Continuous tunneling and filling mining method for broken thick and large ore body

Abstract

The invention provides a broken thick and large ore body continuous tunneling and filling mining method, and relates to the technical field of mining engineering.The method comprises the steps that the rock mass grade is determined through rock mass basic quality indexes, the single tunneling circulating footage and the top temporary supporting grade are matched, and in a set monitoring window, the current circulating section is subjected to continuous tunneling and filling mining; geological radar waves and short-range low-frequency sound waves are emitted to the top plate at equal time intervals, the proportion of high-frequency signals and the sound wave propagation speed are calculated, surrounding rock deformation section data, the change degree of two indexes and the DTW distance of continuous two-time radar wave reflection signals are comprehensively analyzed at each monitoring moment, and whether the surrounding rock deformation section data, the change degree of the two indexes and the DTW distance are abnormal or not is judged; if no abnormity exists, radar wave reflection signals are stored as standard templates according to the rock mass grade, and when the number of the standard templates is smaller than N, the data and a preset threshold value optimize the supporting grade; when the number of the templates is not smaller than N, the index mean value and the standard deviation update threshold value are counted according to monitoring moment grouping, and the top temporary support grade is optimized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mining engineering, in particular to a continuous mining method for broken thick ore body. BACKGROUND

[0002] Mining is the core link of mineral resources development. Among them, the mining of broken thick ore body has always been the focus and difficulty in mining engineering due to the complex geological conditions, poor stability of surrounding rock, loose structure of ore body and other characteristics, and usually needs to rely on continuous excavation and filling to realize safe and efficient mining.

[0003] The conventional process of the existing continuous excavation and filling mining technology of ore body is: first, determine the basic characteristics of rock mass through geological survey, divide the rock mass grade and match the corresponding excavation cycle footage and initial support scheme; lay out monitoring sections during excavation, collect surrounding rock surface deformation data, and adjust the footage or strengthen the support accordingly; after excavating to the set length, carry out filling operation in time to control the further deformation of surrounding rock, and then carry out the next section of excavation; this process has been widely applied in many mine engineering.

[0004] However, the existing technology still has the following outstanding problems: the existing monitoring system mostly only relies on the surrounding rock surface deformation data as the core judgment basis, the temporary support procedures of conventional ore body are mostly developed based on the working conditions of complete rock mass structure and stable stress environment, the support parameters and layout methods focus on universality, and the strong nonlinear deformation law and the dynamic characteristics of rapid crack propagation of the broken thick ore body top surrounding rock are not fully considered. In fact, the initiation and expansion of internal micro-cracks of rock mass, shear slip of bedding surface and other processes are gradual evolution processes, which have little effect on surface deformation in the early stage; when the surface deformation data fluctuates significantly or abnormally, the internal damage has often entered an irreversible stage, which is easy to cause sudden engineering geological disasters, and makes the support measures fall into a passive response dilemma. In addition, the existing support scheme and adjustment threshold are mostly preset based on the initial geological survey results and engineering experience, which is difficult to reflect the dynamic changes such as stress redistribution and rock mass integrity reduction in the excavation process in real time, and the fixed support parameters and judgment thresholds cannot adapt to the actual working conditions in different excavation stages, which easily leads to the mismatch between support strength and actual bearing demand of rock mass, and thus causes safety hazards in mining due to insufficient support.

[0005] Therefore, there is an urgent need for a continuous excavation and filling mining technology for broken thick ore body, which can perceive the internal state of rock mass in advance and dynamically adapt to the support demand, so as to improve the safety, adaptability and overall efficiency of the mining of such complex ore body.

[0006] The above information disclosed in the background section is only used to strengthen the understanding of the background of the present disclosure, and therefore it can include information that does not constitute prior art known to those of ordinary skill in the art. SUMMARY

[0007] The present application aims to provide a continuous mining method for breaking thick and large ore bodies, to solve the problems raised in the background.

[0008] To achieve the above-mentioned purpose, the present application provides the following technical solutions: A continuous mining method for breaking thick and large ore bodies, the specific steps comprising: Determine the rock mass grade according to the basic quality indicators of the sidewall rock mass in the tunneling roadway, determine the temporary support grade of the top of the tunneling roadway according to the rock mass grade, set equal-length monitoring windows for each cycle section in the tunneling roadway, and obtain the surrounding rock deformation section data of the corresponding cycle section in each monitoring window; Set several monitoring time points at equal time intervals in the monitoring window, emit geological radar waves and short-range low-frequency sound waves at the roof of the corresponding cycle section and receive the echo signals at each monitoring time point, for each monitoring time point, perform Fourier transform on the geological radar wave echo signals to obtain the high-frequency signal proportion, calculate the sound wave propagation speed based on the propagation time corresponding to the maximum amplitude energy peak of the short-range low-frequency sound wave, and take the high-frequency signal proportion and the sound wave propagation speed of each monitoring time point as the waveform detection data of the monitoring time point; Analyze the waveform detection data in each monitoring window to obtain the time domain variation data in the monitoring window, the time domain variation data including the high-frequency signal proportion, the sound wave propagation speed variation degree data, and determine whether the cycle section is abnormal according to the time domain variation data, the surrounding rock deformation section data, and the DTW distance between the geological radar wave echo signals of adjacent monitoring time points, and for the cycle section determined to be normal, classify it according to the rock mass grade, and store its geological radar wave echo signals as a standard template; When the number of standard templates of the current cycle section corresponding to the rock mass grade is less than N, analyze the DTW distance between the time domain variation data in the monitoring window and the geological radar wave echo signals between adjacent monitoring time points, and optimize the temporary support grade of the top, and when the number of standard templates of the current cycle section corresponding to the rock mass grade is not less than N, analyze the DTW distance between the time domain variation data in the monitoring window, the geological radar wave echo signals, and the same rock mass grade standard template, and optimize the temporary support grade of the top.

[0009] Further, the method for determining the temporary support grade of the top of the tunneling roadway according to the rock mass grade is as follows: Obtain the uniaxial compressive strength of the rock and the rock mass integrity coefficient of the rock mass to be determined, construct a rock mass basic quality index calculation formula based on the uniaxial compressive strength of the rock and the rock mass integrity coefficient, divide the rock mass into 1-5 grades according to the rock mass basic quality classification table based on the calculated results, and further allocate the corresponding 1-5 grade temporary support grade of the top.

[0010] Furthermore, during each monitoring moment, ground-penetrating radar waves and short-range low-frequency acoustic waves are emitted from the roof of the corresponding cycle segment, and echo signals are received. The ground-penetrating radar waves have a center frequency in the range of 100–250MHz, a bandwidth of 100–250MHz, and a single pulse duration of 0.3–1.5μs. The short-range low-frequency acoustic waves have a main frequency band in the range of 1–8kHz and a wave packet length of 2–10ms.

