A dynamic and static cooperative monitoring method for monitoring cross-boundary goaf

Abstract

The application discloses a dynamic and static cooperative monitoring method for cross-border goaf monitoring, which comprises the following steps: determining the space boundary of the goaf through geological survey; establishing a static benchmark database by using a static monitoring hole with a multi-sensor array arranged in the hole; collecting the measurement-while-drilling data of the grouting hole during the construction of the grouting filling engineering to realize dynamic construction sensing; fusing the static slowly-varying time sequence data and the dynamic instantaneous data to draw a plane distribution model of the regional water level, temperature and gas; after determining that the monitoring hole is invalid or the range is out of limit according to the monitoring data, supplementing the second stage of the replacement monitoring hole; finally, through the dynamic and static cooperation and closed-loop control, the grouting material ratio, the upper limit of the grouting amount and the drainage rate of the water drainage are dynamically adjusted based on the detection results. The application solves the problems of large blind area and poor timeliness of the traditional monitoring means in the cross-border goaf detection, improves the early warning accuracy of the cross-border goaf hidden danger, and realizes the dynamic and static cooperation and closed-loop control.

Description

Technical Field

[0001] This invention relates to the field of goaf management technology, specifically to a dynamic and static coordinated monitoring method for monitoring goaf areas that extend beyond their boundaries. Background Technology

[0002] Complex goaf areas formed by illegal mining in underground mines typically face a combination of hazards, including water accumulation, spontaneous combustion of residual coal, and the release of toxic and harmful gases. During the goaf remediation process, continuous and accurate monitoring of the aforementioned water, fire, and gas environments is essential to guide engineering construction.

[0003] Currently, monitoring of cross-boundary mining subsidence areas mainly relies on single fixed static monitoring wells. This traditional static monitoring method has a large spatial blind spot and cannot reflect complex geological changes caused by disturbances such as grouting. Relying solely on static time-series data makes it difficult to accurately invert and define the actual spatial location of residual cavities, collapse zones, and water-conducting fracture zones within the mining subsidence area, resulting in insufficient accuracy and comprehensiveness in hazard detection.

[0004] During long-term grouting and drainage operations, the geological and hydrological environment of the goaf will change accordingly. The existing monitoring network lacks an adaptive adjustment mechanism. When the grouting fluid spreads underground and encapsulates and intrudes into the sensors, causing them to be damaged, or when the water level in the goaf continuously migrates, causing the original high-point monitoring holes to exceed the effective measurement range, the original physical monitoring nodes will directly fail. This rigid hole layout method is prone to creating new monitoring blind spots during the project's progress, and cannot guarantee the continuity of monitoring data throughout the entire treatment cycle. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a dynamic and static coordinated monitoring method for monitoring cross-boundary goaf areas, which solves the problem that the original physical monitoring nodes will directly fail when the water level in the goaf area continuously migrates, causing the original high-point monitoring holes to exceed the effective measurement range.

[0006] To achieve the above objectives, the present invention provides the following technical solution: 1. A dynamic and static coordinated monitoring method for monitoring cross-boundary goaf areas, comprising the following steps: S1 Geological Exploration Steps: Exploration boreholes are arranged at the suspected boundaries and structural zones of the goaf to obtain geological exploration data to determine the spatial boundaries of the goaf cavity, overlying fissure zone and water accumulation area, and to generate a spatial distribution database of the goaf. S2 Static benchmark monitoring steps: Based on the goaf spatial distribution database, first-stage static monitoring holes are set up above the goaf, and an integrated sensor array is set up in the first-stage static monitoring holes to collect initial water level data, coal and rock temperature data and gas concentration data, and establish a static benchmark database. S3 Dynamic Construction Sensing Steps: During the construction of the grouting and filling project in the goaf, collect drilling measurement data and transient working condition data of the grouting holes, and combine them with real-time images of the borehole wall to obtain borehole wall morphology parameters, transient temperature parameters and transient gas composition parameters. S4 Static and Dynamic Data Fusion Step: The slowly varying time-series data in the static benchmark database is spatiotemporally matched with the transient discrete data obtained in the dynamic construction sensing step, and the transient discrete data is used to correct the slowly varying time-series data to calculate the planar distribution model of regional water level, regional temperature and regional gas. S5 monitoring network adaptive adjustment steps: Based on the planar distribution model and grouting project progress, when it is determined that the original static monitoring holes have failed or exceeded the measurement range, the effective area boundary is delineated and a second-stage replacement monitoring hole is added. S6 integrated closed-loop management steps: Receive global monitoring network data and output early warning parameters, and adjust the grouting filling material ratio, grouting volume limit and drainage rate according to the early warning parameters.

[0007] Preferably, the geological exploration steps specifically include: Extract the borehole coordinates and borehole boundary detection data of the exploration boreholes located outside the boundary of the roadway pillar goaf, compare their positions with the mining engineering plan, and verify the parameters of the historical drawings. Data on the integrity of borehole walls and data on deep borehole wall fractures are obtained from the exploration boreholes located above the working face. The three-dimensional development location of the goaf cavities, the height of overburden damage, and the depth of water accumulation in the goaf are calculated by combining the actual spatial spacing between the boreholes, so as to generate the spatial distribution database of the goaf.

