CN108802825A - A kind of monitored by infrasonic wave coal rock dynamic disaster localization method and positioning system - Google Patents
A kind of monitored by infrasonic wave coal rock dynamic disaster localization method and positioning system Download PDFInfo
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- CN108802825A CN108802825A CN201810961947.7A CN201810961947A CN108802825A CN 108802825 A CN108802825 A CN 108802825A CN 201810961947 A CN201810961947 A CN 201810961947A CN 108802825 A CN108802825 A CN 108802825A
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Abstract
The invention discloses a kind of monitored by infrasonic wave coal rock dynamic disaster localization method and positioning system, system includes monitoring main website and multiple monitoring sub-stations, and monitoring sub-station is connect by optical network with monitoring main website；Monitoring sub-station is made of 3 infrasonic sensors of triangular arrangement, and infrasonic sensor connects monitored by infrasonic wave instrument；It monitors main website and calculation server is set；Localization method is that main website calculation server is filtered gathered data, passes through short time discrete Fourier transform（STFT）Time frequency analysis is carried out to data, frequency energy density is compared, extracts main frequency band signals, pass through statistical analysis, time delay estimation theory, location Calculation result.This system monitors the infrasound signal that loaded coal rock rupture generates, and carries out contactless, regional test to the stress distribution in mine or tunnel surrounding by this method, determines coal petrography rupture, stress abnormality region.Method is installed, is easy to operate, smaller to Influence of production, and detection range is big, and detecting distance is remote.
Description
Technical field
The present invention relates to mine safety and stress monitoring field of locating technology, more particularly to a kind of monitored by infrasonic wave coal petrography
Dynamic disaster localization method and positioning system.
Background technology
Cause stress distribution complicated in the complexity and mankind's recovery process of China's coal seam geological condition, it is also broken as coal petrography
It splits, the coal rock dynamic disasters accident such as coal and gas prominent, bump, roof fall may be caused.Therefore, it is to coal petrography rupture monitoring
The key to solve the above problems.
Currently, the big multiple instruments suitable for mine stress monitoring are based on contact.Contact monitoring be by with coal
The stress of the coal petrography of rock contact monitoring multiple spot, structure, the stress distribution of reaction coal petrography region coal and rock.Monitoring personnel is in not
Know the danger that environment is monitored under environment, itself does not ensure safely monitoring personnel.It selects simultaneously representational
Sensor at contact point is contacted with the good of coal petrography, is directly affected contact and is monitored the quality monitored in Practical Project.
Typical contact measuring stress instrument such as patent of invention " stress monitoring instrument ", patent No. ZL200610083322.2.
Its shell is mounted in drilling, and pressure-bearing lives to need to be in close contact with hole wall, and coal petrography pressure acts on pressure-bearing and lives, and passes through the pressure of spring
Contracting and return, the interference fringe that long grating scale and small original screen panel generate, and then by infraluminescence pipe and photoelectric receiving tube by item
Line conversion electric signal is collected processing analysis.
Contactless prediction is carried out mainly with electromagnetic radiation method, acoustic-emission, microseism and monitoring to geological disaster
Based on the prediction techniques such as the Gas variation characteristic in face still, there is interference in being monitored using electromagnetic radiation, sound emission method
Greatly, contact is predicted, decays the problems such as fast.Secondly, it needs to carry out good coupling with coal petrography in the monitoring process of sound emission and microseism
It closes.By the Gas variation characteristic in monitoring face, analysis gush out with relationship outstanding, to which indirect predictions protrude.It should
The conclusion that method obtains is more unilateral, and reliability is poor.
" a kind of contactless mine observation and evaluation method, application number 200710020549.7 ", pass through survey to patent of invention
It tries and receives the electromagnetic radiation intensity of selected monitoring point, averaged Ei, with all measuring point electromagnetic radiation intensity Eavg of calculating
Compare, is only capable of evaluation high stress areas, can not be monitored in real time.
With extensive use of the infrasound in the prediction and warnings such as earthquake, mud-rock flow, nuclear explosion, pipe leakage, infrasound
Research in the monitoring and warning of mine coal petrography disaster is also carried out in succession.A large number of experiments proves coal petrography in load deflection rupture process
Middle to generate significant infrasound signal, when coal and rock unstable failure will occur or occur, infrasound signal occurs larger
Range value.Also, infrasound has, and propagation distance is remote, the small and penetration capacity that decays is strong so that regardless of infrasound when detection
The coupling condition and signal of probe generate decaying and even distort, and result of detection will be well below other frequency range sound by external interference
Wave demonstrates the feasibility of monitored by infrasonic wave coal rock dynamic disaster.Therefore mine coal or rock dynamic calamity may be implemented in infrasonic sound wave technology
Harmful remote, untouchable monitoring provides reliable foundation for the monitoring and warning of coal and rock dynamic disaster.
Invention content
For problems of the prior art, the present invention provides a kind of kind of monitored by infrasonic wave coal rock dynamic disaster positioning side
Method and positioning system.The infrasound signal that main monitoring loaded coal rock rupture generates, can be to mine or tunnel by this method
The stress distribution of country rock carries out contactless, regional test, determines coal petrography rupture, stress abnormality region.This observation
The characteristics of method is to install, is easy to operate, smaller to Influence of production, and detection range is big, and detecting distance is remote.