[0011] Furthermore, the method for obtaining the proportion of high-frequency signals by performing Fourier transform on the ground-penetrating radar echo signals is as follows: A 50Hz low-pass filter was used to filter the ground-penetrating radar echo signal. Preprocessing was performed using the moving average method. Then, a fast Fourier transform was used to convert the time-domain signal into a frequency-domain spectrum to obtain the frequency distribution and corresponding amplitude information of the signal. Using the center frequency of the selected ground-penetrating radar wave as a reference, the high-frequency band was defined as the interval of 1.2–2.0 times the center frequency. The total energy of the high-frequency band and the total energy of the entire frequency band were calculated. The total energy of the high-frequency band was obtained by integrating the square of the amplitude corresponding to each frequency point in the high-frequency band, and the total energy of the entire frequency band was obtained by integrating the square of the amplitude corresponding to each frequency point in the entire frequency band. Finally, the ratio of the total energy of the high-frequency band to the total energy of the entire frequency band was taken as the proportion of the high-frequency signal.

[0012] Furthermore, the method for calculating the sound wave propagation speed based on the propagation time corresponding to the maximum amplitude energy peak of short-range low-frequency sound waves is as follows: The excitation source is fixed at the center of the roof, and two receiving sensors are linearly arranged along the upper part of both sides of the tunnel to obtain the distance from the excitation source to the two receiving sensors. After the sound wave is emitted, a 1kHz high-pass filter is used to filter the collected short-range low-frequency sound wave. In the pre-processed signal time-domain waveform, the maximum amplitude energy peak corresponding to the reflected wave is located, that is, the signal peak point with the largest absolute amplitude is locked. Taking the excitation source triggering time as the time starting point, the time coordinate corresponding to the signal peak point is the propagation time of the sound wave from the excitation source to the corresponding receiving sensor. Based on the corresponding arrival time, the propagation time is determined. The ratio of the distance from the excitation source to the receiving sensor to the corresponding arrival time is taken as the propagation speed of a single sound wave. The arithmetic mean of the propagation speeds of two single sound waves is taken as the propagation speed of the sound wave.

[0013] Furthermore, the method for determining whether the cycle segment is abnormal based on time-domain variation data, surrounding rock deformation cross-sectional data, and the DTW distance of the ground radar echo signal between adjacent monitoring times is as follows: exist At monitoring times at equal time intervals, the data on surrounding rock deformation cross-sections, the degree of change in the proportion of high-frequency signals, the degree of change in acoustic wave propagation velocity, and the DTW distance of the ground-penetrating radar echo signals between two consecutive monitoring sessions were analyzed. For positive integers greater than 3, the specific process is as follows: The difference between the current monitoring surrounding rock deformation section data and the first monitoring surrounding rock deformation section data, and the ratio of the first monitoring surrounding rock deformation section data, is used as the relative change rate of the surrounding rock deformation section; The difference between the current high-frequency signal proportion and the initial high-frequency signal proportion, and the ratio of the initial high-frequency signal proportion, is used as the high-frequency signal proportion change degree, and the difference between the current sound wave propagation speed and the initial sound wave propagation speed, and the ratio of the initial sound wave propagation speed, is used as the sound wave propagation speed change degree, based on the initial high-frequency signal proportion and the initial sound wave propagation speed; The DTW distance of the pre-processed geological radar wave echo signal of each continuous two times monitoring is analyzed, the Min-Max standardization method is used to process the geological radar wave echo signal of two times monitoring, the two signals are converted into one-dimensional data sequence respectively, and the distance matrix is constructed based on the one-dimensional data sequence. The value of each position in the matrix is the Euclidean distance between the data point of the corresponding position of the one-dimensional data sequence of the first signal after standardization and all position data points of the one-dimensional data sequence of the second signal after standardization, that is, the result of square root of the difference between two data points; Then, the optimal matching path is found, starting from the top left corner of the distance matrix and ending at the bottom right corner, and the path with the minimum cumulative distance is the optimal matching path, wherein the path movement rule is limited to three, which are right, down and diagonal; Finally, sum all the matrix elements on the optimal matching path to get the cumulative distance, and then divide the result by the sequence length, which is the DTW distance of the two signals; During the process, the constraint window is set to 10% of the sequence length, that is, the optimal matching path can only move within the range of 10% of the sequence length on both sides of the main diagonal line; The first change threshold of high-frequency signal proportion, the first change threshold of sound wave speed and the first threshold of geological radar wave distance are set respectively, wherein for the first change threshold of high-frequency signal proportion, 1-2 grade rock mass is set to 15%-20%, 3-5 grade rock mass is set to 10%-15%; For the first change threshold of sound wave speed, it is uniformly set to 10%-15%; For the first threshold of geological radar wave distance, 1-2 grade rock mass is set to 15%-25%, 3 grade rock mass is set to 20%-30%, and 4-5 grade rock mass is set to 25%-35%; At each monitoring time, when the monitoring data of the circulating section meets any of the following conditions, it is comprehensively determined that the circulating section is abnormal: Among the relative change rates of the deformation cross-section of the surrounding rock, any one of the roof subsidence amount, the horizontal displacement of the two sides, and the cross-section convergence value reaches the pre-warning threshold value of the corresponding rock mass grade; the high-frequency signal proportion change degree reaches the first change threshold value of the high-frequency signal proportion; the sound wave propagation speed change degree reaches the first change threshold value of the sound wave speed; and the DTW distance of the geological radar wave echo signal in two consecutive monitoring reaches the first threshold value of the geological radar wave distance.

[0014] Further, the method for optimizing the grade of the temporary roof support is as follows: According to the set first change threshold value of the high-frequency signal proportion, the first change threshold value of the sound wave speed, and the first threshold value of the geological radar wave distance, when the data of the monitored circulating section meet any one of the following conditions, the current grade of the temporary roof support is upgraded by one grade, and when the current grade is already at level 5, an alarm is directly given. When the high-frequency signal proportion change degree reaches the first change threshold value of the high-frequency signal proportion; the sound wave propagation speed change degree reaches the first change threshold value of the sound wave speed; and the DTW distance of the geological radar wave echo signal in two consecutive monitoring reaches the first threshold value of the geological radar wave distance.

[0015] Further, the method for optimizing the grade of the temporary roof support is as follows: When the number of standard templates corresponding to the rock mass grade of the current circulating section is not less than N, a threshold value update is triggered, and statistics are performed in groups according to the monitoring time. The specific steps are as follows: All standard templates under the same rock mass grade are grouped according to the monitoring time, that is, each group corresponds to a monitoring time. The DTW distance of the geological radar wave echo signal in any two standard templates in each group is calculated separately. The high-frequency signal proportion change degree, the sound wave propagation speed change degree, and the DTW distance of the geological radar wave echo signal in any two standard templates corresponding to the monitoring time of each group are extracted, and the mean and standard deviation of the high-frequency signal proportion change degree, the sound wave propagation speed change degree, and the DTW distance of the geological radar wave echo signal are respectively calculated. The three indicators are respectively extended to 2-3 times the standard deviation on both sides based on the statistical mean of the corresponding group, to obtain the new threshold value of the high-frequency signal proportion, the new threshold value of the sound wave propagation speed, and the new threshold value of the geological radar wave distance, and the iteration update is continued. When the data of the monitored circulating section meet any one of the following conditions, the current grade of the temporary roof support is upgraded by one grade, and when the current grade is already at level 5, an alarm is directly given. According to the set high frequency signal proportion new threshold value, the sound wave speed new threshold value, the geological radar wave distance new threshold value is the benchmark, when the high frequency signal proportion change degree reaches the high frequency signal proportion new threshold value, the sound wave propagation speed change degree reaches the sound wave speed new threshold value, the current monitored geological radar wave echo signal and the DTW distance of the geological radar wave echo signal of any one standard template in the corresponding group exceed the geological radar wave distance new threshold value of the corresponding group.

