Downhole shock point location method and apparatus

Abstract

The present disclosure relates to the technical field of safety monitoring, and particularly provides a method and device for positioning a vibration point in a mine. The method comprises: obtaining spatial coordinates of a plurality of microseismic sensors arranged on a fully mechanized caving face in a preset coordinate system, a propagation velocity correction model, and a three-dimensional positioning equation set; collecting a plurality of vibration wave signals in real time through the plurality of microseismic sensors, and obtaining arrival times of the vibration wave signals; determining a rock stratum distribution according to a rock stratum column chart of the fully mechanized caving face, and testing a vibration wave propagation velocity distribution corresponding to the rock stratum distribution; calculating an equivalent average velocity of vibration wave propagation based on the rock stratum distribution and the vibration wave propagation velocity distribution by using the propagation velocity correction model; and calculating spatial coordinates of a vibration point in the preset coordinate system based on the spatial coordinates of the plurality of microseismic sensors, the arrival times of the plurality of vibration wave signals, and the equivalent average velocity of vibration wave propagation by using the three-dimensional positioning equation set. The present disclosure can significantly improve the positioning accuracy, real-time performance, and stability of a vibration point in a mine.

Description

Technical Field

[0001] This disclosure relates to the field of safety monitoring technology, and in particular to a method and apparatus for locating downhole vibration points. Background Technology

[0002] During the longwall mining process in underground coal mines, factors such as geological conditions, stress distribution, and roof strata characteristics can easily lead to vibration events such as roof collapse, rock strata pressure, and coal seam impact. These vibration events can not only damage underground equipment and block transportation channels, but also trigger secondary disasters such as gas exceedances and floods, seriously threatening the lives of construction workers.

[0003] In related technologies, downhole vibration monitoring typically employs a single sensor or a simple array. A single sensor can only determine the general area of ​​vibration, but cannot pinpoint the exact location. While simple arrays utilize time difference estimation, the arbitrary placement of sensors and failure to consider the influence of rock strata on wave velocity result in large positioning errors (typically ≥10 meters), slow response (≥30 seconds), monitoring blind spots, and unstable data transmission. Summary of the Invention

[0004] This disclosure is made in view of the above-mentioned problems. This disclosure provides a method and apparatus for locating downhole vibration points.

[0005] According to one aspect of this disclosure, a method for locating downhole vibration points is provided, comprising: The spatial coordinates of multiple microseismic sensors arranged on the underground fully mechanized longwall face in a preset coordinate system, as well as the pre-constructed propagation velocity correction model and three-dimensional positioning equations, are obtained. Among them, the multiple microseismic sensors are arranged at intervals along the strike in the haulage roadway and return airway, according to the roadway distribution, rock strata structure and working face size of the fully mechanized longwall face. Multiple micro-vibration sensors are used to collect multiple vibration wave signals in real time, and the arrival time of each vibration wave signal is obtained. Based on the rock strata columnar section of the fully mechanized mining face, the rock strata distribution along the seismic wave propagation path is determined, and the seismic wave propagation velocity distribution corresponding to the rock strata distribution is tested; and the equivalent average velocity of seismic wave propagation is calculated based on the rock strata distribution and the seismic wave propagation velocity distribution using the propagation velocity correction model. Using a three-dimensional positioning equation set based on the spatial coordinates of multiple microseismic sensors, the arrival time of multiple seismic wave signals, and the equivalent average velocity of seismic wave propagation, the spatial coordinates of the vibration point in the preset coordinate system are calculated.

[0006] According to another aspect of this disclosure, a downhole vibration point location device is provided, comprising: The acquisition module is used to acquire the spatial coordinates of multiple microseismic sensors arranged on the underground fully mechanized longwall face in a preset coordinate system, as well as the pre-constructed propagation velocity correction model and three-dimensional positioning equation set; wherein, the multiple microseismic sensors are arranged at intervals along the strike in the haulage roadway and return airway according to the roadway distribution, rock strata structure and working face size of the fully mechanized longwall face. The acquisition module is used to acquire multiple vibration wave signals in real time through multiple micro-vibration sensors and obtain the arrival time of each vibration wave signal. The processing module is used to determine the rock layer distribution along the propagation path of the seismic wave based on the rock layer columnar section of the fully mechanized mining face, test the seismic wave propagation velocity distribution corresponding to the rock layer distribution, and calculate the equivalent average velocity of the seismic wave propagation based on the rock layer distribution and the seismic wave propagation velocity distribution using the propagation velocity correction model. The processing module is also used to calculate the spatial coordinates of vibration points in a preset coordinate system based on the spatial coordinates of multiple micro-seismic sensors, the arrival time of multiple seismic wave signals, and the equivalent average velocity of seismic wave propagation using a set of three-dimensional positioning equations.

[0007] In another aspect of exemplary embodiments of this disclosure, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory, the processor executing the computer program to implement the methods described in exemplary embodiments of this disclosure.

[0008] In another aspect of exemplary embodiments of the present disclosure, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the methods described in exemplary embodiments of the present disclosure.

[0009] In another aspect of the exemplary embodiments of this disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the methods described in the exemplary embodiments of this disclosure.

