CN108802825B - Method and system for positioning dynamic disasters of infrasonic wave monitoring coal rock - Google Patents
Method and system for positioning dynamic disasters of infrasonic wave monitoring coal rock Download PDFInfo
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Abstract
The invention discloses a method and a system for positioning dynamic disasters of infrasonic wave monitoring coal and rock, wherein the system comprises a monitoring main station and a plurality of monitoring substations, and the monitoring substations are connected with the monitoring main station through an optical fiber network; the monitoring substation is composed of 3 infrasonic wave sensors which are arranged in a triangle, and the infrasonic wave sensors are connected with an infrasonic wave monitor; the monitoring master station sets a calculation server; the positioning method is that a master station calculation server carries out filtering processing on acquired data, carries out time-frequency analysis on the data through short-time Fourier transform (STFT), compares frequency energy density, extracts main frequency band signals, and positions a calculation result through statistical analysis and a time delay estimation theory. The system monitors infrasonic wave signals generated by the breakage of the loaded coal rock, and carries out non-contact and regional test on the stress distribution state of the surrounding rock of the mine or tunnel by the method to determine the breakage and stress abnormality areas of the coal rock. The method is simple to install and operate, has small influence on production, and has large detection range and long detection distance.
Description
Technical Field
The invention relates to the technical field of mine safety and stress monitoring and positioning, in particular to a method and a system for positioning dynamic disasters of infrasonic wave monitoring coal and rock.
Background
The stress distribution is complex in the coal seam geological condition and human exploitation process in China, so that coal and rock fracture is caused, and coal and gas outburst, rock burst, roof fall and other coal and rock dynamic disaster accidents can be possibly caused. Thus, monitoring for coal rock fracture is critical to solving the above problems.
At present, most instruments suitable for mine stress monitoring are mainly contact type instruments. The contact monitoring is to monitor the stress of the coal rock at multiple points by contacting the coal rock, and reflect the structure and stress distribution of the coal rock mass in the coal rock area. The monitoring personnel are in the danger of monitoring the environment under the unknown environment, and the safety of the monitoring personnel is not guaranteed. Meanwhile, good contact between the sensor at the representative contact point and the coal rock is selected, so that the quality of contact monitoring in actual engineering monitoring is directly affected.
Typical contact stress testers are known as stress monitors, patent No. ZL200610083322.2. The shell is arranged in a drilling hole, the bearing press is in close contact with the hole wall, the pressure of coal and rock acts on the bearing press, interference fringes generated by the long grating ruler and the small grating plate are compressed and returned through the spring, and then the fringes are converted into electric signals through the infrared luminous tube and the photoelectric receiving tube to be collected, processed and analyzed.
The non-contact prediction of geological disasters mainly comprises a prediction method such as an electromagnetic radiation method, an acoustic emission method, a microseismic method, a gas emission change characteristic of a monitoring working face and the like, but the problems of large interference, quick contact prediction, rapid attenuation and the like exist in the monitoring by using the electromagnetic radiation method and the acoustic emission method. Secondly, the acoustic emission and microseismic monitoring process needs to be well coupled with the coal rock. And (3) analyzing the relation between the surging and the protrusion by monitoring the gas surging change characteristics of the working surface, so as to indirectly predict the protrusion. The conclusion obtained by the method is relatively one-sided and has poor reliability.
The invention patent 'a non-contact mine observation and evaluation method, application number 200710020549.7', which obtains an average value E by testing the electromagnetic radiation intensity of a selected monitoring point i Compared with the calculation of the electromagnetic radiation intensity Eavg of all the measuring points, only the high stress area can be evaluated, and the real-time monitoring can not be performed.
Along with the wide application of the infrasound wave in the prediction and early warning of earthquakes, debris flows, nuclear explosions, pipeline leakage and the like, the research of the infrasound wave in the monitoring and early warning of mine coal and rock disasters is also carried out successively. A large number of experiments prove that the coal rock can generate remarkable infrasonic wave signals in the loading deformation and fracture process, and the infrasonic wave signals have larger amplitude values when the instability and destruction of the coal rock are about to occur. In addition, the infrasonic wave has long propagation distance, attenuation and strong penetrating capacity, so that the coupling condition of an infrasonic wave probe and attenuation and even distortion of signals are not required to be considered in detection, the detection result is far lower than the sound waves of other frequency bands due to external interference, and the feasibility of monitoring the coal rock dynamic disasters by the infrasonic wave is verified. Therefore, the infrasonic wave technology can realize the remote and non-contact monitoring of the coal and rock dynamic disasters of the mine, and provides a reliable basis for the monitoring and early warning of the coal and rock dynamic disasters.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a method and a system for positioning dynamic disasters of infrasonic wave monitoring coal and rock. The method is mainly used for monitoring infrasonic wave signals generated by the breakage of the loaded coal rock, and can be used for carrying out non-contact and regional test on the stress distribution state of the surrounding rock of the mine or tunnel so as to determine the breakage and stress abnormal area of the coal rock. The observation method has the characteristics of simple installation and operation, small influence on production, large detection range and long detection distance.