[0016] Compared with the prior art, the beneficial effects of the present application are: The present application carries out abnormality judgment of the already circulating section according to the comprehensive monitoring of the surrounding rock deformation section data, combined with the time domain change data and the DTW distance of the geological radar wave echo signal of each continuous two times monitoring, no longer depends on the surface deformation data alone, and judges whether to optimize the top temporary support grade in advance; The present application also stores the geological radar wave echo signal of the non-abnormal circulating section by rock mass grade and equal time interval classification, constructs a standard template, in the early stage of the project with the number of standard templates less than N, compares the time domain change data, the DTW distance of the geological radar wave echo signal of the adjacent monitoring time with the preset threshold value, judges whether to optimize the top temporary support grade in advance, when the number of standard templates is not less than N in the middle and later stage of the project, then in the monitoring time corresponding to the standard template, the time domain change data is counted and the DTW distance of the geological radar wave echo signal in any two standard templates is calculated, and the threshold value of the three indexes is iteratively updated based on the mean value and standard deviation of the three indexes, to judge whether to optimize the top temporary support grade in advance, so that the support grade optimization is adapted to the real state of the rock mass in different tunneling stages. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is the whole method flow diagram of the present application; Figure 2 It is the single tunneling cycle footage optimization trend chart of the present application; Figure 3 It is the wave speed and high frequency signal change degree chart of the present application; Figure 4 It is the radar signal continuous monitoring DTW schematic diagram of the present application; Figure 5 It is the threshold value update distribution chart of the present application. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical scheme and advantages of the present application more clear and explicit, the present application is further described in detail below combined with specific embodiments.

[0019] Unless otherwise defined, technical terms or scientific terms used in the present application shall have the meanings that can be commonly understood by a person with ordinary skill in the art to which this application belongs. The terms "first", "second", and similar terms used in the present application do not denote any order, quantity, or importance, but are used to distinguish different components. The terms "include", "contain", and similar terms mean that the elements or objects before the terms encompass the elements or objects listed after the terms and their equivalents, and do not exclude other elements or objects. The terms "connect" or "connected" and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The terms "upper", "lower", "left", "right", and the like are used only to represent relative positional relationships, and when the absolute positions of the described objects change, the relative positional relationships can also change accordingly.

[0020] Embodiment: Please refer to Figures 1 to 5 The present application provides a technical solution: A continuous mining method for breaking thick and large ore bodies, the specific steps comprising: S1: determining the rock mass grade according to the basic quality index of the sidewall rock mass in the tunneling roadway, determining the temporary support grade of the top of the tunneling roadway according to the rock mass grade, setting an equal-length monitoring window for each cycle section in the tunneling roadway, and obtaining the surrounding rock deformation section data of the corresponding cycle section in each monitoring window; In the planned continuous tunneling route, the single tunneling cycle footage should be set according to the principle of matching the rock mass stability and the tunneling footage, and the rock mass grade is divided by the basic quality index of the rock mass, and the specific process of the division is: The tunneling route is divided into multiple rock mass grading units according to the lithology, the corresponding standard sample rock is obtained for each unit, the uniaxial compressive strength under the saturated state is tested by a pressure testing machine, the uniaxial compressive strength is obtained, the intact and undamaged rock core in the middle section is selected as a fresh rock sample, the longitudinal wave velocity of the rock mass is tested, and is calibrated as the longitudinal wave velocity of the fresh rock. The longitudinal wave velocity of the rock mass is tested for the corresponding standard sample rock in each grading unit, and a rock mass integrity coefficient calculation formula is constructed based on the longitudinal wave velocity of the fresh rock and the tested longitudinal wave velocity of the rock mass:

[0021] In the formula, represents the rock mass integrity coefficient, represents the longitudinal wave velocity of the rock mass in the grading unit, represents the longitudinal wave velocity of the fresh rock; After obtaining the rock mass integrity coefficient, a rock mass basic quality index calculation formula is constructed based on the uniaxial compressive strength of the rock and the rock mass integrity coefficient:

[0022] In the formula, represents the basic mass index of the rock mass, represents the uniaxial compressive strength, Table 1 shows a table of required data and results of 40 groups of calculation of the basic mass index of the rock mass, the rock mass integrity coefficient is concentrated between 0.5 and 0.9 as a whole, and the integrity of most rock masses is at a medium to good level, while the uniaxial compressive strength varies greatly, and the rock mass grade can be obtained based on the finally calculated basic mass index of the rock mass; Table 1: Summary of basic mass index of rock mass

[0023] The basic mass index of the rock mass is obtained, and then the rock mass is divided into five levels according to the rock mass basic mass classification table, wherein the first level is extremely stable rock mass, the anti-deformation ability is strong, the self-stabilization time is long, and a large footage can be used; the fifth level is extremely broken rock mass, the self-stabilization time is extremely short, and short footage is required to reduce the surrounding rock exposure time and reduce the collapse risk, through reference to the mining cases of domestic similar broken thick ore bodies, the conventional safe footage corresponding to the first to fifth level rock mass is 0.8-4.5 meters, and the selected value is in the middle of the range corresponding to the first to fifth level rock mass, which takes into account safety and mining efficiency, that is, according to the first to fifth level of rock mass division, the single tunneling cycle footage is set to 4 meters, 3.5 meters, 2.5 meters, 1.5 meters and 1 meter respectively, and shorter tunneling footage can ensure that the support can timely close the surrounding rock, for example, after 1 meter footage in the fifth level broken rock mass, the advance pre-reinforcement and temporary inverted arch construction can be quickly completed to avoid weathering and softening caused by long-term exposure of the surrounding rock.