[0008] Preferably, in the static benchmark monitoring step, the first-stage static monitoring boreholes are deployed according to the spatial distribution database of the goaf area, specifically including: The spatial boundaries of different types of goaf areas are analyzed, and the initial layout coordinates are determined by executing preset spatial constraints. The spatial constraints satisfy the preset lower limit of horizontal spacing and the preset lower limit of the number of static monitoring holes for each type of goaf area. Extract the floor elevation data to calculate the floor elevation trend inside the cross-boundary goaf area. Divide the roadway pillar goaf area with higher floor elevation into high point coordinate area and the longwall goaf area with lower floor elevation into low point coordinate area. Differentiately assign the first stage static monitoring holes to the corresponding areas.

[0009] Preferably, the integrated sensor array includes a water level telemetry instrument, a distributed fiber optic temperature measurement system, and a fire tube monitoring system. Specifically, setting the integrated sensor array within the first-stage static monitoring aperture includes: The suspension rope of the water level telemetry instrument, the sensing cable of the distributed optical fiber temperature measurement system, and the sampling pipeline of the fire bundle tube monitoring system are fixed to the outer wall of the bearing sleeve by layer binding and lowered into the hole through the bearing sleeve. At the same time, the sealing and water-stopping operation is performed at the hole opening. The received coal and rock temperature data, gas concentration data, and initial water level data are time-stamp aligned, and the aligned multidimensional sensor data is stored in the static reference database.

[0010] Preferably, in the dynamic construction sensing step, the collection of drilling-while-drilling measurement data from grouting holes for error control and adjustment calculation of the drilling trajectory specifically includes: Monitor the borehole trajectory deviation and determine whether the real-time drilling trajectory meets the preset borehole deviation control constraints. When the borehole deviation control constraints are exceeded, output a borehole deviation over-limit alarm command. Before penetrating the target coal seam, extract the actual measured length and theoretical calculated length of the drill bit, and calculate the relative measurement error of the current drilling depth based on the relative measurement error calculation program; When the relative measurement error is determined to be greater than the preset adjustment trigger threshold, the depth adjustment calculation program is triggered and the current borehole depth data record is updated.

[0011] Preferably, in the dynamic construction sensing step, the geological stratum inversion for abnormal drilling conditions is performed based on the acquired transient working condition data, specifically including: When the extracted vertical displacement data of the drill bit loss exceeds the preset conventional advance threshold, the elevation at the location where the drill bit loss occurred is marked as the top boundary of the residual cavity in the goaf, and the vertical displacement data of the drill bit loss is equivalently mapped to the vertical physical height of the residual cavity. When the amount of flushing fluid leakage exceeds the preset liquid consumption threshold and a hole suction signal is received simultaneously, the current drilling depth area is determined to be a water-conducting fracture zone, and the elevation distribution range of the water-conducting fracture zone is recorded. When the real-time image of the borehole wall at the depth where the drill bit is stuck shows disordered rock mass accumulation and lacks a complete bedding structure, the depth range where the drill bit is stuck is determined to be the caving zone of the overlying strata of the goaf.

[0012] Preferably, the dynamic and static data fusion step specifically includes: Based on the boundary of the residual cavity, the elevation distribution range of the water-conducting fracture zone, and the depth range of the caving zone, a single-hole geological stratum profile model is constructed at the corresponding grouting hole location; Using the actual overburden fracture boundary in the single-hole geological stratigraphic profile model, the data in the spatial distribution database of the goaf are corrected to calculate and update the planar distribution model of the regional water level, regional temperature, and regional gas.

[0013] Preferably, in the adaptive adjustment step of the monitoring network, determining whether the original static monitoring aperture has failed or exceeded the measurement range specifically includes: When it is determined that the distributed optical fiber temperature measurement system has a physical interruption of data transmission at a specific depth layer, or when the water level telemetry instrument receives a pressure abnormal signal caused by grout encapsulation, the first-stage static monitoring hole at the corresponding coordinate position is marked as a grouting filling failure hole. By comparing the real-time water level elevation data with the physical installation bottom elevation of the water level telemetry instrument in the first-stage static monitoring well, if it is determined that the real-time water level elevation data is lower than the physical installation bottom elevation, it is determined that the water level measurement range of the corresponding first-stage static monitoring well has exceeded the limit.

[0014] Preferably, in the adaptive adjustment step of the monitoring network, the supplementary second-stage replacement monitoring aperture specifically includes: Extract the water level migration vector from the real-time water level elevation data. When it is determined that the water level in the goaf area is continuously migrating to a low elevation area and causing the original monitoring well to exceed the water level range limit, generate a first type of supplementary coordinate along the low elevation area at the front end of the water level migration vector. In the un-grouted area within the original three-dimensional coordinate preset radius of the failed grouting hole, and in the spatial location where abnormal gas concentration or temperature values ​​are determined, a second type of supplementary coordinate is generated. The preset radius is determined comprehensively based on the effective monitoring coverage radius of the sensor and the grout diffusion safety distance of adjacent grouting holes. The first type of supplementary coordinates and the second type of supplementary coordinates are integrated to generate a second-stage hole layout spatial dataset, which is then output to external ground drilling equipment to perform physical hole-forming operations at the corresponding coordinate positions.

[0015] A dynamic and static coordinated monitoring system for monitoring cross-boundary goaf areas includes: The geological exploration module is used to output the coordinates of the exploration boreholes for the suspected boundaries and structural zones of the goaf, and to receive geological exploration data to generate a spatial distribution database of the goaf. The static benchmark monitoring module is used to deploy the first-stage static monitoring holes and set up an integrated sensor array according to the spatial distribution database of the goaf area, and collect initial water level data, coal and rock temperature data and gas concentration data to establish a static benchmark database. The dynamic construction sensing module is used to collect drilling measurement data, transient working condition data and real-time images of the borehole wall during the grouting and filling project. The static and dynamic data fusion module is used to perform spatiotemporal matching between slowly varying time-series data and transient discrete data, and to use the transient discrete data to correct the slowly varying time-series data and calculate the planar distribution model. The monitoring network adaptive adjustment module is used to supplement a second-stage replacement monitoring hole according to the planar distribution model when it is determined that the static monitoring hole has failed or exceeded the measurement range. The integrated closed-loop control module is used to receive global monitoring network data and output early warning parameters to adjust the grouting filling material ratio, the upper limit of grouting volume, and the drainage rate.