[0010] As will be described in detail below, the method for locating vibration points in underground mines according to embodiments of this disclosure involves acquiring the spatial coordinates of multiple micro-seismic sensors arranged on the underground fully mechanized longwall face in a preset coordinate system, as well as a pre-constructed propagation velocity correction model and a three-dimensional positioning equation set. The multiple micro-seismic sensors are arranged at intervals along the strike in the haulage roadway and return airway, based on the roadway distribution, rock strata structure, and working face dimensions. Multiple vibration wave signals are acquired in real time by the multiple micro-seismic sensors, and the arrival time of each vibration wave signal is obtained. Based on the rock strata columnar section of the fully mechanized longwall face, the rock strata distribution along the vibration wave propagation path is determined, and the correlation with the rock strata distribution is tested. The study investigates the distribution of seismic wave propagation velocity. Based on the rock strata distribution and the seismic wave propagation velocity distribution, a propagation velocity correction model is used to calculate the equivalent average velocity of seismic wave propagation. Using a three-dimensional positioning equation set, based on the spatial coordinates of multiple microseismic sensors, the arrival time of multiple seismic wave signals, and the equivalent average velocity of seismic wave propagation, the spatial coordinates of the vibration point within a preset coordinate system are calculated. This allows for the reasonable deployment of microseismic sensors on the fully mechanized mining face, reducing monitoring blind spots. By relying on the rock strata distribution correction to obtain the seismic wave propagation velocity distribution, and combining this with the solution of the three-dimensional positioning equation set, the study effectively reduces the influence of rock strata heterogeneity and data errors, significantly improving the positioning accuracy, real-time performance, and stability of downhole vibration points.

[0011] It should be understood that both the foregoing general description and the following detailed description are exemplary and intended to provide further illustration of the claimed technology. Attached Figure Description

[0012] The above and other objects, features, and advantages of this disclosure will become more apparent from the more detailed description of the embodiments thereof in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this disclosure and form part of the specification. They are used together with the embodiments of this disclosure to explain the disclosure and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0013] Figure 1 A schematic diagram of the arrangement of microseismic sensors provided in an exemplary embodiment of this disclosure is shown; Figure 2 A flowchart illustrating the downhole vibration point location method provided in an exemplary embodiment of this disclosure is shown. Figure 3 A schematic diagram of the structure of the downhole vibration point positioning device provided in an exemplary embodiment of this disclosure is shown; Figure 4 A schematic diagram of the structure of an electronic device provided in an exemplary embodiment of this disclosure is shown; Figure 5 A schematic diagram of the structure of a computer system provided in an exemplary embodiment of this disclosure is shown. Detailed Implementation

[0014] To make the objectives, technical solutions, and advantages of this disclosure more apparent, exemplary embodiments according to this disclosure will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this disclosure, and not all embodiments of this disclosure. It should be understood that this disclosure is not limited to the exemplary embodiments described herein.

[0015] It should be understood that the steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect.

[0016] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the description below. It should be noted that the concepts of "first", "second", etc., used in this disclosure are only used to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0017] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0018] The names of messages or information exchanged between multiple devices in the embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.

[0019] To address the issues of low positioning accuracy, slow response, incomplete coverage, and unstable transmission caused by unreasonable sensor placement and uncorrected rock strata wave velocity, this disclosure provides a method for locating downhole vibration points. This method enables the reasonable deployment of micro-seismic sensors in the fully mechanized mining face, reducing monitoring blind spots. It utilizes the rock strata distribution to correct for the vibration wave propagation velocity distribution and solves the three-dimensional positioning equations, effectively reducing the impact of rock strata heterogeneity and data errors, and significantly improving the positioning accuracy, real-time performance, and stability of downhole vibration points.

[0020] The downhole vibration point location method provided in this disclosure can be executed by a terminal or by a chip applied to the terminal.

[0021] For example, the terminal may include one or more of the following: mobile phone, tablet computer, wearable device, in-vehicle device, laptop computer, ultra-mobile personal computer (UMPC), netbook, PDA, and wearable device based on augmented reality (AR) and / or virtual reality (VR) technology. The exemplary embodiments disclosed herein do not impose specific limitations on these.

[0022] The downhole vibration point location method provided in this disclosure is applied to a downhole vibration point location system. This downhole vibration point location system mainly includes a microseismic sensor, a data acquisition substation, a fiber optic switch, a data processing terminal, and a power supply module. The specifications and functions of each component are as follows: Micro-vibration sensor: A mine-grade explosion-proof micro-vibration sensor, model GS-6000, is used. Its operating frequency range is 1~1000Hz, sensitivity ≥100mV / g, measurement range ±5g, and protection rating is IP68. It is suitable for harsh underground environments with temperatures ranging from -20℃ to 60℃ and humidity ≤95%. The sensor incorporates a signal amplification module and a filtering module to preprocess the raw vibration wave signal and remove environmental interference noise.

[0023] Data Acquisition Substation: Utilizing a mine-grade explosion-proof and intrinsically safe data acquisition substation, model KJ950-F, it supports 8 channels of analog signal input, with a sampling frequency up to 10kHz. Its built-in storage unit can cache monitoring data for one hour to prevent data loss. The substation is equipped with fiber optic communication and Ethernet interfaces, enabling bidirectional data transmission.

[0024] Fiber Optic Switch: An industrial-grade mining fiber optic switch, model S2700-26TP-SI, is selected. It supports 8 gigabit optical ports and 16 100 Mbps electrical ports, with a transmission distance of up to 20 km. It has redundancy backup function to ensure the stability of data transmission.

[0025] Data processing terminal: It adopts an industrial control computer, equipped with an Intel Core i7 processor, 16GB of memory, and a 1TB solid-state drive. It is equipped with self-developed vibration point positioning analysis software and has the functions of data reception, signal processing, positioning calculation, result display and alarm.

[0026] Power supply module: The mine-grade explosion-proof uninterruptible power supply (UPS) model KJD-1200 is adopted, with an input voltage of AC127V / 380V / 660V and an output voltage of DC12V / 24V. The battery life is ≥4 hours, ensuring normal operation of the system in the event of a sudden power outage.

[0027] Large-scale underground coal mines' fully mechanized longwall faces are characterized by deep burial, thick coal seams, and hard roof strata. This embodiment uses the 04 working face in the 226 mining area of ​​a coal mine as an example. This longwall face has a burial depth of 176-351m, an average coal seam thickness of 12.90m, and a roof primarily composed of coarse and fine sandstone with a compressive strength of 50-70MPa. Such thick, hard roofs are prone to generating strong vibrations during fracture, with a wide propagation range and complex influencing factors. Rapid and accurate location of underground vibration events is crucial for timely analysis of the causes of disasters, implementation of emergency response measures, and ensuring safe production in coal mines.