In order to achieve the above object, the technical scheme of the present invention is as follows:
the method comprises the steps of S1, arranging an infrasound monitoring coal and rock dynamic disaster positioning system, selecting an area needing to be monitored, setting up a monitoring main station and a plurality of monitoring sub-stations, arranging triangular sub-arrays of the monitoring sub-stations to receive infrasound information of the selected pre-monitoring area, storing information data, and uploading the stored information data to the main station;
s2, after receiving infrasonic wave information data of the monitoring substation, the master station calculation server carries out filtering processing on the acquired data, carries out time-frequency analysis on the data through short-time Fourier transform (STFT), compares frequency energy density, extracts main frequency band signals, and locates calculation results through statistical analysis and time delay estimation theory;
s3, the master station calculation server firstly carries out filtering treatment, an FIR filter is selected, and the upper limit and the lower limit of the filter are set to be 0.01HZ and 20HZ respectively; collecting and filtering infrasonic wave signals before and during mining (normal mining and dynamic disaster precursors) of a working surface;
s4, extracting waveform characteristics; respectively carrying out time-frequency analysis on infrasonic wave signals before and during mining (precursor of normal mining and dynamic disasters) of a working face, and calculating the energy density of a frequency band; by Short Time Fourier Transform (STFT), the transform formula is as follows:
wherein X (f, t) is a transformed time-frequency function; f is frequency in Hz; t is time, and the unit is s; f (τ) is the filtered denoised signal; w (τ -t) is the analysis window; τ is a finite time in s;
the energy density spectrum is as follows:
s5, analyzing and comparing; comparing characteristic quantities such as infrasonic wave signal waveform amplitude, frequency, energy density and the like before and during mining (normal mining and dynamic disaster precursor) of a working face, monitoring whether a signal with relatively high energy and a low frequency band is generated, and providing a basis for positioning a monitoring system;
s6, positioning analysis is carried out on the main infrasonic wave frequency band by a time delay estimation theory positioning calculation method; data L stored in a group of subarrays 1 Sampling is carried out, and the time delay quantity tau of each sampling length between every two sensors of the subarray is determined through a time delay estimation theory;
s7, carrying out statistical analysis on tau to obtain a normal distribution mean value mu, selecting a threshold value delta=1/f, setting the sampling frequency to be 1000Hz, and solving an effective time delay range mu-delta<τ 1 <μ+δ, extracting an effective value τ, deleting the wild quantity, reducing the error;
s8, the triangular subarray receives plane waves transmitted from a remote place, so that any one sensor of the triangular subarray is used as an origin, a plane coordinate system is established, and the projection position direction of the infrasonic wave source on the ground is determined according to the combination of the effective time delay and the geometric configuration of the array;
L 12 、L 23 、L 31 the included angles alpha and beta are the intervals between every two sensors, and the included angle phi of the wave source incidence angle can be obtained;
and according to the geometric configuration of the triangular array, the wave velocity v=L is obtained 12 *τ 12 ；
S9, repeating the steps, and solving the incident included angle phi of the wave source and the wave velocity v for each triangular matrix; summarizing monitoring and positioning results of all subarrays, and marking the position of a wave source;
s10, after the infrasound monitoring coal and rock dynamic disaster positioning system marks the wave source position area, a prompt is given, and according to mine geological map data, a supporting design and disaster prevention decision are made in the corresponding underground area.
Further, in step S1, the monitoring substation is constantly kept in a 30min data file.
Further, in step S6, the sampling length is 50S.
Further, the infrasound monitoring coal rock dynamic disaster positioning system comprises at least one monitoring main station and a plurality of monitoring substations, wherein the monitoring substations are connected with the monitoring main station through an optical fiber network; each monitoring substation is formed by 3 infrasonic wave sensors into a triangular subarray, and the 3 infrasonic wave sensors are connected with an infrasonic wave monitor; the monitoring master station is provided with at least one calculation server; the master station calculation server performs filtering processing on the acquired data, performs time-frequency analysis on the data through short-time Fourier transformation, compares frequency energy density, extracts main frequency band signals, and locates calculation results through statistical analysis and time delay estimation theory.
Further, the number of the monitoring substations is 3-5, and the 3-5 monitoring substations are distributed in 1.0 km-2.5 km in different directions by taking the center of the selected pre-monitoring area as the center of a circle.