[0016] This invention provides a dynamic and static combined monitoring method for monitoring cross-boundary mining subsidence areas. It has the following beneficial effects: 1. This invention effectively improves the accuracy and comprehensiveness of goaf hazard detection by combining static benchmark monitoring with dynamic construction sensing. Existing single static monitoring is prone to spatial blind spots. This invention uses the first-stage static monitoring boreholes to construct a long-term continuous slowly varying data benchmark. At the same time, during the grouting construction, transient discrete working condition data such as stuck drill, dropped drill, and air suction at the borehole are extracted. By using the above-mentioned dynamic transient discrete data to correct the static slowly varying time series data, the actual spatial location of the residual cavity, collapse zone, and water-conducting fracture zone in the goaf can be accurately inverted and defined, thereby constructing a high-precision planar distribution model of water level, temperature, and gas.

[0017] 2. This invention constructs an adaptive adjustment mechanism for the monitoring network, ensuring the continuity of monitoring data throughout the entire cycle of cross-boundary mining subsidence area remediation. During continuous grouting and drainage operations, the geological and hydrological environment will change. This invention determines the grouting filling failure holes by extracting physical anomaly signals from the distributed fiber optic temperature measurement system and water level telemetry instrument, and identifies holes with excessive range based on the water level migration vector. Based on this, the system calculates and supplements the second-stage replacement monitoring holes in the corresponding effective area and at the front end of the water level migration, solving the problem of local failure of the original monitoring network caused by the progress of the project and eliminating monitoring blind spots.

[0018] 3. This invention improves the overall collaborative management efficiency through closed-loop linkage of multi-parameter integrated monitoring and engineering management. This invention uses an integrated sensor array to simultaneously collect water level, coal and rock temperature at multiple depths and concentrations of various gas components in a single hole, reducing the amount of engineering work required for individual drilling. At the same time, this invention directly outputs the multi-dimensional planar distribution model and early warning parameters generated by dynamic and static fusion to the integrated closed-loop control module for real-time adjustment of grouting filling material ratio, grouting volume limit and drainage rate, realizing collaborative early warning and dynamic closed-loop control of water accumulation in cross-boundary goaf areas, spontaneous combustion of residual coal and toxic and harmful gases. Attached Figure Description

[0019] Figure 1 This is a structural diagram of the dynamic and static coordinated monitoring system module of the present invention; Figure 2 This is a comparison diagram of the underground and surface areas of the cross-border mining area according to the present invention.

[0020] Among them, 10 is the geological exploration module; 20 is the static benchmark monitoring module; 30 is the dynamic construction perception module; 40 is the dynamic and static data fusion module; 50 is the monitoring network adaptive adjustment module; and 60 is the integrated closed-loop management and control module. Detailed Implementation

[0021] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Example: See attached document Figure 1 -Appendix Figure 2 The present invention provides a dynamic and static collaborative monitoring system for cross-boundary mining subsidence areas, comprising: a geological exploration module 10, a static benchmark monitoring module 20, a dynamic construction sensing module 30, a dynamic and static data fusion module 40, a monitoring network adaptive adjustment module 50, and an integrated closed-loop management and control module 60.

[0023] The geological exploration module 10 is used to deploy exploration boreholes at suspected boundaries and structural zones of the goaf, and to obtain core observation data, borehole television imaging data, and flushing fluid loss data through the deployed exploration boreholes. The geological exploration module 10 combines the acquired data from adjacent mining operations with the aforementioned core observation data, borehole television imaging data, and flushing fluid loss data to verify historical drawing parameters and determine the spatial boundaries of goaf cavities, overlying fracture zones, and water accumulation areas.

[0024] The static benchmark monitoring module 20 is used to deploy the first-stage static monitoring boreholes above the goaf, and to install a water level telemetry instrument, a distributed fiber optic temperature measurement system, and a fire bundle tube monitoring system within the first-stage static monitoring boreholes. The static benchmark monitoring module 20 collects initial water level data, coal and rock temperature data, and gas concentration data of the goaf under conditions undisturbed by remediation projects, and establishes a static benchmark database.

[0025] The dynamic construction sensing module 30 is used to collect drilling measurement data of grouting holes during the construction of grouting and filling projects in goaf areas. Specifically, it records the stuck drill depth, dropped drill depth, air intake and flushing fluid consumption during the drilling process. The dynamic construction sensing module 30, combined with the TV probe image and testing equipment in the grouting hole, obtains real-time hole wall morphology parameters, transient temperature parameters and transient gas composition parameters.

[0026] The static and dynamic data fusion module 40 is communicatively connected to the static benchmark monitoring module 20 and the dynamic construction sensing module 30, respectively. The static and dynamic data fusion module 40 performs spatiotemporal matching between the slowly varying time series data acquired by the static benchmark monitoring module 20 and the transient discrete data acquired by the dynamic construction sensing module 30, and uses the transient discrete data to correct the slowly varying time series data to calculate the planar distribution model of regional water level, regional temperature and regional gas.