[0028] Figure 1 A schematic diagram of a microseismic sensor arrangement provided in an exemplary embodiment of this disclosure is shown, such as... Figure 1 As shown, taking the 04 working face of the 226 mining area of ​​a coal mine as an example, the microseismic sensor layout is based on the working face size, roadway distribution, and rock strata structure characteristics. The specific layout scheme is as follows: Number and Location of Microseismic Sensors: Three microseismic sensors are installed in the haulage roadway and return airway of the 04 working face in the 226 mining area. The sensors in the haulage roadway are numbered T1, T2, and T3, while those in the return airway are numbered T4, T5, and T6. Specifically, T1 is located 50m from the working face cut-off point in the haulage roadway; T2 is located in the middle of the haulage roadway (approximately 180m from T1); and T3 is located 50m from the return passage in the haulage roadway. T4 is located 50m from the cut-off point in the return airway; T5 is located in the middle of the return airway (approximately 180m from T4); and T6 is located 50m from the return passage in the return airway. All microseismic sensors are installed at the anchor bolt supports on the roadway roof, at a height of 3.0m from the roadway floor, and at a distance of ≥0.5m from the roadway sidewalls to avoid interference from pedestrians or equipment.

[0029] Installation and Fixing Method: The sensor is fixed using anchor bolts. Φ20mm×1500mm threaded steel anchor bolts are drilled into the tunnel roof and installed. The sensor base is then fixed to the anchor bolts with bolts. Rubber shock-absorbing pads are placed between the base and the roof to reduce interference from tunnel vibrations. The sensor's sensitive axis is perpendicular to the tunnel's direction to ensure accurate reception of vibration wave signals from different directions at the working face.

[0030] Coverage verification: The monitoring network formed by 6 sensors can cover the entire area of ​​the 04 working face in the 226 mining area (dip length is 245m, strike length is 3755m) and the surrounding roadways within a 50m range. Through field testing, the sensor signal reception range has no blind spots, and the effective reception distance of the vibration wave signal is ≥200m, which meets the monitoring requirements of the working face.

[0031] The hardware connections of the components in the underground vibration point positioning system are as follows: Each microseismic sensor is connected to the data acquisition substation via a communication cable (model MHYV-1×4×7 / 0.52). The cable is suspended using flame-retardant cable hooks with a spacing of ≤1m to prevent the cable from dragging on the ground or being compressed. The data acquisition substation is connected to the fiber optic switch via a mining-grade flame-retardant optical fiber (model MGTSV-8B1). The optical fiber is armored and buried in a cable trench on the side of the roadway to prevent mechanical damage. The fiber optic switch is connected to the ground data processing terminal via optical fiber to achieve real-time transmission of underground data to the ground system.

[0032] The power supply connections for each component in the underground vibration point positioning system are as follows: the data acquisition substation and fiber optic switch are powered by the nearest explosion-proof distribution box underground; the micro-vibration sensor is powered by a DC 12V supply from the data acquisition substation. Power supply lines and communication cables are laid separately, with a spacing of ≥0.3m to prevent electromagnetic interference. An uninterruptible power supply (UPS) is connected in parallel with the explosion-proof distribution box to ensure continuous power supply to the system in the event of a sudden power outage.

[0033] The signal flow of each component in the downhole vibration point location system is as follows: the simulated vibration wave signal collected by the micro-vibration sensor is amplified and filtered by the built-in amplifier, and then converted into a standard voltage signal (0~5V) and transmitted to the acquisition substation; the acquisition substation performs analog-to-digital (AD) conversion on the signal (16-bit resolution), converting the analog signal into a digital signal, and then transmits it to the ground data processing terminal through a fiber optic switch; the data processing terminal further analyzes and processes the digital signal, calculates the vibration point location, and displays the results.

[0034] Figure 2 A flowchart illustrating a downhole vibration point location method provided by an exemplary embodiment of this disclosure is shown. Figure 2 As shown, the downhole vibration point location method includes: S201, obtain the spatial coordinates of multiple microseismic sensors arranged on the underground fully mechanized longwall face in a preset coordinate system, as well as the pre-constructed propagation velocity correction model and three-dimensional positioning equation set; among them, multiple microseismic sensors are arranged at intervals along the strike in the haulage roadway and return airway according to the roadway distribution, rock strata structure and working face size of the fully mechanized longwall face. S202 uses multiple micro-vibration sensors to collect multiple vibration wave signals in real time and obtain the arrival time of each vibration wave signal. S203. Based on the rock strata columnar section of the fully mechanized mining face, determine the rock strata distribution along the seismic wave propagation path, test the seismic wave propagation velocity distribution corresponding to the rock strata distribution, and use the propagation velocity correction model to calculate the equivalent average velocity of seismic wave propagation based on the rock strata distribution and the seismic wave propagation velocity distribution. S204 uses a three-dimensional positioning equation set to calculate the spatial coordinates of the vibration point in the preset coordinate system based on the spatial coordinates of multiple micro-seismic sensors, the arrival time of multiple seismic wave signals, and the equivalent average velocity of seismic wave propagation.

[0035] Specifically, in this embodiment of the invention, multiple microseismic sensors can be pre-deployed along the strike of the haulage roadway and return airway, taking into account the roadway distribution, rock strata structure, and working face dimensions of the underground fully mechanized longwall mining face. The number of microseismic sensors deployed in the haulage roadway and return airway is the same. This embodiment of the invention can scientifically determine the number, location, and spacing of microseismic sensors based on the working face dimensions, roadway distribution, and rock strata structure, ensuring full coverage and stable signal reception, which is the foundation for achieving accurate positioning.