[0024] After the tunnel is excavated, the top rock mass loses the original rock stress balance and is under the double action of gravity and overburden pressure, which is the area with the highest risk of collapse. For the top temporary support grade, the 1-5 levels divided according to the rock mass are set to correspond to the top temporary support grade. For the 1st level of top temporary support, it includes the way of local point anchor and thin layer of sprayed concrete; for the 2nd level of top temporary support, it includes the way of system anchor, steel mesh and sprayed concrete; for the 3rd level of top temporary support, it includes the way of densified anchor, grid steel frame and sprayed concrete; for the 4th level of top temporary support, it includes the way of anchor cable combined with anchor rod, I-steel arch and advanced support; for the 5th level of top temporary support, it includes the way of advanced pre-reinforcement, strong support structure and temporary inverted arch, because the 1st level of rock mass has strong self-stability, only needs local anchoring to control joint expansion, thin layer of sprayed concrete to prevent surface weathering, and does not need excessive support, the 2nd level of rock mass has a small amount of layering, system anchor and steel mesh form an overall bearing structure, sprayed concrete fills the surface cracks and improves the integrity of the surrounding rock, the 3rd level of rock mass has developed cracks, densified anchor enhances anchoring force, grid steel frame provides rigid support, and sprayed concrete and steel frame bear load together, the 4th level of rock mass is broken and easy to slip, anchor cable provides deep anchoring force, I-steel arch bears the main load, and advanced support reinforces the unexcavated surrounding rock in advance to block the conduction of the broken zone, the 5th level of rock mass is extremely broken and has short self-stability time, advanced pre-reinforcement provides a protective shell, I-steel arch provides strong rigid support, temporary inverted arch avoids the instability of the roof caused by the bottom bulging, and the ring support balances the stress in all directions. For example, for the 1st level of top temporary support, local point anchor uses 22mm diameter threaded steel anchor rod with a length of 2.0m and a spacing of 2.0m x 2.0m, which is arranged at the local joint development of the roof; thin layer of sprayed concrete is set to have a strength grade of C20 and a thickness of 50mm, which is arranged on the surface of the closed rock mass; The surrounding rock deformation section data is set as the roof subsidence, the two side horizontal displacement and the section convergence value. Three monitoring sections are set behind the working face of each cycle section, for example, 5m, 10m and 15m after the excavation is completed, to capture the whole process of surrounding rock deformation; An equal length monitoring window is set, the time length of which should be less than the time from the collection of surrounding rock deformation section data to the cemented filling of the cycle section. In each monitoring window, the roof subsidence, the two side horizontal displacement and the section convergence value of each section are synchronously collected, which are the core index combination of mine surrounding rock monitoring. The roof subsidence directly reflects the vertical ground pressure effect on the top stability and is the direct reflection of the risk of roof fall. The two side horizontal displacement reflects the rock mass slip caused by lateral stress release, which is easy to cause rib spalling accident. The section convergence value reflects the overall deformation of vertical and lateral by measuring the diameter change of the section, avoiding the omission of risks by single index. The deformation section data of each surrounding rock is monitored for not less than 3 times to eliminate accidental errors, and the average value is taken as the basis for judgment. According to the industry specification requirements, rock mass mechanics law and field practice data, the differentiated early warning threshold, overrun threshold and cumulative deformation allowable value are set according to the rock mass level 1-5, and the early warning threshold is less than the overrun threshold, which is less than the cumulative deformation allowable value. For the setting of threshold value, it needs to be combined with the design and adjustment of its own working condition, for example, the mining cases of broken thick ore body with similar rock mass level, ore body thickness and support method in the country and mine can be collected, and the mature threshold setting is referred to, such as setting the early warning threshold of the roof subsidence of the 3rd level rock mass of the iron mine as 8mm / d. If the three deformation data do not reach the early warning threshold of the corresponding rock mass level, the next footage is maintained at the initial footage of the current rock mass level; if any one of the three deformation data reaches the early warning threshold but does not overrun, it means that the surrounding rock has slight deformation, and the next footage is reduced by 70% of the current initial footage; if any one of the three deformation data reaches or exceeds the overrun threshold, or two or more reach the early warning threshold, the surrounding rock deformation is intensified, and the risk is increased, so the excavation should be immediately suspended, and the next footage is reduced by 50% of the current initial footage; if any one of the three deformation data reaches the cumulative deformation allowable value, in order to avoid the continuous expansion of deformation leading to instability, the next footage is directly reduced to 60% of the current initial footage, such as Figure 2 As shown in FIG. 8, it is the footage result of the optimized footage according to the single excavation cycle footage set according to the basic quality index of the rock mass after the rock mass is divided into 1-5 levels and according to the above-mentioned rule.

[0025] S2: A plurality of monitoring time points are set at equal time intervals within the monitoring window, and geological radar waves and short-range low-frequency sound waves are emitted and the echo signals are received at the roof of the corresponding cycle section within each monitoring time point. For each monitoring time point, the Fourier transform is performed on the geological radar wave echo signal to obtain the high-frequency signal proportion, and the sound wave propagation speed is calculated based on the propagation time corresponding to the maximum amplitude energy peak of the short-range low-frequency sound wave. The high-frequency signal proportion and the sound wave propagation speed of each monitoring time point are taken as the waveform detection data of the monitoring time point. The geological radar wave is a kind of high-frequency pulse electromagnetic wave, and its propagation characteristics are strongly related to the dielectric constant difference of the medium inside the rock mass. In the broken thick ore body, the dielectric constant of the complete rock block, micro-crack, cavity and air gap is significantly different. This difference will cause strong reflection of electromagnetic waves at the interface, and the expansion of micro-cracks will change the frequency composition and amplitude of the reflected signal. It has strong anti-interference, high detection accuracy and small penetration attenuation degree. When the crack density in the rock mass increases, the radar wave reflection amplitude will increase, and the high-frequency component proportion will increase significantly. The essence of the short-range low-frequency sound wave is an elastic longitudinal wave, and the sound wave speed is positively correlated with the rock mass elastic modulus, density and integrity. When the micro-cracks in the rock mass expand, the sound wave speed will decrease significantly, which is the core principle of its energy rock mass mechanics state, and it can penetrate the surface rock mass. Therefore, for the current circulating section, the geological radar wave and the short-range low-frequency acoustic wave are emitted at the roof at equal time intervals within a pre-set monitoring window, wherein the geological radar wave selects a center frequency in the range of 100-250 MHz, the detection depth can reach 1-5 m, covering the support range of about 3 m of the key roof, the bandwidth is 100-250 MHz, and the continuous two-time monitoring geological radar wave echo signal DTW distance reaching the first threshold value of 2-5 mm of the geological radar wave distance can capture the micro-fracture, the single pulse length is 0.3-1.5 μs, the long pulse of 1.5 μs carries higher energy and decays more slowly in the rock mass, the detection depth can reach the first threshold value of 5 m of the continuous two-time monitoring geological radar wave echo signal DTW distance reaching the first threshold value of the geological radar wave distance, can penetrate the shallow fracture zone, and detect the fracture development of the deep stable rock stratum to avoid roof instability due to unobserved deep fracture expansion, the short pulse of 0.3 μs has weak energy, but the detection depth is about 1 m, which can adapt to the shallow monitoring of the 5-grade extremely broken rock mass, and the short-range low-frequency acoustic wave selects a main frequency band in the range of 1-8 kHz, which decays slowly in the broken rock mass and is suitable for the continuous two-time monitoring geological radar wave echo signal DTW distance reaching the first threshold value of 3-10 m of the geological radar wave distance, the short distance propagation of the continuous two-time monitoring geological radar wave echo signal DTW distance reaching the first threshold value of the geological radar wave distance, can effectively penetrate the loose surrounding rock, avoid the reflection and absorption of rock mass fracture and air gap, and cause insufficient signal resolution, and the wave packet length is 2-10 ms, which has the effect of improving the signal-to-noise ratio to ensure that the reflection wave peak can be accurately identified. The geological radar wave echo signal is filtered by a 50 Hz low-pass filter to filter out the power frequency interference in the roadway, such as 50 Hz electromagnetic noise of construction machinery, and retain the effective radar wave signal, and then the sliding average method is used to complete the pretreatment, for example, the mean value of 5 consecutive data points is used to replace the original data point, which can smooth the reflection interference caused by the uneven surface of the rock mass in the signal. Then, the time domain signal is converted into a frequency domain spectrum by using fast Fourier transform to obtain the frequency distribution and corresponding amplitude information of the signal, and the energy proportion of each frequency component is determined. The reflection of the complete rock mass to the radar wave is mainly low-frequency components, while the reflection of micro-fractures and broken interfaces will produce high-frequency scattered waves. Therefore, according to engineering experience, the high-frequency signal is defined as 1.2-2.0 times the center frequency interval based on the currently selected center frequency of the geological radar wave, the total energy of the high-frequency band in the frequency domain spectrum is calculated, and the total energy of the full frequency band is calculated. The total energy of the high-frequency band is obtained by integrating the square of the amplitude corresponding to each frequency point in the high-frequency band, and the total energy of the full frequency band is obtained by integrating the square of the amplitude corresponding to each frequency point in the full frequency band. Finally, the ratio of the total energy of the high-frequency band to the total energy of the full frequency band is taken as the high-frequency signal proportion.