[0027] The monitoring network adaptive adjustment module 50 is connected to the dynamic and static data fusion module 40. It is used to adjust the spatial layout of static monitoring holes according to the planar distribution model generated by the dynamic and static data fusion module 40 and the progress of grouting project. When the monitoring network adaptive adjustment module 50 determines that the original static monitoring hole is ineffective or exceeds the measurement range, it adds a second-stage replacement monitoring hole in the corresponding effective area.

[0028] The integrated closed-loop control module 60 is connected to each of the above modules to receive global monitoring network data and output early warning parameters. The integrated closed-loop control module 60 adjusts the grouting filling material ratio, the upper limit of grouting volume and the drainage rate according to the early warning parameters to complete the adjustment of the treatment project parameters.

[0029] See attached document Figure 1 -Appendix Figure 2 In conjunction with the aforementioned dynamic and static coordinated monitoring system, this invention provides a method for goaf exploration and geological data acquisition, comprising: The geological exploration module 10 acquires the plan view of the mining project of the adjacent mine in the cross-border mining area and the initial geological data, and outputs the layout coordinates of the exploration boreholes based on the above data. The external ground drilling equipment lays out multiple goaf exploration boreholes in the suspected boundary and structural zone of the cross-border goaf area according to the layout coordinates. In this embodiment, the layout coordinates include six goaf exploration boreholes, which are marked as exploration boreholes K1 to K6 in sequence.

[0030] The geological exploration module 10 receives core observation data, borehole television imaging data, and flushing fluid leakage data generated during the drilling process of exploration holes in each goaf area.

[0031] Specifically, the geological exploration module 10 extracts the borehole coordinates and borehole boundary detection data of the exploration borehole K1 located 2 meters outside the western boundary of the roadway-pillar goaf, and compares the above data with the mining engineering plan to verify the accuracy of the historical drawing parameters.

[0032] The geological exploration module 10 acquires the borehole wall integrity data of exploration borehole K2 located above the surface corresponding to the blasting working face and exploration borehole K6 located above the longwall working face affected by water accumulation, and calculates the overburden destruction height, cavity residual volume and goaf water depth based on the above borehole wall integrity data.

[0033] The geological exploration module 10 acquires deep borehole wall fracture data of exploration boreholes K3 and K4 located at the end of the longwall mining face and exploration borehole K5 located in the preparation working face area, and determines the spatial extension boundary of the goaf in the corresponding strata by combining the deep borehole wall fracture data.

[0034] The geological exploration module 10 extracts the elevation values ​​of the cavity in the borehole wall and the elevation values ​​of the high-angle crack during the borehole formation process of each exploration borehole. Combined with the core fragmentation degree value and the actual spatial distance between adjacent exploration boreholes, it calculates the three-dimensional development location and size parameters of the cavity in the goaf.

[0035] The geological exploration module 10 receives the water level observation values ​​inside the exploration boreholes that connect to the goaf, and integrates the aforementioned geological exploration data to generate a spatial distribution database of the goaf that includes water accumulation areas and hidden cavities. The geological exploration module 10 sends the above spatial distribution database to the static benchmark monitoring module 20 as the data basis for determining the coordinates of subsequent monitoring boreholes.

[0036] See attached document Figure 1 -Appendix Figure 2 This invention provides a spatial constraint model and implementation method for differentiated aperture layout, including: The static benchmark monitoring module 20 receives the goaf spatial distribution database sent by the geological exploration module 10, and parses the goaf spatial distribution database to determine the spatial boundaries of different types of goaf. The goaf types include roadway pillar goaf and longwall goaf. The static benchmark monitoring module 20 constructs a static monitoring network layout model based on the above spatial boundaries, and then outputs the initial layout coordinates of the first stage static monitoring holes, so that external ground drilling equipment can carry out physical drilling operations based on the initial layout coordinates.

[0037] The static benchmark monitoring module 20 executes preset spatial constraints when calculating the initial layout coordinates. Let the horizontal spacing between two adjacent first-stage static monitoring wells be... To determine the number of static monitoring boreholes to be deployed for each type of goaf, the static benchmark monitoring module 20 must satisfy the following constraints when defining the deployment coordinates:

[0038]

[0039] In the above formula: The horizontal spacing between two adjacent first-stage static monitoring wells, in units of ; The number of static monitoring wells deployed for each type of goaf is a positive integer.

[0040] The static benchmark monitoring module 20 determines the physical coverage of the monitoring network and the number of data acquisition nodes through the above spatial constraints, ensuring that each type of goaf area is allocated at least two independent data acquisition nodes.

[0041] The static benchmark monitoring module 20 extracts floor elevation data from the goaf spatial distribution database and calculates the floor elevation trend within the cross-boundary goaf based on the floor elevation data. Through elevation value comparison, the static benchmark monitoring module 20 determines that the coal seam floor elevation of the western side pillar-type goaf is higher than that of the eastern side longwall-type goaf, and performs differential division of coordinate groups accordingly. The static benchmark monitoring module 20 assigns the first-stage static monitoring holes to high-point coordinate regions and low-point coordinate regions. Specifically, the static benchmark monitoring module 20 assigns monitoring holes J3, J4, J5, and J6 to the high-point coordinate region of the western side pillar-type goaf. The four assigned monitoring holes meet the above-mentioned number of monitoring holes for the pillar-type goaf. Under the constraints, the static benchmark monitoring module 20 assigns monitoring holes J1 and J2 to the low-point coordinate area of ​​the eastern longwall goaf, and the two assigned monitoring holes satisfy the above-mentioned number of monitoring holes in the longwall goaf. The constraints.