Further, the distance between every two of the 3 infrasonic wave sensors of the triangular subarray is 20-30 m.
Furthermore, the infrasound monitoring coal rock dynamic disaster positioning system also comprises an external power supply, and the external power supply provides working power for the monitoring main station and the monitoring substation.
After the statistical analysis positioning method of the infrasonic wave monitoring coal rock dynamic disaster positioning system is finished, the system gives a prompt for the position area of the marked wave source, which is generally the area where coal rock is broken or is about to break, and decision such as support design, disaster prevention and the like can be made according to actual conditions.
Compared with the prior art, the invention has the advantages and positive effects that:
according to the method and the system for locating the dynamic disaster of the coal and rock through the infrasonic wave monitoring, the infrasonic wave signals with low frequency and long propagation distance can be collected, and the functions of monitoring the breakage and locating of the coal and rock can be achieved through the infrasonic wave signals, the time-frequency analysis, the statistical analysis and the time delay estimation theoretical locating method. Compared with the existing monitoring technology, the invention has the following advantages: the method is simple to install and operate, has small influence on production, and has large detection range and long detection distance.
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In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a monitoring method of the present invention;
FIG. 2 is a flow chart of a positioning method of the present invention;
FIG. 3 is a schematic diagram of the infrasonic sensor arrangement of the present invention;
FIG. 4 is a time-frequency diagram of the present invention for monitoring a coal rock fracture signal;
FIG. 5 is a model of the principle of the time delay estimation and positioning of the triangular array of the present invention;
FIG. 6 is a block diagram of the system architecture of the present invention;
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, modifications, equivalents, improvements, etc., which are apparent to those skilled in the art without the benefit of this disclosure, are intended to be included within the scope of this invention.
As shown in the flow chart of the method for positioning the dynamic disaster of the coal and rock by monitoring the infrasound waves in fig. 1, before the dynamic disaster of the coal and rock is monitored, firstly, an area needing to be monitored is selected, for example, a certain stope area is selected as a monitoring area, wherein the disaster occurs on the lower working surface, vibration is generated, the lower working surface is coupled with the air on the ground above to generate the infrasound waves, and the infrasound waves are transmitted to a remote place through the atmosphere. The 3 groups of monitoring subarrays are distributed in different directions within 1.0 km-2.5 km from the center of the monitoring area, each group is composed of 3 infrasonic wave sensors and distributed in a regular triangle with side length of 30m, as shown in figure 3. And secondly, collecting and storing data, wherein each group of monitoring subarrays are respectively connected with a matched infrasonic wave transmitter, data storage is carried out in 30min monitoring time, and collected data are transmitted to a computer of a monitoring center through USB data transmission or wireless transmission technology. And then filtering, collecting and filtering infrasonic wave signals before and during mining (normal mining and dynamic disaster precursors) of the working face, selecting an FIR filter, and setting the upper limit and the lower limit of the filter to be 0.01HZ and 20HZ respectively. And then carrying out time-frequency analysis on the infrasonic wave signal data waveforms before and during the exploitation of the working face (normal exploitation and dynamic disaster precursors), and calculating the energy density of the frequency band. And finally, analyzing and comparing characteristic quantities such as waveform amplitude, frequency, energy density and the like of the signals, and monitoring whether signals with relatively high energy and low frequency range are generated or not, so that a basis is provided for positioning of a monitoring system.
As shown in fig. 2, the positioning calculation method of the present invention comprises the following steps: the time delay estimation theory positioning calculation method carries out positioning analysis on abnormal infrasonic wave frequency bands, and data L stored in a first group of subarray segments are stored 1 Sampling is carried out, the sampling length is 50s, and the time delay tau of each sampling length between every two sensors of the subarray is determined through a time delay estimation theory. Statistical distribution of τAnalyzing to obtain normal distribution mean value mu, selecting threshold value delta=1/f, sampling frequency is 1000Hz, and solving effective time delay range mu-delta<τ 1 <And extracting an effective value tau by using mu+delta, deleting the wild quantity, and reducing errors. And (3) taking any one sensor of the triangular subarray as an origin, establishing a plane coordinate system, and determining the projection position direction of the infrasonic wave source on the ground according to the combination of the effective time delay and the geometric configuration of the array. Repeating the steps, summarizing the monitoring and positioning results of the subarray, and marking the ground position of the wave source. After the system marks the wave source position area, prompt is needed to be made, and decisions such as support design, disaster prevention and the like can be made in the corresponding underground area according to data such as mine geological map and the like.
As shown in fig. 4, the method for monitoring the time-frequency chart of the coal rock fracture signal comprises the following steps: when the loaded coal rock is broken, the collected infrasonic wave signals are introduced into a time window function through Short Time Fourier Transform (STFT), and a time-frequency diagram converted according to Matlab software of a computer is obtained. The method can analyze and compare the intercepted signals and the segmented signals collected on site.