[0036] After the microseismic sensors are arranged, the spatial coordinates of each sensor can be determined. For example, in... Figure 1 The 04 working face in the 226 mining area shown is constructed with the origin O(0,0,0) at the intersection of the working face cut and the haulage roadway, the haulage roadway strike as the X-axis, the working face dip as the Y-axis, and the Z-axis perpendicular to the roadway floor upwards as the Z-axis. Then, the spatial coordinates of each micro-vibration sensor in the preset coordinate system are measured and saved.

[0037] Multiple microseismic sensors are used to acquire multi-channel seismic wave signals from the well in real time. The sampling frequency is set to 10kHz, and a built-in filtering module removes 50Hz power frequency interference and high-frequency noise (frequency >1000Hz). The acquisition substation synchronously acquires the seismic wave signals transmitted by the microseismic sensors to ensure that the sampling time of multiple microseismic sensors is consistent (time synchronization error ≤1μs), and the data is buffered for 10 seconds to avoid data loss.

[0038] Multiple microseismic sensors can cover the entire monitoring range of the fully mechanized mining face, with no blind spots. The multiple seismic wave signals can generate sufficient observation data, providing a reliable data source for 3D positioning and avoiding positioning failures due to unreasonable point placement. At the same time, the simultaneous acquisition of multiple seismic wave signals can ensure the real-time and accuracy of the seismic wave arrival time data, reducing the impact of time errors on the positioning results from the source.

[0039] This embodiment of the disclosure obtains a rock strata columnar section of the fully mechanized longwall face, clarifying the rock strata distribution along the propagation path of the seismic wave. Based on this rock distribution, the seismic wave propagation velocity distribution is determined through laboratory testing and field measurements. Then, a propagation velocity correction model is invoked, and combined with the rock strata distribution and the seismic wave propagation velocity distribution, the original wave velocity is corrected layer by layer, ultimately calculating the equivalent average velocity of the seismic wave propagation. The corrected equivalent average velocity of the seismic wave propagation can significantly reduce the seismic wave propagation velocity error caused by rock strata heterogeneity, improving the accuracy of the wave velocity parameters.

[0040] Finally, using the three-dimensional positioning equations based on the spatial coordinates of multiple microseismic sensors, the arrival time of multiple seismic wave signals, and the equivalent average velocity of seismic wave propagation, the spatial coordinates of the vibration point in the preset coordinate system are calculated, thus completing the vibration source location.

[0041] According to the technical solution of the exemplary embodiments of this disclosure, the spatial coordinates of multiple microseismic sensors arranged on the underground fully mechanized longwall face in a preset coordinate system, as well as a pre-constructed propagation velocity correction model and a three-dimensional positioning equation set, are obtained. The multiple microseismic sensors are arranged at intervals along the strike in the haulage roadway and return airway, according to the roadway distribution, rock strata structure, and working face dimensions of the fully mechanized longwall face. Multiple seismic wave signals are acquired in real time by the multiple microseismic sensors, and the arrival time of each seismic wave signal is obtained. Based on the rock strata columnar section of the fully mechanized longwall face, the rock strata distribution along the seismic wave propagation path is determined, and the seismic wave propagation corresponding to the rock strata distribution is tested. Velocity distribution; and using a propagation velocity correction model based on rock layer distribution and seismic wave propagation velocity distribution, the equivalent average velocity of seismic wave propagation is calculated; using a three-dimensional positioning equation set based on the spatial coordinates of multiple microseismic sensors, the arrival time of multiple seismic wave signals, and the equivalent average velocity of seismic wave propagation, the spatial coordinates of the vibration point in the preset coordinate system are calculated. This enables the reasonable deployment of microseismic sensors on the fully mechanized mining face, reducing monitoring blind spots. The seismic wave propagation velocity distribution is obtained by correcting for rock layer distribution, and combined with the solution of the three-dimensional positioning equation set, the influence of rock layer heterogeneity and data error is effectively reduced, significantly improving the positioning accuracy, real-time performance, and stability of downhole vibration points.

[0042] In some embodiments, the rock strata distribution includes multiple rock strata and the thickness of various rock strata, and the seismic wave propagation velocity distribution includes the seismic wave propagation velocity of multiple rock strata.

[0043] From the columnar rock strata of fully mechanized longwall mining faces (such as the 04 working face in the 226 mining area), it can be determined that the rock strata types include coarse sandstone, fine sandstone, mudstone, and coal seams. The seismic wave propagation velocities of various rock strata were obtained through laboratory tests and field measurements: the seismic wave propagation velocity of coarse sandstone is... =4200m / s, the propagation speed of seismic waves in fine sandstone is =3800m / s, the propagation speed of seismic waves in mudstone is =2500 m / s, the propagation speed of the seismic wave in the coal seam is =2000m / s. The thickness of the coarse sandstone is... The thickness of the fine sandstone is The thickness of the mudstone is The thickness of the coal seam is .

[0044] For example, the propagation speed correction model can be:

[0045] in, This represents the equivalent average velocity of the vibration wave propagation. Indicates the first The thickness of the rock layer, greater than or equal to 1 and less than or equal to 1 integers, The total number of various rock strata; Indicates the first Measured seismic wave propagation velocity of a certain rock stratum.

[0046] Here, the equivalent average velocity of seismic wave propagation can also be called the weighted average propagation velocity. For the 04 working face in the 226 mining area, =4.

[0047] In some embodiments, the spatial coordinates of a vibration point within a preset coordinate system are calculated using a set of three-dimensional positioning equations based on the spatial coordinates of multiple microseismic sensors, the arrival time of multiple vibration wave signals, and the equivalent average velocity of vibration wave propagation. This includes: Determine the target seismic wave signal from multiple seismic wave signals; Based on the arrival time of the target seismic wave signal and the arrival time of multiple seismic wave signals, the arrival time difference of each seismic wave signal is calculated. The spatial coordinates of multiple microseismic sensors, the arrival time difference of each seismic wave signal, and the equivalent average velocity of seismic wave propagation are substituted into the three-dimensional positioning equations to calculate the spatial coordinates of the vibration point in the preset coordinate system.