[0042] The static benchmark monitoring module 20 receives the temperature, gas concentration, and initial water level values ​​of the residual coal in the cross-boundary goaf area from the sensors in the monitoring holes arranged in the high point coordinate area. As the water level in the goaf drops and migrates to the longwall goaf area to the east, the static benchmark monitoring module 20 continues to receive the water level values ​​from the sensors in the monitoring holes arranged in the low point coordinate area, maintaining full-cycle in-situ acquisition of the water level inside the goaf to prevent the water level from falling back beyond the effective range of the sensors in the high point coordinate area.

[0043] See attached document Figure 1 -Appendix Figure 2 In conjunction with the aforementioned dynamic and static coordinated monitoring system, this invention provides a method for deploying and acquiring data from an integrated sensor array, comprising: The static benchmark monitoring module 20 acquires the internal spatial parameters of the first-stage static monitoring hole. Based on the internal spatial parameters, the external construction equipment synchronously lowers and installs an integrated sensor array inside the first-stage static monitoring hole. During the installation process, the suspension rope of the water level telemetry instrument, the sensing cable of the distributed fiber optic temperature measurement system, and the sampling pipeline of the fire bundle tube monitoring system are fixed to the outer wall of the bearing sleeve in a layered binding manner and lowered into the first-stage static monitoring hole through the bearing sleeve. At the same time, a sealing and water-stopping operation is performed at the opening of the first-stage static monitoring hole to isolate the external surface air.

[0044] The sensor cable of the distributed fiber optic temperature measurement system is laid through the entire hole along the hole axis of the first-stage static monitoring hole. The static reference monitoring module 20 is connected to the distributed fiber optic temperature measurement system to receive the coal and rock temperature values ​​at different depths collected by the distributed fiber optic temperature measurement system.

[0045] The sampling pipe end of the fire bundle tube monitoring system is lowered to the location of the coal seam roof collapse zone of the first-stage static monitoring hole. The static reference monitoring module 20 is connected to the fire bundle tube monitoring system to receive the concentration data of eight gas components, namely O2, N2, CH4, CO, CO2, C2H4, C2H6 and H2, which are collected synchronously by the fire bundle tube monitoring system.

[0046] The water level telemetry instrument is suspended and fixed below the predicted water accumulation elevation at the bottom of the first-stage static monitoring hole. The static benchmark monitoring module 20 is connected to the water level telemetry instrument to receive the groundwater level elevation data and water pressure data collected by the water level telemetry instrument.

[0047] The static benchmark monitoring module 20 performs timestamp alignment processing on the received coal and rock temperature values, gas component concentration data, and groundwater level elevation data, and stores the aligned multidimensional sensor data in the static benchmark database. The static benchmark monitoring module 20 outputs the initial static benchmark parameters of the environmental state of the cross-boundary goaf area based on the static benchmark database.

[0048] See attached document Figure 1 -Appendix Figure 2 This invention provides a method for error control and adjustment calculation of drilling trajectory, comprising: The dynamic construction sensing module 30 receives the drilling measurement data of the grouting hole from the external drilling equipment during the grouting and filling project in the goaf. The drilling process of the grouting hole performed by the external drilling equipment includes the first-stage drilling, hole clearing and enlargement, well pipe installation, sealing and water stopping, and the second-stage drilling operation.

[0049] The dynamic construction sensing module 30 verifies the hole diameter configuration parameters issued by the external drilling equipment to confirm that the actual opening diameter of the grouting hole used by the external drilling equipment is greater than or equal to 192 mm, and that a protective casing with a diameter of 180 mm is configured in the loose stratum section, while limiting the final hole diameter in the bedrock section to 127 mm.

[0050] The dynamic construction sensing module 30 receives data from an external drilling tilt sensor during the grouting and hole formation process to monitor the deviation of the drilling trajectory in segments. Let be the current actual drilling depth of the grouting hole, in meters; To determine the maximum allowable borehole inclination deviation angle at the corresponding depth, the dynamic construction sensing module 30 judges whether the real-time drilling trajectory meets the preset borehole inclination control constraint conditions. The calculation formula for these borehole inclination control constraint conditions is as follows:

[0051] The dynamic construction sensing module 30 verifies whether the borehole inclination angle within a 100-meter depth range is within 1 degree based on the aforementioned borehole inclination control constraints. It also verifies whether the increase in borehole inclination angle is no greater than 1 degree for every 100-meter increase in drilling depth. When the borehole inclination exceeds the aforementioned control constraints, the dynamic construction sensing module 30 outputs a borehole inclination over-limit alarm command to the external drilling rig. The dynamic construction sensing module 30 acquires drill string measurement data collected by the external drilling rig at specific construction nodes. These specific construction nodes include every 100-meter cumulative increase in drilling depth, locations of severe borehole wall leakage, borehole diameter changes, and the location of reaching the final borehole depth. The dynamic construction sensing module 30 extracts the actual measured length of the drill string before the external drilling equipment penetrates the target coal seam. For the actual measured length of the drill bit, let... Based on the theoretical length calculated from the number of drill pipes lowered, the dynamic construction sensing module 30 calculates the relative measurement error of the current drilling depth. The calculation formula is:

[0052] Dynamic construction sensing module 30 compares relative measurement error When the dynamic construction sensing module 30 determines the relative measurement error compared to the preset adjustment trigger threshold... When the time is right, the depth adjustment calculation program is triggered, and the current borehole depth data record is updated according to the adjustment results to eliminate the cumulative deviation caused by the connection of multiple drill rod sections and ensure the calibration accuracy of the grouting hole depth.