[0026] The excitation source is fixed at the center of the roof, and two receiving sensors are linearly arranged on the upper part of the two sides of the roadway to obtain the distance from the excitation source to the two receiving sensors. A single sensor is easily affected by local uneven rock mass, and two sensors are symmetrically arranged. The average value can offset the accidental error of local defects. After the sound wave is emitted, a 1 kHz high-pass filter is used to filter the collected short-range low-frequency sound wave. The mechanical vibration noise includes the running vibration of equipment such as heading machine, anchor rod machine and loader, and the frequency is mostly 50-500Hz. The noise is easily superimposed with the sound wave signal, and only the signal above 1 kHz is allowed to pass, so as to avoid the confusion of noise and target sound wave with a frequency of 1-8 kHz from the source, so as to accurately locate the propagation time of the energy peak of the maximum amplitude of the reflected wave. When the sound wave propagates in the rock mass, the direct wave, reflected wave and scattered wave are generated, among which the energy of the direct wave is the largest, corresponding to the maximum amplitude peak in the time domain waveform. The time error caused by reflected wave and scattered wave is avoided to ensure the accuracy of the measurement speed. Therefore, in the time domain waveform of the preprocessed signal, the maximum amplitude energy peak corresponding to the reflected wave is located, that is, the signal peak point with the maximum absolute value of amplitude is locked. The time coordinate corresponding to the signal peak point is the propagation time of the sound wave from the excitation source to the corresponding receiving sensor, and the propagation time is determined based on the corresponding arrival time. The ratio of the distance from the excitation source to the receiving sensor to the corresponding arrival time is taken as the single sound wave propagation speed, and the arithmetic mean of the two single sound wave propagation speeds is taken as the sound wave propagation speed. The high-frequency signal proportion and the sound wave propagation speed at each monitoring time are taken as the waveform detection data at the monitoring time, and the first calculated high-frequency signal proportion and sound wave propagation speed are defined as the initial high-frequency signal proportion and initial sound wave propagation speed, and then the baseline of the initial stable state of the rock mass is established. After the excavation of the thick and large broken ore body is completed, the rock mass is disturbed by excavation, but no significant deformation or crack expansion occurs. At this time, the signal index can represent the initial stable state of the cycle segment.

[0027] S3: analyzing the waveform detection data in each monitoring window to obtain time domain change data, the time domain change data including high-frequency signal proportion, sound wave propagation speed change degree data, and determining whether the cycle segment is abnormal according to the time domain change data, surrounding rock deformation section data and DTW distance of the geological radar wave echo signal between adjacent monitoring time; for the cycle segment determined to be normal, the geological radar wave echo signal is stored as a standard template according to the classification of the rock mass grade; In each monitoring time in the equal time interval, the surrounding rock deformation section data, the high-frequency signal proportion change degree, the sound wave propagation speed change degree, and the DTW distance of the geological radar wave echo signal of each continuous two times of monitoring are analyzed, wherein For a positive integer greater than 3, each equal time interval ranges from 1 to 24 hours, for example, it can be set to 4 hours. The deformation of the broken thick ore body after excavation shows a trend of rapid change to slow stability. Avoid missing stable stage data under multiple time intervals, for example, for Taking the value of 6, the time period from rapid change to slow stability is considered. The specific process of analyzing the surrounding rock deformation section data, the change degree of high-frequency signal proportion, the change degree of sound wave propagation speed, and the DTW distance of the geological radar wave echo signal of each continuous two times of monitoring is as follows: For surrounding rock deformation section data analysis, the difference between the current monitored surrounding rock deformation section data and the first monitored surrounding rock deformation section data, and the ratio of the first monitored surrounding rock deformation section data, are used as the relative change rate of the surrounding rock deformation section. The core purpose of support is to constrain the deformation of surrounding rock, so this relative change rate can directly reflect whether the current support matches the deformation trend; For high-frequency signal proportion and sound wave propagation speed analysis, taking the initial high-frequency signal proportion and the initial sound wave propagation speed as the benchmark, the difference between the current high-frequency signal proportion and the initial high-frequency signal proportion, and the ratio of the initial high-frequency signal proportion, are used as the change degree of high-frequency signal proportion. The difference between the current sound wave propagation speed and the initial sound wave propagation speed, and the ratio of the initial sound wave propagation speed, are used as the change degree of sound wave propagation speed. The deformation of different initial states is quantified as a percentage, so as to timely warn; The core advantage of dynamic time warping (DTW) is to measure the similarity of non-rigid signals. The continuous two-time comparison can focus on the short-term GPR signal differences caused by rapid expansion of micro-cracks, sudden slip of local fracture zones, and other factors. The continuous two-time comparison can reflect the real-time change trend of the defects, rather than only reflecting the cumulative changes, providing a more timely basis for anomaly determination. In the analysis of the DTW distance of the pre-processed GPR echo signals of each continuous two-time monitoring, the Min-Max normalization method is used to process the GPR echo signals of the two-time monitoring, eliminating the interference factors of signal amplitude, and making the shape difference of different monitoring signals the core of distance calculation. The two signals are converted into one-dimensional data sequences, and the lengths of the converted one-dimensional sequences are consistent. Based on the one-dimensional data sequence, a distance matrix is constructed. The value of each position in the matrix is the Euclidean distance between the data point at the corresponding position of the one-dimensional data sequence of the first signal after normalization and all data points in the one-dimensional data sequence of the second signal after normalization, that is, the result of the square root of the square of the difference between the two data points. It represents the similarity between any sampling point of the first signal and any sampling point of the second signal. The smaller the value, the more similar it is. Then, the optimal matching path is found, starting from the top left corner of the distance matrix and ending at the bottom right corner. The path with the smallest cumulative distance is the optimal matching path. Among them, the path movement rule is limited to three, which are right, down and diagonal. Specifically, a cumulative distance matrix with the same dimension as the distance matrix is created, and the starting point is the top left corner of the matrix. It can only move to the right and down. Starting from the second row and the second column, only right, down and diagonal movement is allowed. The minimum cumulative distance of the current position is calculated, that is, the cumulative distance of each position is equal to the distance of the current point plus the cumulative distance of the previous optimal path. Finally, the sum of all matrix elements on the optimal matching path is obtained, and the cumulative distance is divided by the length of the sequence to obtain the DTW distance of the two signals. During the process, the constraint window is set to 10% of the sequence length, that is, the optimal matching path can only move within the range of 10% of the sequence length on both sides of the main diagonal. The radar wave signals of two consecutive monitoring are collected at the same position and different times. The time dimension of the signal has synchronicity. The meaning of 10% is to allow a small amount of time shift to avoid invalid matching. Table 2 shows the number of standard templates corresponding to the rock mass grade of the 24 previous cycle segments. The data obtained based on the characteristics of GPR and short-range low-frequency acoustic waves are summarized, so as to comprehensively judge whether the grade of the temporary support at the top needs to be optimized in the subsequent process; Table 2: Wave velocity and high-frequency signal related parameter table