[0048] Specifically, firstly, the multi-channel vibration wave signals collected by all micro-seismic sensors are screened to remove invalid signals such as environmental interference noise and equipment noise, and then the target vibration wave signal generated by the downhole vibration point is identified and determined.

[0049] Secondly, based on the arrival time of the selected target vibration wave signal, the difference between the arrival time of each vibration wave signal and the arrival time of each vibration wave signal is calculated to obtain the arrival time difference corresponding to each vibration wave signal.

[0050] Taking multiple microseismic sensors numbered T1, T2, T3, T4, T5, and T6 as an example, the arrival times of the multiple vibration wave signals collected by these microseismic sensors are identified using a signal peak detection algorithm. t 1. t 2. t 3. t 4. t 5. t 6. Arrival time of the seismic wave signal acquired at T1 t Using 1 as a baseline, the arrival time differences of each vibration wave signal are calculated as follows: Δ t 1= t 1- t 1. Δ t 2= t 2- t 1. Δ t 3= t 3- t 1. Δ t 4= t 4- t 1. Δ t 5= t 5- t 1. Δ t 6= t 6- t 1) To improve the accuracy of time difference extraction, a cross-correlation analysis algorithm is used to process the vibration wave signal, and the extraction error of the arrival time difference is ≤0.1ms.

[0051] Finally, the spatial coordinates of each microseismic sensor, the arrival time difference of each vibration wave signal calculated above, and the equivalent average velocity of vibration wave propagation that has been corrected are uniformly substituted into the three-dimensional positioning equation set. Through iterative solution of the equations, the three-dimensional spatial coordinates of the vibration point in the preset coordinate system are finally calculated, thus completing the vibration point positioning.

[0052] Based on this, the embodiments of this disclosure can first screen effective target vibration wave signals, calculate the arrival time difference of each vibration wave signal, and then combine the spatial coordinates of each microseismic sensor with the equivalent average velocity of vibration wave propagation to solve the positioning equation, effectively filtering out interference, reducing clock errors, and further improving the accuracy and stability of downhole vibration point positioning.

[0053] In some embodiments, the three-dimensional positioning equations can be:

[0054] in, Represents the spatial coordinates of the vibration point; Indicates the first Spatial coordinates of the microseismic sensor. greater than or equal to 1 and less than or equal to 1 integers, This represents the total number of microseismic sensors. This represents the equivalent average velocity of the vibration wave propagation. Indicates the first The arrival time difference of road vibration wave signals.

[0055] Here, when the total number of microseismic sensors is 6, =6. The embodiments disclosed herein can use the least squares method to solve the system of equations to obtain the precise coordinates of the vibration point, achieving comprehensive positioning of the vibration point's orientation, horizontal position, and vertical depth, with a positioning calculation time ≤5 seconds.

[0056] In some embodiments, the plurality of microseismic sensors include a first microseismic sensor, a second microseismic sensor, and a third microseismic sensor arranged at intervals along the strike in the conveying roadway, and a fourth microseismic sensor, a fifth microseismic sensor, and a sixth microseismic sensor arranged at intervals along the strike in the return airway.

[0057] The first micro-vibration sensor is spaced a first preset distance from the cut-off point of the working face; the second micro-vibration sensor is located in the middle of the conveying roadway and spaced a second preset distance from the first micro-vibration sensor; the third micro-vibration sensor is spaced a third preset distance from the retraction channel; the fourth micro-vibration sensor is spaced a first preset distance from the cut-off point of the working face; the fifth micro-vibration sensor is located in the middle of the return airway and spaced a second preset distance from the fourth micro-vibration sensor; and the sixth micro-vibration sensor is spaced a third preset distance from the retraction channel.

[0058] The arrangement scheme for multiple microseismic sensors can be found above and will not be repeated here. The first, second, and third preset distances can be set according to the actual application scenario, and this disclosure does not specifically limit them. In the method of this disclosure embodiment, the first preset distance is set to 50m, the second preset distance is set to 180m, and the third preset distance is set to 50m.

[0059] In some embodiments, the method may further include: The spatial coordinates of the vibration point are converted from the preset coordinate system to the geodetic coordinate system to obtain the actual position coordinates of the vibration point. The actual location of the vibration point is displayed on the display interface based on the actual location coordinates, and an audible and visual alarm signal is issued.

[0060] Specifically, after calculating the spatial coordinates of the vibration point in the preset coordinate system, the coordinate transformation algorithm is called to convert the spatial coordinates of the vibration point into geodetic coordinate system coordinates according to the transformation parameters of the two coordinate systems. This yields the actual location coordinates that correspond to the geographical location of the site, thus realizing the mapping from the preset coordinate system of local monitoring to the general geodetic coordinate system. The actual location coordinates of the geodetic coordinate system can match the geographical information of the site, making it easier for staff to accurately determine the true geographical location of the vibration point.

[0061] The converted actual location coordinates are simultaneously pushed to the visualization display interface, intuitively presenting the geographical location and regional information of the vibration point (e.g., "120m in the haulage roadway of the 04 working face in mining area 226, 8m below the roof"). At the same time, it triggers equipment linkage, activating the audible and visual alarm device and emitting an audible and visual alarm signal (alarm volume ≥85dB, alarm light flashing red). The visualization display makes the actual location of the vibration point clear at a glance, and the audible and visual alarm can immediately alert on-site personnel, achieving rapid early warning of potential hazards and improving the efficiency of safety management in underground operations.