[0053] See attached document Figure 1 -Appendix Figure 2 This invention provides a method for geological stratigraphic inversion under abnormal drilling conditions, comprising: The dynamic construction sensing module 30 receives transient working condition data output by external drilling equipment during the drilling process of the grouting hole. The transient working condition data specifically includes the depth of stuck drill, vertical displacement of the drill bit, air intake index, and flushing fluid leakage. At the same time, the dynamic construction sensing module 30 synchronously receives real-time images of the borehole wall captured by the borehole television probe.

[0054] The dynamic construction sensing module 30 extracts the vertical displacement data of the drill bit loss from the transient working condition data. When the vertical displacement data of the drill bit loss exceeds the preset conventional advance threshold, the dynamic construction sensing module 30 marks the elevation at the location where the drill bit loss occurred as the top boundary of the residual cavity in the goaf, and maps the above-mentioned vertical displacement value of the drill bit loss to the vertical physical height of the above-mentioned residual cavity.

[0055] The dynamic construction sensing module 30 compares the flushing fluid leakage and air intake indicators in the transient working condition data. When the flushing fluid leakage exceeds the preset liquid consumption threshold and the hole intake signal transmitted by the external wind speed sensor is received simultaneously, the dynamic construction sensing module 30 determines that the current drilling depth area is a water-conducting fracture zone and records the elevation distribution range of the water-conducting fracture zone in the formation.

[0056] The dynamic construction sensing module 30 extracts the depth of the stuck drill when the stuck drill condition occurs, and retrieves the real-time image of the borehole wall at the corresponding depth position. When the real-time image of the borehole wall shows disordered rock mass accumulation and does not have a complete bedding structure, the dynamic construction sensing module 30 determines that the above-mentioned stuck drill depth range is the collapse zone of the overlying rock strata of the goaf.

[0057] The dynamic construction perception module 30 integrates the residual cavity boundary, the elevation distribution range of the water-conducting fracture zone, and the depth range of the caving zone obtained from the aforementioned inversion to construct a single-hole geological stratum profile model at the corresponding grouting hole location, so as to map each of the above depth ranges with the corresponding overlying geological attributes one by one.

[0058] The dynamic construction perception module 30 sends the above-mentioned single-hole geological stratigraphic profile model to the dynamic and static data fusion module 40, so that the dynamic and static data fusion module 40 can use the actual overburden fracture boundary in the single-hole geological stratigraphic profile model to correct the geological data obtained in the early exploration stage.

[0059] See attached document Figure 1 -Appendix Figure 2 This invention provides a method for determining monitoring hole failure and identifying measurement range exceedance, comprising: The monitoring network adaptive adjustment module 50 obtains the real-time data link status of each first-stage static monitoring hole and the associated sensor data through the dynamic and static data fusion module 40.

[0060] The monitoring network adaptive adjustment module 50 extracts the physical state characteristics fed back by the distributed fiber optic temperature measurement system and the water level telemetry instrument to determine whether the first-stage static monitoring hole is affected by the intrusion of grouting fluid. When the monitoring network adaptive adjustment module 50 determines that the distributed fiber optic temperature measurement system has a physical interruption of data transmission at a specific depth layer, or receives a pressure abnormality signal caused by grouting encapsulation fed back by the water level telemetry instrument, the first-stage static monitoring hole at the corresponding coordinate position is marked as a grouting filling failure hole.

[0061] The monitoring network adaptive adjustment module 50 extracts real-time water level elevation data during grouting and drainage operations, and simultaneously acquires the physical installation bottom elevation of the water level telemetry instruments in each first-stage static monitoring hole arranged in the high point coordinate area on the west side.

[0062] The monitoring network adaptive adjustment module 50 compares the real-time water level elevation data with the physical installation bottom boundary elevation. When the monitoring network adaptive adjustment module 50 determines that the real-time water level elevation data is lower than the aforementioned physical installation bottom boundary elevation, it determines that the corresponding first-stage static monitoring hole located in the western high point coordinate area has exceeded the water level range limit.

[0063] The monitoring network adaptive adjustment module 50 integrates the spatial coordinates of the grouting filling failure holes and the spatial coordinates of the monitoring holes where the water level range exceeds the limit, and constructs the goaf monitoring node status matrix; then it analyzes the above goaf monitoring node status matrix and removes monitoring nodes with failure or exceeding limit tags from the global monitoring network.

[0064] Subsequently, the monitoring network adaptive adjustment module 50 delineates the effective area boundary for the second-stage replacement monitoring hole supplementation operation based on the coverage area of ​​the removed monitoring network, in order to eliminate monitoring blind spots caused by grouting coverage or water level migration.

[0065] See attached document Figure 1 -Appendix Figure 2 In conjunction with the aforementioned dynamic and static coordinated monitoring system, this invention provides a dynamic location method for supplementary monitoring wells in the second stage, comprising: The monitoring network adaptive adjustment module 50 obtains the effective area boundary after removing failed or over-limit monitoring nodes, and calculates the spatial coverage blind spots in the current monitoring network by combining the water level, temperature and gas plane distribution models output by the dynamic and static data fusion module 40.

[0066] Meanwhile, the monitoring network adaptive adjustment module 50 extracts the water level migration vector of the real-time water level elevation data. When it is determined that the water level in the goaf area is continuously migrating to the low elevation area on the east side and causing the original high point monitoring hole on the west side to exceed the range limit, the first type of supplementary coordinates are generated along the low elevation area at the front end of the water level migration vector.