As shown in fig. 5, the principle of the triangular array time delay estimation positioning is that the triangular array receives plane waves transmitted from a distance, so that an effective coordinate system is established by the triangular array, and the infrasonic wave broadcasting direction is determined according to the combination of the effective time delay and the geometric configuration of the array. L (L) 12 、L 23 、L 31 The included angles alpha and beta are the intervals between every two sensors, and the included angle phi of the wave source incidence angle can be obtained.
As shown in fig. 6, the infrasonic wave monitoring coal and rock dynamic disaster positioning system provided by the invention is specifically composed of a plurality of triangular monitoring substations and a monitoring master station, and is respectively used for signal acquisition, time-frequency analysis and positioning analysis. The monitoring substation consists of an infrasonic wave sensor 1, an external power supply 2 and an infrasonic wave monitor 3, and the monitoring main station is a calculation server 4. The devices between the monitoring substation and the monitoring main station are connected by an optical fiber network, and an external power supply 2 supplies power for the monitoring substation and the monitoring main station.
Claims (3)
1. A method for positioning dynamic disasters of coal and rock through infrasonic wave monitoring is characterized by comprising the following steps of: the positioning method comprises the following steps:
s1, arranging an infrasound monitoring coal and rock dynamic disaster positioning system, selecting an area needing to be monitored and taking the area as a circle center, setting a monitoring main station and a plurality of monitoring sub-stations near the ground of the selected monitoring area, arranging triangular sub-arrays of the monitoring sub-stations to receive infrasound information of the selected pre-monitoring area, storing information data, and uploading the stored information data to the main station;
s2, after receiving infrasonic wave information data of the monitoring substation, the master station calculation server carries out filtering processing on the acquired data, carries out time-frequency analysis on the data through short-time Fourier transformation, compares frequency energy density, extracts main frequency band signals, and locates calculation results through statistical analysis and time delay estimation theory;
s3, the master station calculation server firstly carries out filtering treatment, an FIR filter is selected, and the upper limit and the lower limit of the filter are set to be 0.01HZ and 20HZ respectively; collecting and filtering infrasonic wave signals before and during mining of a working surface;
s4, extracting waveform characteristics; respectively carrying out time-frequency analysis on infrasonic wave signals before and during mining of the working face, and calculating the energy density of the frequency band; by short-time fourier transform, the transformation formula is as follows:
wherein X (f, t) is a transformed time-frequency function; f is frequency in Hz; t is time, and the unit is s; f (τ) is the filtered denoised signal; w (τ -t) is the analysis window; τ is a finite time in s;
the energy density spectrum is as follows:
s5, analyzing and comparing; comparing the waveform amplitude, frequency and energy density characteristic quantity of the infrasonic wave signals before and during the exploitation of the working face, and monitoring whether signals with relatively high energy and low frequency range are generated or not, so that a basis is provided for positioning a monitoring system;
s6, positioning analysis is carried out on the main infrasonic wave frequency band by a time delay estimation theory positioning calculation method; data L stored in a group of subarrays 1 Sampling is carried out, and the time delay quantity tau of each sampling length between every two sensors of the subarray is determined through a time delay estimation theory;
s7, carrying out statistical analysis on tau to obtain a normal distribution mean value mu, selecting a threshold value delta=1/f, setting the sampling frequency to be 1000Hz, and solving an effective time delay range mu-delta<τ 1 <μ+δ, extracting an effective value τ, deleting the wild quantity, reducing the error;
s8, the triangular subarray receives plane waves transmitted from a remote place, so that any one sensor of the triangular subarray is used as an origin, a plane coordinate system is established, and the projection position direction of the infrasonic wave source on the ground is determined according to the combination of the effective time delay value and the geometric configuration of the array;
L 12 、L 23 、L 31 the included angles alpha and beta are the intervals between every two sensors, and the included angle phi of the wave source incidence angle can be obtained;
and according to the geometric configuration of the triangular array, the wave velocity v=L is obtained 12 *τ 12 ；
S9, repeating the steps, and solving the incident included angle phi of the wave source and the wave velocity v for each triangular matrix; summarizing monitoring and positioning results of all subarrays, and marking the position of a wave source;
s10, after the infrasound monitoring coal and rock dynamic disaster positioning system marks the wave source position area, a prompt is given, and according to mine geological map data, a supporting design and disaster prevention decision are made in the corresponding underground area.
2. The positioning method as set forth in claim 1, wherein: in step S1, the monitoring substation is constantly kept in a 30min data file.
3. The positioning method as set forth in claim 1, wherein: in step S6, the sampling length is 50S.
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