[0062] Based on this, the embodiments of this disclosure can obtain the actual location coordinates of the vibration point through coordinate system transformation. Combined with interface display and audible and visual alarms, it can not only accurately present the actual location of the vibration point, but also realize timely early warning of danger.

[0063] Meanwhile, the embodiments disclosed herein can also store the actual location coordinates of the vibration point and the vibration wave signal data in a database, which can be transmitted to the coal mine dispatch center via the network to provide data support for emergency response.

[0064] In practical applications, after the downhole vibration point positioning system is installed, on-site debugging is carried out. Simulated vibration signals are generated by artificial blasting at different locations on the working face (such as the cut-off point, the middle, and near the retreat channel) (the explosive charge is 0.5 kg). The arrival time of the vibration wave signal of each micro-vibration sensor and the spatial coordinates of the vibration point are recorded and compared with the actual blasting location to adjust the positioning algorithm parameters.

[0065] If the positioning error exceeds 5m, calibration is performed by adjusting the rock layer thickness parameter in the propagation velocity correction model or optimizing the time difference extraction algorithm. For example, during a certain debugging session, a positioning error of 8m was found near the cut eye. Analysis revealed that this was due to a difference between the measured and designed values ​​of the coarse sandstone thickness. Adjustments were made accordingly. After adjusting the parameters, the positioning error was reduced to 3.2m, meeting the accuracy requirements.

[0066] The embodiments disclosed herein can also be used for stability testing. After continuous system operation for 72 hours, the data transmission success rate is ≥99.8%, the average positioning response time is 7.3 seconds, and the average positioning error is 3.5m, which meets the design objectives.

[0067] The downhole vibration point location method provided by the exemplary embodiments of this disclosure has the following beneficial effects: High positioning accuracy: By optimizing the arrangement of microseismic sensors, establishing a propagation velocity correction model and a three-dimensional positioning equation set, the positioning error is controlled within 5m. Compared with existing technologies (error ≥10m), the positioning accuracy is improved by more than 50%, and the specific location of the vibration can be accurately pinpointed.

[0068] Fast response speed: The time from the occurrence of vibration to the completion of positioning is no more than 10 seconds. Compared with the existing technology (response time ≥ 30 seconds), the response speed is improved by more than 60%, providing sufficient time for emergency response and effectively reducing the risk of disaster expansion.

[0069] Comprehensive coverage: The monitoring network formed by 6 micro-vibration sensors achieves full coverage of the fully mechanized longwall face and surrounding roadways, eliminating monitoring blind spots and effectively capturing vibration events at different locations to avoid omissions.

[0070] High transmission stability: Utilizing fiber optic transmission technology, combined with uninterruptible power supply (UPS) and redundant backup design, the data transmission success rate is ≥99.8%. It is unaffected by underground electromagnetic interference, tunnel deformation, and other factors, ensuring real-time and stable data transmission to guarantee stable system operation.

[0071] Highly practical: The system is adaptable to harsh underground environments, easy to install and maintain, and provides intuitive and easy-to-understand positioning results. It can directly provide decision-making basis for coal mine dispatch centers and on-site construction personnel, facilitating the rapid implementation of emergency measures such as support reinforcement and personnel evacuation, and significantly improving the safety of underground coal mine production.

[0072] Good scalability: The number and placement of microseismic sensors can be flexibly adjusted according to the size and geological conditions of different working faces, making it suitable for different types of underground coal mines and with broad application prospects.

[0073] The foregoing mainly describes the solutions provided by the embodiments of this disclosure. It is understood that, in order to achieve the above functions, the electronic device includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, based on the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein, this disclosure can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this disclosure.

[0074] This disclosure embodiment can divide the electronic device into functional units according to the above method example. For example, each function can be divided into a separate functional module, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this disclosure embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.

[0075] In the case of dividing each function into corresponding functional modules, an exemplary embodiment of this disclosure provides a downhole vibration point positioning device, which can be an electronic device or a chip applied to an electronic device. Here, the electronic device can be a terminal. Figure 3 A schematic diagram of the structure of a downhole vibration point positioning device provided in an exemplary embodiment of this disclosure is shown. Figure 3 As shown, the device 300 includes: The acquisition module 301 is used to acquire the spatial coordinates of multiple microseismic sensors arranged on the underground fully mechanized longwall face in a preset coordinate system, as well as the pre-constructed propagation velocity correction model and three-dimensional positioning equation set; wherein, the multiple microseismic sensors are arranged at intervals along the strike in the haulage roadway and return airway according to the roadway distribution, rock strata structure and working face size of the fully mechanized longwall face. The acquisition module 302 is used to acquire multiple vibration wave signals in real time through multiple micro-vibration sensors and obtain the arrival time of each vibration wave signal. The processing module 303 is used to determine the rock layer distribution along the propagation path of the seismic wave based on the rock layer columnar section of the fully mechanized mining face, test the seismic wave propagation velocity distribution corresponding to the rock layer distribution, and calculate the equivalent average velocity of the seismic wave propagation based on the rock layer distribution and the seismic wave propagation velocity distribution using the propagation velocity correction model. The processing module 303 is also used to calculate the spatial coordinates of the vibration point in the preset coordinate system based on the spatial coordinates of multiple micro-seismic sensors, the arrival time of multiple vibration wave signals, and the equivalent average velocity of vibration wave propagation using the three-dimensional positioning equation set.

[0076] In some embodiments, the rock strata distribution includes multiple rock strata and the thickness of each rock strata, and the seismic wave propagation velocity distribution includes the seismic wave propagation velocities of multiple rock strata; the propagation velocity correction model is:

[0077] in, This represents the equivalent average velocity of the vibration wave propagation. Indicates the first The thickness of the rock layer, greater than or equal to 1 and less than or equal to 1 integers, The total number of various rock strata; Indicates the first Measured seismic wave propagation velocity of a certain rock stratum.