[0067] Specifically, the monitoring network adaptive adjustment module 50 assigns the aforementioned first type of supplementary coordinates to monitoring holes J7 and J8 to undertake continuous in-situ monitoring of the water level in the low elevation area on the east side of the goaf, ensuring the continuity of water level data throughout the entire cycle.

[0068] In addition, the monitoring network adaptive adjustment module 50 extracts the original three-dimensional coordinates of the grouting failure hole, and generates a second type of supplementary coordinates in the un-grouted area within a preset radius of the original three-dimensional coordinates, as well as in the spatial location where the gas concentration or temperature value was determined to be abnormal during the previous grouting treatment. The preset radius is determined comprehensively based on the effective monitoring coverage radius of the sensor and the grout diffusion safety distance of adjacent grouting holes.

[0069] Furthermore, the monitoring network adaptive adjustment module 50 assigns the aforementioned second type of supplementary coordinates to monitoring holes J9 and J10 to replace the original physical monitoring nodes that have failed due to the intrusion of grouting fluid.

[0070] Finally, the monitoring network adaptive adjustment module 50 integrates the first type of supplementary coordinates and the second type of supplementary coordinates to generate the second-stage hole layout spatial dataset, and outputs the second-stage hole layout spatial dataset to the external ground drilling equipment so that the external ground drilling equipment can carry out physical hole formation and sensor array placement operations at the corresponding coordinate positions.

[0071] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A dynamic and static coordinated monitoring method for monitoring cross-boundary mining subsidence areas, characterized in that, Includes the following steps: S1 Geological Exploration Steps: Exploration boreholes are arranged at the suspected boundaries and structural zones of the goaf to obtain geological exploration data to determine the spatial boundaries of the goaf cavity, overlying fissure zone and water accumulation area, and to generate a database of the spatial distribution of the goaf. S2 Static benchmark monitoring steps: Based on the goaf spatial distribution database, first-stage static monitoring holes are set up above the goaf, and an integrated sensor array is set up in the first-stage static monitoring holes to collect initial water level data, coal and rock temperature data and gas concentration data, and establish a static benchmark database. S3 Dynamic Construction Sensing Steps: During the construction of the grouting and filling project in the goaf, collect drilling measurement data and transient working condition data of the grouting holes, and combine them with real-time images of the borehole wall to obtain borehole wall morphology parameters, transient temperature parameters and transient gas composition parameters. S4 Static and Dynamic Data Fusion Step: The slowly varying time-series data in the static benchmark database is spatiotemporally matched with the transient discrete data obtained in the dynamic construction sensing step, and the transient discrete data is used to correct the slowly varying time-series data to calculate the planar distribution model of regional water level, regional temperature and regional gas. S5 monitoring network adaptive adjustment steps: Based on the planar distribution model and grouting project progress, when it is determined that the original static monitoring holes have failed or exceeded the measurement range, the effective area boundary is delineated and a second-stage replacement monitoring hole is added. S6 integrated closed-loop management steps: Receive global monitoring network data and output early warning parameters, and adjust the grouting filling material ratio, grouting volume limit and drainage rate according to the early warning parameters.

2. The dynamic and static coordinated monitoring method for monitoring cross-boundary goaf areas according to claim 1, characterized in that, The goaf specifically includes pillar-type goaf and longwall goaf, and the geological exploration steps specifically include: Extract the borehole coordinates and borehole boundary detection data of the exploration boreholes located outside the boundary of the roadway pillar goaf, compare their positions with the mining engineering plan, and verify the parameters of the historical drawings. Data on the integrity of borehole walls and data on deep borehole wall fractures are obtained from the exploration boreholes located above the working face. The three-dimensional development location of the goaf cavities, the height of overburden damage, and the depth of water accumulation in the goaf are calculated by combining the actual spatial spacing between the boreholes, so as to generate the spatial distribution database of the goaf.

3. The dynamic and static coordinated monitoring method for monitoring cross-boundary goaf areas according to claim 1, characterized in that, In the static benchmark monitoring step, the first-stage static monitoring boreholes are deployed according to the spatial distribution database of the goaf area, specifically including: The spatial boundaries of different types of goaf areas are analyzed, and the initial layout coordinates are determined by executing preset spatial constraints. The spatial constraints satisfy the preset lower limit of horizontal spacing and the preset lower limit of the number of static monitoring holes for each type of goaf area. Extract the floor elevation data to calculate the floor elevation trend inside the cross-boundary goaf area. Divide the roadway pillar goaf area with higher floor elevation into high point coordinate area and the longwall goaf area with lower floor elevation into low point coordinate area. Differentiately assign the first stage static monitoring holes to the corresponding areas.

4. The dynamic and static coordinated monitoring method for monitoring cross-boundary goaf areas according to claim 1, characterized in that, The integrated sensor array includes a water level telemetry instrument, a distributed fiber optic temperature measurement system, and a fire tube monitoring system. Specifically, setting the integrated sensor array within the first-stage static monitoring aperture includes: The suspension rope of the water level telemetry instrument, the sensing cable of the distributed optical fiber temperature measurement system, and the sampling pipeline of the fire bundle tube monitoring system are fixed to the outer wall of the bearing sleeve by layer binding and lowered into the hole through the bearing sleeve. At the same time, the sealing and water-stopping operation is performed at the hole opening. The received coal and rock temperature data, gas concentration data, and initial water level data are time-stamp aligned, and the aligned multidimensional sensor data is stored in the static reference database.

