, the stability of drilling is predicted by a long short-term memory neural network. The long short-term memory neural network can not only handle dependencies within a long period of time, but also flexibly handle dependencies within a short period of time, so that the long short-term memory neural network can adapt to time series data of various lengths, and furthermore, the long short-term memory neural network can accurately and reliably predict the drilling stability in the next few minutes or after several hours.

[0052] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0053] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "example," "specific example," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0054] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A monitoring system for long borehole gas extraction in mines, characterized in that: include: A scanning module, the scanning module being suitable for scanning the inner wall of a long borehole for mine gas extraction; A fiber Bragg grating sensor, wherein the fiber placement module is suitable for placing the fiber Bragg grating sensor in a long borehole for mine gas extraction, so as to monitor the axial strain and lateral displacement of the long borehole for mine gas extraction; A pressure sensor is provided on the fiber grating sensor and is suitable for monitoring the pressure in a long borehole for mine gas extraction; A temperature sensor adapted to monitor the temperature within a long borehole for mine gas extraction; A gas concentration sensor, which is suitable for monitoring the gas concentration in a long borehole for mine gas extraction; An intelligent data analysis terminal is electrically connected to the scanning module, the fiber grating sensor, the pressure sensor, the temperature sensor and the gas concentration sensor respectively.

2. The monitoring system for long borehole gas extraction in mines according to claim 1, characterized in that: The fiber grating sensor includes a plurality of fiber nodes, and the plurality of fiber nodes are axially spaced apart on the inner wall of the long borehole for mine gas extraction.

3. The monitoring system for long borehole gas extraction in mines according to claim 1, characterized in that: There are multiple pressure sensors, and the multiple pressure sensors are arranged at intervals in the long borehole for mine gas extraction.

4. The monitoring system for long borehole gas extraction in mines according to claim 3, characterized in that: The pressure sensor is a thin film flexible pressure sensor, and the thin film flexible pressure sensor is attached to the fiber grating sensor.

5. The monitoring system for long borehole gas extraction in mines according to claim 1, characterized in that: The scanning module integrates a three-dimensional laser radar and an inertial navigation unit.

6. The monitoring system for long borehole gas extraction in mines according to claim 1, characterized in that: There are multiple temperature sensors and multiple gas concentration sensors, and the multiple temperature sensors are arranged at intervals in the long borehole for mine gas extraction. The multiple gas concentration sensors are arranged at intervals in the long borehole for mine gas extraction.

7. The monitoring system for long boreholes for mine gas extraction according to claim 1, characterized in that: It also includes a hierarchical alarm device, which is electrically connected to the intelligent data analysis terminal.

8. A monitoring method for a long borehole for mine gas extraction, applicable to the monitoring system for a long borehole for mine gas extraction according to any one of claims 1 to 7, characterized in that: The following steps are involved: Control drilling robots to drill long boreholes for mine gas extraction; Controlling the drilling robot to place the fiber Bragg grating sensor on the inner wall of the long borehole for mine gas extraction, and controlling the fiber Bragg grating sensor to monitor the axial strain and lateral displacement of the long borehole for mine gas extraction; Controlling the drilling robot to attach the pressure sensor to the fiber grating sensor, and controlling the pressure sensor to monitor the pressure in the long borehole for mine gas extraction; Controlling the scanning module of the drilling robot to scan a long borehole for mine gas extraction; Controlling the drilling robot to install a temperature sensor and a gas concentration sensor in the long borehole for mine gas extraction, and controlling the temperature sensor to monitor the temperature in the long borehole for mine gas extraction, and controlling the gas concentration sensor to monitor the gas concentration in the long borehole for mine gas extraction; Transmitting the monitoring results of the fiber grating sensor, the monitoring results of the pressure sensor, the scanning results of the scanning module, the monitoring results of the temperature sensor, and the monitoring results of the gas concentration sensor to the intelligent data analysis terminal; The intelligent data analysis terminal analyzes the monitoring results, dynamically evaluates the stability of long boreholes for mine gas extraction and warns of risks.

9. The monitoring method for long boreholes for mine gas extraction according to claim 8, characterized in that: The transmitting the monitoring result of the fiber Bragg grating sensor, the monitoring result of the pressure sensor, the scanning result of the scanning module, the monitoring result of the temperature sensor, and the monitoring result of the gas concentration sensor to the intelligent data analysis terminal further includes: Controlling the drilling robot to set a plurality of mutually spaced fiber Bragg grating sensors in the axial direction of the long borehole for mine gas extraction, fusing and analyzing the axial strain values ​​and lateral displacement values ​​monitored in real time by the plurality of fiber Bragg grating sensors to obtain final axial strain and lateral displacement values ​​in real time, and transmitting the final axial strain and lateral displacement values ​​to the intelligent data analysis terminal; Controlling the drilling robot to set a plurality of pressure sensors spaced apart from each other in the axial direction of the long borehole for mine gas extraction, fusing and analyzing the pressure values ​​monitored in real time by the plurality of pressure sensors to obtain a real-time final pressure value, and transmitting the final pressure value to the intelligent data analysis terminal; Controlling the drilling robot to set a plurality of temperature sensors spaced apart from each other in the axial direction of the long borehole for mine gas extraction, fusing and analyzing the temperature values ​​monitored in real time by the plurality of temperature sensors to obtain a real-time final temperature value, and transmitting the final temperature value to the intelligent data analysis terminal; The drilling robot is controlled to set a plurality of gas concentration sensors spaced apart from each other in the axial direction of the long borehole for mine gas extraction, and the gas concentration values ​​monitored in real time by the plurality of gas concentration sensors are integrated and analyzed to obtain a real-time final gas concentration value, and the final gas concentration value is transmitted to the intelligent data analysis terminal.

10. The monitoring method for long boreholes for mine gas extraction according to claim 8, characterized in that: The step of the intelligent data analysis terminal analyzing the monitoring results, dynamically evaluating the stability of the long borehole for mine gas extraction and issuing a risk warning also includes: The laser cloud point data scanned by the scanning module and the data of the inertial measurement unit are integrated through the synchronous positioning and mapping algorithm to generate a 3D model of the drilling hole; The axial strain and lateral displacement values ​​monitored by the fiber Bragg grating sensor are superimposed on the three-dimensional model of the borehole to analyze the influence of geological stress on the borehole deformation. Combining the pressure value monitored by the pressure sensor with the gas concentration value monitored by the gas concentration sensor, a dynamic evaluation model for gas extraction efficiency is established; A long short-term memory neural network is used to predict the drilling stability trend, and a graded warning is triggered when the axial strain rate, lateral displacement rate or pressure value fluctuation exceeds the threshold.

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