[0078] In some embodiments, the processing module 303 is further configured to determine the target vibration wave signal from the multiple vibration wave signals; Based on the arrival time of the target seismic wave signal and the arrival time of multiple seismic wave signals, the arrival time difference of each seismic wave signal is calculated. The spatial coordinates of multiple microseismic sensors, the arrival time difference of each seismic wave signal, and the equivalent average velocity of seismic wave propagation are substituted into the three-dimensional positioning equations to calculate the spatial coordinates of the vibration point in the preset coordinate system.

[0079] In some embodiments, the three-dimensional positioning equations are:

[0080] in, Represents the spatial coordinates of the vibration point; Indicates the first Spatial coordinates of the microseismic sensor. greater than or equal to 1 and less than or equal to 1 integers, This represents the total number of microseismic sensors. This represents the equivalent average velocity of the vibration wave propagation. Indicates the first The arrival time difference of road vibration wave signals.

[0081] In some embodiments, the plurality of microseismic sensors include a first microseismic sensor, a second microseismic sensor, and a third microseismic sensor arranged at intervals along the strike in the conveying roadway, and a fourth microseismic sensor, a fifth microseismic sensor, and a sixth microseismic sensor arranged at intervals along the strike in the return airway.

[0082] The first micro-vibration sensor is spaced a first preset distance from the cut-off point of the working face; the second micro-vibration sensor is located in the middle of the conveying roadway and spaced a second preset distance from the first micro-vibration sensor; the third micro-vibration sensor is spaced a third preset distance from the retraction channel; the fourth micro-vibration sensor is spaced a first preset distance from the cut-off point of the working face; the fifth micro-vibration sensor is located in the middle of the return airway and spaced a second preset distance from the fourth micro-vibration sensor; and the sixth micro-vibration sensor is spaced a third preset distance from the retraction channel.

[0083] In some embodiments, the processing module 303 is further configured to convert the spatial coordinates of the vibration point from a preset coordinate system to a geodetic coordinate system to obtain the actual position coordinates of the vibration point; The actual location of the vibration point is displayed on the display interface based on the actual location coordinates, and an audible and visual alarm signal is issued.

[0084] This disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the methods disclosed in this disclosure.

[0085] Figure 4 A schematic diagram of the structure of an electronic device provided in an exemplary embodiment of this disclosure is shown. For example... Figure 4 As shown, the electronic device 400 includes at least one processor 401 and a memory 402 coupled to the processor 401, which can perform the corresponding steps in the methods disclosed in the embodiments of this disclosure.

[0086] The processor 401 described above can also be called a Central Processing Unit (CPU), which can be an integrated circuit chip with signal processing capabilities. Each step in the method disclosed in this embodiment can be implemented by the integrated logic circuitry in the processor 401 or by software instructions. The processor 401 can be a general-purpose processor, a digital signal processor (DSP), an ASIC, a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this embodiment can be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software modules can be located in the memory 402, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The processor 401 reads information from the memory 402 and, in conjunction with its hardware, completes the steps of the method described above.

[0087] Furthermore, various operations / processes according to this disclosure, implemented via software and / or firmware, can be transmitted from a storage medium or network to a computer system with a dedicated hardware architecture, for example, Figure 5 The computer system 500 shown is equipped with the programs that constitute the software. When various programs are installed, the computer system is able to perform various functions, including functions such as those described above. Figure 5 A schematic diagram of the structure of a computer system provided in an exemplary embodiment of this disclosure is shown.

[0088] Computer system 500 is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0089] like Figure 5 As shown, the computer system 500 includes a computing unit 501, which can perform various appropriate actions and processes based on a computer program stored in a read-only memory (ROM) 502 or a computer program loaded from a storage unit 508 into a random access memory (RAM) 503. The RAM 503 may also store various programs and data required for the operation of the computer system 500. The computing unit 501, ROM 502, and RAM 503 are interconnected via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0090] Multiple components in the computer system 500 are connected to the I / O interface 505, including: an input unit 506, an output unit 507, a storage unit 508, and a communication unit 509. The input unit 506 can be any type of device capable of inputting information into the computer system 500. The input unit 506 can receive input digital or character information and generate key signal inputs related to user settings and / or function control of the electronic device. The output unit 507 can be any type of device capable of presenting information and may include, but is not limited to, a monitor, speaker, video / audio output terminal, vibrator, and / or printer. The storage unit 508 may include, but is not limited to, a hard disk and an optical disk. The communication unit 509 allows the computer system 500 to exchange information / data with other devices via a network such as the Internet, and may include, but is not limited to, a modem, network card, infrared communication device, wireless communication transceiver, and / or chipset, such as Bluetooth™ devices, WiFi devices, WiMax devices, cellular communication devices, and / or the like.

[0091] The computing unit 501 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 501 performs the various methods and processes described above. For example, in some embodiments, the methods disclosed in this disclosure can be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 508. In some embodiments, part or all of the computer program can be loaded and / or installed on an electronic device via ROM 502 and / or communication unit 509. In some embodiments, the computing unit 501 can be configured to perform the methods disclosed in this disclosure by any other suitable means (e.g., by means of firmware).

[0092] This disclosure also provides a computer-readable storage medium, wherein when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is able to perform the methods disclosed in this disclosure.

[0093] The computer-readable storage medium in this disclosure can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. The aforementioned computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specifically, the aforementioned computer-readable storage medium may include electrical connections based on one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0094] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device.

[0095] This disclosure also provides a computer program product, including a computer program, wherein the computer program, when executed by a processor, implements the methods disclosed in the embodiments of this disclosure.

[0096] In embodiments of this disclosure, computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof. These programming languages ​​include, but are not limited to, object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network (including a local area network (LAN) or a wide area network (WAN)), or it can be connected to an external computer.

[0097] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0098] The modules, components, or units described in the embodiments of this disclosure can be implemented in software or hardware. The names of the modules, components, or units do not necessarily constitute a limitation on the module, component, or unit itself.