5. A dynamic and static coordinated monitoring method for monitoring cross-boundary goaf areas according to claim 1, characterized in that, In the dynamic construction sensing step, the drilling trajectory error control and adjustment calculation are performed by collecting drilling-while-drilling measurement data from the grouting holes, specifically including: Monitor the borehole trajectory deviation and determine whether the real-time drilling trajectory meets the preset borehole deviation control constraints. When the borehole deviation control constraints are exceeded, output a borehole deviation over-limit alarm command. Before penetrating the target coal seam, extract the actual measured length and theoretical calculated length of the drill bit, and calculate the relative measurement error of the current drilling depth based on the relative measurement error calculation program; When the relative measurement error is determined to be greater than the preset adjustment trigger threshold, the depth adjustment calculation program is triggered and the current borehole depth data record is updated.

6. A dynamic and static coordinated monitoring method for monitoring cross-boundary goaf areas according to claim 1, characterized in that, In the dynamic construction sensing step, geological strata inversion for abnormal drilling conditions is performed based on the acquired transient working condition data, specifically including: When the extracted vertical displacement data of the drill bit loss exceeds the preset conventional advance threshold, the elevation at the location where the drill bit loss occurred is marked as the top boundary of the residual cavity in the goaf, and the vertical displacement data of the drill bit loss is equivalently mapped to the vertical physical height of the residual cavity. When the amount of flushing fluid leakage exceeds the preset liquid consumption threshold and a hole suction signal is received simultaneously, the current drilling depth area is determined to be a water-conducting fracture zone, and the elevation distribution range of the water-conducting fracture zone is recorded. When the real-time image of the borehole wall at the depth where the drill bit is stuck shows disordered rock mass accumulation and lacks a complete bedding structure, the depth range where the drill bit is stuck is determined to be the caving zone of the overlying strata of the goaf.

7. A dynamic and static coordinated monitoring method for monitoring cross-boundary goaf areas according to claim 6, characterized in that, The dynamic and static data fusion step specifically includes: Based on the boundary of the residual cavity, the elevation distribution range of the water-conducting fracture zone, and the depth range of the caving zone, a single-hole geological stratum profile model is constructed at the corresponding grouting hole location; Using the actual overburden fracture boundary in the single-hole geological stratigraphic profile model, the data in the spatial distribution database of the goaf are corrected to calculate and update the planar distribution model of the regional water level, regional temperature, and regional gas.

8. A dynamic and static coordinated monitoring method for monitoring cross-boundary goaf areas according to claim 1, characterized in that, In the adaptive adjustment step of the monitoring network, determining whether the original static monitoring aperture is faulty or exceeds the measurement range specifically includes: When it is determined that the distributed optical fiber temperature measurement system has a physical interruption of data transmission at a specific depth layer, or when the water level telemetry instrument receives a pressure abnormal signal caused by grout encapsulation, the first-stage static monitoring hole at the corresponding coordinate position is marked as a grouting filling failure hole. By comparing the real-time water level elevation data with the physical installation bottom elevation of the water level telemetry instrument in the first-stage static monitoring well, if it is determined that the real-time water level elevation data is lower than the physical installation bottom elevation, it is determined that the water level measurement range of the corresponding first-stage static monitoring well has exceeded the limit.

9. A dynamic and static coordinated monitoring method for monitoring cross-boundary goaf areas according to claim 8, characterized in that, In the adaptive adjustment step of the monitoring network, the supplementary second-stage replacement monitoring apertures specifically include: Extract the water level migration vector from the real-time water level elevation data. When it is determined that the water level in the goaf area is continuously migrating to a low elevation area and causing the original monitoring well to exceed the water level range limit, generate a first type of supplementary coordinate along the low elevation area at the front end of the water level migration vector. In the un-grouted area within the original three-dimensional coordinate preset radius of the failed grouting hole, and in the spatial location where abnormal gas concentration or temperature values ​​are determined, a second type of supplementary coordinate is generated. The preset radius is determined comprehensively based on the effective monitoring coverage radius of the sensor and the grout diffusion safety distance of adjacent grouting holes. The first type of supplementary coordinates and the second type of supplementary coordinates are integrated to generate a second-stage hole layout spatial dataset, which is then output to external ground drilling equipment to perform physical hole-forming operations at the corresponding coordinate positions.

10. A dynamic-static coordinated monitoring system for monitoring cross-boundary mining subsidence areas, used to implement the dynamic-static coordinated monitoring method according to any one of claims 1 to 9, characterized in that, include: The geological exploration module is used to output the coordinates of the exploration boreholes for the suspected boundaries and structural zones of the goaf, and to receive geological exploration data to generate a spatial distribution database of the goaf. The static benchmark monitoring module is used to deploy the first-stage static monitoring holes and set up an integrated sensor array according to the spatial distribution database of the goaf area, and collect initial water level data, coal and rock temperature data and gas concentration data to establish a static benchmark database. The dynamic construction sensing module is used to collect drilling measurement data, transient working condition data and real-time images of the borehole wall during the grouting and filling project. The static and dynamic data fusion module is used to perform spatiotemporal matching between slowly varying time-series data and transient discrete data, and to use the transient discrete data to correct the slowly varying time-series data and calculate the planar distribution model. The monitoring network adaptive adjustment module is used to supplement a second-stage replacement monitoring hole according to the planar distribution model when it is determined that the static monitoring hole has failed or exceeded the measurement range. The integrated closed-loop control module is used to receive global monitoring network data and output early warning parameters to adjust the grouting filling material ratio, the upper limit of grouting volume, and the drainage rate.

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