[0028] The first change threshold of the high-frequency signal, the first change threshold of the acoustic wave velocity, and the first threshold of the GPR distance are set respectively. For the first change threshold of high-frequency signal proportion, 1-2 grade rock mass is set to 15%-20%, 3-5 grade rock mass is set to 10%-15%, and fractured rock mass is more sensitive to fissure, and the threshold is lower. When the proportion of high-frequency signal increases by more than the threshold relative to the initial value, it indicates that the micro-fissure expands rapidly; For the first change threshold of acoustic wave speed, it is uniformly set to 10%-15%. Engineering experience shows that when the acoustic wave speed decreases by 10%, the corresponding elastic modulus decreases by about 8%, which is close to the supporting bearing limit, and early warning is needed; For the first threshold of geological radar wave distance, 1-2 grade rock mass is set to 15%-25%, 3 grade rock mass is set to 20%-30%, and 4-5 grade rock mass is set to 25%-35%. 1-2 grade rock mass has good integrity, small signal difference, and low threshold to avoid missed judgment. 3 grade rock mass is a medium stable rock mass, and there are a small amount of fissures in the rock mass. The threshold should be moderately increased. 4-5 grade rock mass is between relatively broken and extremely broken, and the normal signal difference is large. The threshold should be moderately adjusted. The normal signal difference is large, and the threshold should be moderately adjusted; The surrounding rock deformation section data reflects the surface macroscopic deformation risk, the high-frequency signal proportion change degree reflects the internal micro-fissure expansion risk, the acoustic wave speed change degree reflects the overall mechanical integrity decline risk, and the continuous two times DTW distance reflects the short-term signal mutation risk. The instability of thick and large broken ore body may be caused by any single dimension risk, and timely warning and optimization of support are needed. Therefore, at each monitoring time, when the monitoring data of the circulating section meets any of the following conditions, it is comprehensively determined that the circulating section is abnormal: In the relative change rate of surrounding rock deformation section, any one of roof subsidence, two side horizontal displacement and section convergence value reaches the corresponding rock mass grade warning threshold; the high-frequency signal proportion change degree reaches the first change threshold of high-frequency signal proportion; the acoustic wave propagation speed change degree reaches the first change threshold of acoustic wave speed; the DTW distance of geological radar wave echo signal of continuous two times monitoring reaches the first threshold of geological radar wave distance, such as Figures 3-4 As shown in the figure, only the high-frequency signal proportion change degree, the acoustic wave propagation speed change degree and the DTW distance of geological radar wave echo signal of continuous two times monitoring are analyzed. When the first change threshold of high-frequency signal proportion is 15%, the first change threshold of acoustic wave speed is 5%, and the first threshold of geological radar wave distance is 0.4, it is directly determined whether the circulating section is abnormal. If the number of standard templates corresponding to the rock mass grade of the circulating section is less than 4, 9, 10, 11, 14, 21, 22, the circulating section is abnormal; For the circulating section without abnormality, the one-dimensional data sequence of geological radar wave corresponding to the time interval of the circulating section is extracted, and the corresponding rock mass grade and time interval sequence number label are matched and stored to form a standard template.

[0029] S4: When the number of standard templates corresponding to the rock mass grade of the current circulating section is less than N, the DTW distance analysis of the time domain change data in the monitoring window and the geological radar wave echo signal between adjacent monitoring moments is performed to optimize the top temporary support grade. When the number of standard templates corresponding to the rock mass grade of the current circulating section is not less than N, the DTW distance analysis of the time domain change data in the monitoring window, the geological radar wave echo signal and the same rock mass grade standard template is performed to optimize the top temporary support grade; At the initial stage of mine exploitation, when the number of standard templates corresponding to the rock mass grade of the current circulating section is less than N, the number of standard templates at the first exploitation of the same rock mass grade is insufficient, and a reliable determination standard needs to be preset to quickly adapt to the initial working condition and avoid risk out of control due to waiting for standard template accumulation. At each monitoring moment in the monitoring window, based on the set first change threshold of high frequency signal proportion, the first change threshold of sound wave speed and the first threshold of geological radar wave distance, when the monitored data of the circulating section meets any of the following conditions, the current top temporary support grade is upgraded by one grade. When the current grade is 5, it is the preset highest support grade, and there is no higher grade to upgrade, and an alarm is directly given. The conditions are: When the change degree of high frequency signal proportion reaches the first change threshold of high frequency signal proportion, the change degree of sound wave propagation speed reaches the first change threshold of sound wave speed, and the DTW distance of the geological radar wave echo signal of the continuous two monitoring reaches the first threshold of geological radar wave distance.

[0030] When the number of standard templates corresponding to the rock mass grade of the current circulating section is not less than N, enough data of the same rock mass grade and normal state has been accumulated to trigger threshold updating, which realizes the function of replacing the experience preset with actual data. The normal fluctuation ranges of high frequency signal proportion, sound wave speed and other indicators at different monitoring moments are different. The rock mass tends to be stable in about 24 hours, so the statistics are performed by grouping according to the monitoring moment to adapt the rock mass state of different tunneling stages to each set threshold. The specific steps are: Grouping all standard templates under the same rock mass grade according to the monitoring moment, that is, each group corresponds to a monitoring moment; For all standard templates in each group, the DTW distance of the geological radar wave echo signal in any two standard templates is calculated separately. Table 3 shows the DTW distance of the geological radar wave echo signal in any two standard templates among 10 standard templates. The smaller the distance, the closer the radar wave reflection characteristics of the two groups of standard templates, and the more similar the geological conditions, which is one of the judgment bases for whether to optimize the top temporary support grade; Table 3: Standard template DTW distance data table