[0099] The functions described above in this document can be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary hardware logic components that can be used include: field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), and so on.

[0100] The above description is merely an illustration of some embodiments of this disclosure and the technical principles employed. Those skilled in the art should understand that the scope of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features disclosed in this disclosure that have similar functions.

[0101] While specific embodiments of this disclosure have been described in detail by way of example, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A method for locating downhole vibration points, characterized in that, include: The spatial coordinates of multiple microseismic sensors arranged on the underground fully mechanized longwall face in a preset coordinate system, as well as the pre-constructed propagation velocity correction model and three-dimensional positioning equation set, are obtained. The multiple microseismic sensors are arranged at intervals along the strike in the haulage roadway and return airway, respectively, according to the roadway distribution, rock strata structure and working face size of the fully mechanized longwall face. Multiple vibration wave signals are collected in real time using the multiple micro-vibration sensors, and the arrival time of each vibration wave signal is obtained. Based on the rock strata columnar section of the fully mechanized mining face, the rock strata distribution along the seismic wave propagation path is determined, and the seismic wave propagation velocity distribution corresponding to the rock strata distribution is tested; and the equivalent average velocity of seismic wave propagation is calculated based on the rock strata distribution and the seismic wave propagation velocity distribution using the propagation velocity correction model. Using the three-dimensional positioning equations based on the spatial coordinates of the multiple micro-seismic sensors, the arrival time of the multiple vibration wave signals, and the equivalent average velocity of the vibration wave propagation, the spatial coordinates of the vibration point in the preset coordinate system are calculated.

2. The method as described in claim 1, characterized in that, The rock strata distribution includes multiple rock strata and the thickness of each rock strata; the seismic wave propagation velocity distribution includes the seismic wave propagation velocities of the multiple rock strata; the propagation velocity correction model is: in, This represents the equivalent average velocity of the vibration wave propagation. Indicates the first The thickness of the rock layer, greater than or equal to 1 and less than or equal to 1 integers, The total number of various rock strata; Indicates the first Measured seismic wave propagation velocity of a certain rock stratum.

3. The method as described in claim 1, characterized in that, The step of calculating the spatial coordinates of the vibration point within the preset coordinate system using the three-dimensional positioning equations based on the spatial coordinates of the multiple micro-seismic sensors, the arrival time of the multiple vibration wave signals, and the equivalent average velocity of the vibration wave propagation includes: The target vibration wave signal is determined from the multiple vibration wave signals; Based on the arrival time of the target vibration wave signal and the arrival time of the multiple vibration wave signals, calculate the arrival time difference of each vibration wave signal. Substitute the spatial coordinates of the multiple micro-seismic sensors, the arrival time difference of each seismic wave signal, and the equivalent average velocity of the seismic wave propagation into the three-dimensional positioning equations to calculate the spatial coordinates of the vibration point within the preset coordinate system.

4. The method as described in claim 3, characterized in that, The three-dimensional positioning equations are as follows: in, Represents the spatial coordinates of the vibration point; Indicates the first Spatial coordinates of the microseismic sensor. greater than or equal to 1 and less than or equal to 1 integers, This represents the total number of microseismic sensors. This represents the equivalent average velocity of the vibration wave propagation. Indicates the first The arrival time difference of road vibration wave signals.

5. The method as described in claim 1, characterized in that, The multiple micro-vibration sensors include a first micro-vibration sensor, a second micro-vibration sensor, and a third micro-vibration sensor arranged at intervals along the direction in the rubber conveying tunnel, and a fourth micro-vibration sensor, a fifth micro-vibration sensor, and a sixth micro-vibration sensor arranged at intervals along the direction in the return air tunnel. The first micro-vibration sensor is spaced a first preset distance from the working face cut-out; the second micro-vibration sensor is arranged in the middle of the conveying roadway and spaced a second preset distance from the first micro-vibration sensor; the third micro-vibration sensor is spaced a third preset distance from the retraction channel; the fourth micro-vibration sensor is spaced a first preset distance from the working face cut-out; the fifth micro-vibration sensor is arranged in the middle of the return airway and spaced a second preset distance from the fourth micro-vibration sensor; and the sixth micro-vibration sensor is spaced a third preset distance from the retraction channel.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: The spatial coordinates of the vibration point are converted from the preset coordinate system to the geodetic coordinate system to obtain the actual position coordinates of the vibration point. Based on the actual location coordinates, the actual location of the vibration point is displayed on the display interface, and an audible and visual alarm signal is emitted.

7. A downhole vibration point positioning device, characterized in that, include: The acquisition module is used to acquire the spatial coordinates of multiple microseismic sensors arranged on the underground fully mechanized longwall face in a preset coordinate system, as well as the pre-constructed propagation velocity correction model and three-dimensional positioning equation set; wherein, the multiple microseismic sensors are arranged at intervals along the strike in the haulage roadway and return airway, respectively, according to the roadway distribution, rock strata structure and working face size of the fully mechanized longwall face; The acquisition module is used to acquire multiple vibration wave signals in real time through the multiple micro-vibration sensors and obtain the arrival time of each vibration wave signal. The processing module is used to determine the rock layer distribution along the seismic wave propagation path based on the rock layer columnar section of the fully mechanized mining face, test the seismic wave propagation velocity distribution corresponding to the rock layer distribution, and calculate the equivalent average velocity of seismic wave propagation based on the rock layer distribution and the seismic wave propagation velocity distribution using the propagation velocity correction model. The processing module is also used to calculate the spatial coordinates of the vibration point in the preset coordinate system based on the spatial coordinates of the multiple micro-seismic sensors, the arrival time of the multiple vibration wave signals, and the equivalent average velocity of the vibration wave propagation using the three-dimensional positioning equations.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the steps of the method described in any one of claims 1 to 6.

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