[0031] The core purpose of support is to inhibit damage accumulation and prevent state deterioration. The change degree based on the initial value can directly reflect whether the current damage exceeds the normal range. The change degree of high-frequency signal proportion, the change degree of sound wave propagation speed, and the DTW distance of geological radar wave echo signals in any two standard templates are extracted at the corresponding monitoring time of each group. The mean and standard deviation of the high-frequency signal proportion, the sound wave propagation speed, and the DTW distance of geological radar wave echo signals are calculated. The three indicators are based on the statistical mean in the corresponding group, and the range is expanded to 2-3 times the standard deviation on both sides. This is a high-confidence interval designed based on statistics, which will not lead to frequent misjudgment due to too narrow range, nor will it lead to missed judgment due to too wide range. The new threshold of high-frequency signal proportion, the new threshold of sound wave propagation speed, and the new threshold of geological radar wave distance are obtained. Every time a new standard template of the same rock mass level and no abnormality is added, an iterative update is automatically triggered. The new template is classified according to the time interval, and the mean and standard deviation of the three indicators in each group are recalculated. Based on the statistical mean, the range is expanded to 2-3 times the standard deviation on both sides, the original threshold is replaced, and the real normal state of the current rock mass is gradually approached, as shown in Figure 5 The statistical mean of each group of indicators is taken as the reference, and the range is expanded to 2 times the standard deviation on both sides to construct the interval, and the new threshold of geological radar wave distance, the new threshold of sound wave speed, and the new threshold of high-frequency signal proportion are obtained. The normal fluctuation range of each indicator is directly presented. With the iterative update of new standard templates, these intervals will continue to converge to the real state of the rock mass.

[0032] When the current circulating segment monitoring data meets any of the following conditions, the current top temporary support level is upgraded by one level. When the current level is 5, an alarm is directly given. The conditions are: According to the set high-frequency signal proportion new threshold, the sound wave speed new threshold, and the geological radar wave distance new threshold as the benchmark, when the high-frequency signal proportion change degree reaches the high-frequency signal proportion new threshold, the sound wave propagation speed change degree reaches the sound wave speed new threshold, and the DTW distance between the current monitoring geological radar wave echo signal and the geological radar wave echo signal of any one standard template in the corresponding group exceeds the corresponding group geological radar wave distance new threshold. The reason for considering that the top temporary support level needs to be optimized is that the geological radar wave signals of different non-anomaly cycles have morphological diversity due to local subtle differences in rock mass. The DTW distance is calculated based on any one standard template under normal circumstances, which makes the determination result more reliable. After the temporary support is stable, the broken thick ore body is loosened, and the corresponding method is used for ore falling in a single cycle, such as mechanical shovel loading method for ore falling and transportation out of the tunnel. Then, the corresponding mined-out area is cemented and filled to constrain the further deformation of the surrounding rock, and the above processes are repeated along the continuous tunneling route to the next section, until the entire tunneling route covers the entire ore body region.

[0033] The above formulas are dimensionless values calculated, and the formulas are obtained by software simulation of a large amount of data to obtain a formula closest to the actual situation. The preset parameters in the formula are set by a person skilled in the art according to the actual situation.

[0034] The above embodiments can be realized wholly or partially by software, hardware, firmware, or any combination thereof. When realized by software, the above embodiments can be realized wholly or partially in the form of a computer program product. Those skilled in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized by hardware or software methods depends on the specific application and design constraints of the technical solutions.

[0035] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, which can be located in one place or distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0036] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application.

Claims

1. A continuous mining and filling method for breaking up thick ore bodies, characterized in that, The specific steps include: The rock mass grade is determined based on the basic quality indicators of the sidewall rock mass in the tunnel. The temporary support grade of the tunnel top is determined based on the rock mass grade. An equal-length monitoring window is set for each circulation section in the tunnel. The surrounding rock deformation cross-sectional data of the corresponding circulation section is obtained in each monitoring window. Within the monitoring window, several monitoring times are set at equal time intervals. At each monitoring time, ground-penetrating radar waves and short-range low-frequency sound waves are emitted from the top plate of the corresponding loop segment and the echo signals are received. For each monitoring time, the ground-penetrating radar wave echo signal is subjected to Fourier transform to obtain the high-frequency signal ratio. The sound wave propagation speed is calculated based on the propagation time corresponding to the maximum amplitude energy peak of the short-range low-frequency sound wave. The high-frequency signal ratio and sound wave propagation speed at each monitoring time are used as the waveform detection data for that monitoring time. The waveform detection data in each monitoring window is analyzed to obtain the time-domain variation data in that monitoring window. The time-domain variation data includes the proportion of high-frequency signals and the degree of change in sound wave propagation speed. Based on the time-domain variation data, the surrounding rock deformation section data, and the DTW distance of the ground radar echo signal between adjacent monitoring times, it is determined whether the cycle segment is abnormal. For cycle segments that are determined to be normal, they are classified according to rock mass grade, and their ground radar echo signals are stored as standard templates. When the number of standard templates corresponding to the rock mass grade of the currently cyclic section is less than N, the DTW distance analysis of the time-domain variation data within the monitoring window and the ground radar echo signal between adjacent monitoring times is used to optimize the level of the top temporary support. When the number of standard templates corresponding to the rock mass grade of the currently cyclic section is not less than N, the DTW distance analysis of the time-domain variation data within the monitoring window, the ground radar echo signal and the standard template of the same rock mass grade is used to optimize the level of the top temporary support.

2. A continuous mining and filling method for breaking up thick ore bodies according to claim 1, characterized in that: The method for determining the level of temporary support for the top of the tunnel based on the rock mass grade is as follows: Obtain the uniaxial compressive strength and rock integrity coefficient of the rock mass to be determined. Construct a calculation formula for the basic quality index of the rock mass based on the uniaxial compressive strength and rock integrity coefficient. Based on the calculation results, classify the rock mass into grades 1-5 according to the basic quality classification table of the rock mass, and then assign the corresponding grade 1-5 top temporary support.

3. A continuous mining and filling method for breaking up thick ore bodies according to claim 1, characterized in that: During each monitoring moment, ground-penetrating radar waves and short-range low-frequency acoustic waves are emitted from the roof of the corresponding cycle segment, and echo signals are received. The ground-penetrating radar waves have a center frequency in the range of 100–250MHz, a bandwidth of 100–250MHz, and a single pulse duration of 0.3–1.5μs. The short-range low-frequency acoustic waves have a main frequency band in the range of 1–8kHz and a wave packet length of 2–10ms.

4. A continuous mining and filling method for breaking up thick ore bodies according to claim 3, characterized in that: The method for obtaining the proportion of high-frequency signals by performing Fourier transform on the ground-penetrating radar echo signal is as follows: The geological radar wave echo signal is filtered by a 50 Hz low-pass filter, preprocessed by a sliding average method, and converted from time domain to frequency domain spectrum by fast Fourier transform to obtain the frequency distribution and corresponding amplitude information of the signal. With the center frequency of the currently selected geological radar wave as the benchmark, the high frequency band is defined as 1.2-2.0 times the center frequency. The total energy of the high frequency band is obtained by integrating the square of the amplitude corresponding to each frequency point in the high frequency band, and the total energy of the full frequency band is obtained by integrating the square of the amplitude corresponding to each frequency point in the full frequency band. Finally, the ratio of the total energy of the high frequency band to the total energy of the full frequency band is taken as the high frequency signal proportion.

5. A continuous mining and filling method for breaking up thick ore bodies according to claim 3, characterized in that: The method for calculating the sound wave propagation speed based on the propagation time corresponding to the maximum amplitude energy peak of the short-range low-frequency sound wave is: The excitation source is fixed at the center of the roof, and two receiving sensors are linearly arranged along the upper part of the two sides of the roadway to obtain the distance between the excitation source and the two receiving sensors. After the sound wave is emitted, a 1 kHz high-pass filter is used to filter the collected short-range low-frequency sound wave. In the preprocessed signal time domain waveform, the maximum amplitude energy peak corresponding to the reflected wave is located, i.e. the signal peak value point with the maximum absolute value of amplitude is locked. Taking the excitation source trigger time as the time origin, the time coordinate corresponding to the signal peak value point is the propagation time of the sound wave from the excitation source to the corresponding receiving sensor. Based on the corresponding arrival time, the propagation time is determined, and the ratio of the distance between the excitation source and the receiving sensor to the corresponding arrival time is taken as the single sound wave propagation speed. The arithmetic mean of the two single sound wave propagation speeds is taken as the sound wave propagation speed.

6. A continuous mining and filling method for breaking up thick ore bodies according to claim 5, characterized in that: The method for determining whether the cycle section is abnormal based on the time domain variation data, the surrounding rock deformation section data, and the DTW distance of the geological radar wave echo signal between adjacent monitoring moments is: In The surrounding rock deformation section data, the high-frequency signal proportion change degree, the sound wave propagation speed change degree, and the DTW distance analysis of the geological radar wave echo signal of each continuous two monitoring are analyzed at the monitoring time of each time interval, wherein, is a positive integer greater than 3, and the specific process is as follows: For surrounding rock deformation section data analysis, the difference between the currently monitored surrounding rock deformation section data and the first monitored surrounding rock deformation section data is taken as the relative change rate of the surrounding rock deformation section data, and the ratio of the first monitored surrounding rock deformation section data is taken as the relative change rate of the surrounding rock deformation section data. For high frequency signal proportion and sound wave propagation speed analysis, the difference between the current high frequency signal proportion and the initial high frequency signal proportion is taken as the high frequency signal proportion change degree, and the ratio of the initial high frequency signal proportion is taken as the high frequency signal proportion change degree. The difference between the current sound wave propagation speed and the initial sound wave propagation speed is taken as the sound wave propagation speed change degree, and the ratio of the initial sound wave propagation speed is taken as the sound wave propagation speed change degree. The DTW distance analysis of the pre-processed geological radar wave echo signals of each two consecutive monitoring is performed by using the Min-Max standardization method to process the geological radar wave echo signals of the two monitoring, and the two signals are converted into one-dimensional data sequences respectively, and a distance matrix is constructed based on the one-dimensional data sequences, and the value of each position in the matrix is the Euclidean distance between the data point at the corresponding position of the one-dimensional data sequence of the first signal after standardization and all data points in the one-dimensional data sequence of the second signal after standardization, that is, the result of squaring the difference between the two data points; then, the optimal matching path is found, starting from the top left corner of the distance matrix and ending at the bottom right corner, and the path with the minimum cumulative distance is the optimal matching path, wherein the path movement rule is limited to three, namely right, down and diagonal; finally, the sum of all matrix elements on the optimal matching path is obtained, and the result of dividing the cumulative distance by the sequence length is the DTW distance of the two signals; during the process, the constraint window is set to 10% of the sequence length, that is, the optimal matching path can only move within the range of 10% of the sequence length on both sides of the main diagonal; The first change threshold of the high-frequency signal proportion, the first change threshold of the sound wave speed and the first threshold of the geological radar wave distance are set respectively, wherein for the first change threshold of the high-frequency signal proportion, the 1-2 grade rock mass is set to 15%-20%, and the 3-5 grade rock mass is set to 10%-15%; for the first change threshold of the sound wave speed, it is uniformly set to 10%-15%; for the first threshold of the geological radar wave distance, the 1-2 grade rock mass is set to 15%-25%, the 3 grade rock mass is set to 20%-30%, and the 4-5 grade rock mass is set to 25%-35%; At each monitoring time, when the monitoring data of the circulating section meets any one of the following conditions, it is comprehensively determined that the circulating section has an abnormality: Any one of the roof subsidence, the two side horizontal displacement and the section convergence value in the surrounding rock deformation section reaches the corresponding rock mass grade warning threshold; the high-frequency signal proportion change degree reaches the first change threshold of the high-frequency signal proportion; the sound wave propagation speed change degree reaches the first change threshold of the sound wave speed; the DTW distance of the geological radar wave echo signals of the two consecutive monitoring reaches the first threshold of the geological radar wave distance.

7. A continuous mining and filling method for breaking up thick ore bodies according to claim 6, characterized in that: The method for optimizing the grade of the top temporary support is: When the monitoring data of the circulating section meets any one of the following conditions based on the first change threshold of the high-frequency signal proportion, the first change threshold of the sound wave speed and the first threshold of the geological radar wave distance, the current grade of the top temporary support is upgraded by one grade, and when the current grade is 5, an alarm is directly given, and the condition is that: The high-frequency signal proportion change degree reaches the first change threshold of the high-frequency signal proportion; the sound wave propagation speed change degree reaches the first change threshold of the sound wave speed; the DTW distance of the geological radar wave echo signals of the two consecutive monitoring reaches the first threshold of the geological radar wave distance.

8. A continuous mining and filling method for breaking up thick ore bodies according to claim 6, characterized in that: The method for optimizing the grade of the temporary support at the top is as follows: When the number of standard templates corresponding to the rock mass grade of the current circulating section is not less than N, the threshold is updated, and the statistics are performed according to the monitoring time group. The specific steps are as follows: Group all the standard templates under the same rock mass grade according to the monitoring time, that is, each group corresponds to a monitoring time. Calculate the DTW distance of the geological radar wave echo signal in any two standard templates in each group. Extract the change degree of the high-frequency signal proportion, the change degree of the sound wave propagation speed and the DTW distance of the geological radar wave echo signal in any two standard templates under the monitoring time corresponding to each group, and respectively calculate the mean and standard deviation of the change degree of the high-frequency signal proportion, the change degree of the sound wave propagation speed and the DTW distance of the geological radar wave echo signal. According to the statistical mean in the corresponding group, the range of the high-frequency signal proportion new threshold, the sound wave propagation speed new threshold and the geological radar wave distance new threshold is respectively extended to 2-3 times of the standard deviation on both sides, and the high-frequency signal proportion new threshold, the sound wave propagation speed new threshold and the geological radar wave distance new threshold are continuously updated. When the monitored data of the current circulating section meets any one of the following conditions, the grade of the temporary support at the top is upgraded by one grade, and when the current grade is 5, an alarm is directly given. The conditions are as follows: According to the set high-frequency signal proportion new threshold, sound wave speed new threshold and geological radar wave distance new threshold, when the change degree of the high-frequency signal proportion reaches the high-frequency signal proportion new threshold, the change degree of the sound wave propagation speed reaches the sound wave speed new threshold, and the DTW distance of the current monitored geological radar wave echo signal and the geological radar wave echo signal in any one standard template in the corresponding group exceeds the geological radar wave distance new threshold of the corresponding group.

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