To achieve the goals above, the technical scheme is that：
A kind of monitored by infrasonic wave coal rock dynamic disaster localization method, S1, arrangement monitored by infrasonic wave coal rock dynamic disaster positioning system,
A monitoring main website and multiple monitoring sub-stations, the arrangement of monitoring sub-station triangle subarray are set up in the selected region for needing to be monitored
With receive select premonitoring region infrasound information go forward side by side row information data preserve, upload to main website after being saved；
After S2, main website calculation server receive the infrasound information data of monitoring sub-station, gathered data is filtered, is led to
Cross short time discrete Fourier transform（STFT）Time frequency analysis is carried out to data, frequency energy density is compared, extracts main frequency band signals, is led to
Cross statistical analysis, time delay estimation theory, location Calculation result；
S3 main websites calculation server is filtered first, selects FIR filter, and filter bound is arranged and is respectively
0.01HZ and 20HZ；Before acquisition and the exploitation of filtering operation face, in recovery process（Normal exploitation, dynamic disaster omen）Infrasound
Signal；
S4, extraction wave character；Respectively to before working face mining, in recovery process（Normal exploitation, dynamic disaster omen）Time
Acoustic signals carry out time frequency analysis, calculate band energy density；Pass through short time discrete Fourier transform（STFT）, transformation for mula is as follows：
Wherein, X (f, t) is the time-frequency function after transformation；F is frequency, unit Hz；T is time, unit s；F (τ) is
Signal after filtering and noise reduction；W (τ-t) is analysis window；τ is finite time, unit s；
Its energy density spectrum is as follows：
；
S5, analysis comparison；It will be before working face mining, in recovery process（Normal exploitation, dynamic disaster omen）Infrasound signal
The characteristic quantities such as waveforms amplitude, frequency and energy density are compared, and monitor whether the letter of the low-frequency range of relatively high energy
Number generate, for monitor system positioning foundation is provided；
S6, time delay estimation theory method for calculating and locating carry out positioning analysis for main infrasound frequency band；One group of subarray is protected
The data L deposited1It is sampled, by time delay estimation theory, determines the sensor of subarray each sample length between any two
Delay volume τ；
S7, to τ statistical analyses, find out normal distribution mean μ, choose threshold delta=1/f, sample frequency 1000Hz, solution has
Imitate time delay range μ-δ<τ1<μ+δ extract virtual value τ, delete wild amount, reduce error；
S8, triangle subarray receive the plane wave that transmits at a distance, therefore using triangle subarray any one sensor as origin, build
Vertical plane coordinate system, is combined with the geometric configuration of array according to effective time delay value, determines the throwing of infrasound wave source on the ground
Shadow locality；
L12、L23、L31For the spacing of two two sensors, angle α, β can obtain wave source incidence angle angle；
And according to the geometric configuration of triangle battle array, seek velocity of wave v=L12*τ12；
S9, above step is repeated, each triangle battle array is carried out to seek wave source incidence angle angle, velocity of wave v；And to each subarray
Monitoring positioning result is summarized, mark wave source position；
After S10, monitored by infrasonic wave coal rock dynamic disaster positioning system are for the mark wave source band of position, prompt is made, according to mine
Well geologic map data, corresponding downhole area make design of its support, disaster prevention decision.
Further, in step sl, monitoring sub-station is with the permanent preservation of 30min data files.
Further, in step s 6, sample length 50s.
Further, which includes minimum including a monitoring main website and more
A monitoring sub-station, the multiple monitoring sub-station are connect by optical network with monitoring main website；Each described monitoring sub-station is by 3 times
Sonic sensor constitutes a triangular shaped subarray, and described 3 infrasonic sensors connect monitored by infrasonic wave instrument；Institute
It states the setting of monitoring main website and is at least provided with a calculation server；Main website calculation server is filtered gathered data,
Time frequency analysis is carried out to data by short time discrete Fourier transform, frequency energy density is compared, extracts main frequency band signals, pass through system
Meter analysis, time delay estimation theory, location Calculation result.
Further, monitoring sub-station is 3 ~ 5,3 ~ 5 monitoring sub-stations using selected premonitoring regional center as the center of circle, with
Different directions are distributed in 1.0km ~ 2.5km.
Further, 3 infrasonic sensors of triangle subarray distance setting between any two, 20 ~ 30m.
Further, the monitored by infrasonic wave coal rock dynamic disaster positioning system further includes external power supply, the external power supply
Working power is provided for monitoring main website, monitoring sub-station.
After the statistical analysis localization method of the monitored by infrasonic wave coal rock dynamic disaster positioning system is finished, system pair
In the mark wave source band of position, prompt should be made, this is usually the region that coal petrography is ruptured or will be ruptured, can be according to actual conditions
Make the decisions such as design of its support, disaster prevention.
Compared with prior art, the invention has the advantages and positive effects that：
The present invention monitored by infrasonic wave coal rock dynamic disaster localization method and positioning system, can by acquire low frequency, propagate away from
From long infrasound signal, by time frequency analysis, statistical analysis, time delay estimation theory localization method carry out infrasound signal
Processing calculates, and realizes the function of monitoring coal petrography rupture and positioning.The present invention is compared with existing monitoring technology：This method installation,
It is easy to operate, it is smaller to Influence of production, and detection range is big, detecting distance is remote.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is the flow chart of the monitoring method of the present invention；
Fig. 2 is the flow chart of the localization method of the present invention；
Fig. 3 is that the infrasonic sensor of the present invention arranges principle schematic；
Fig. 4 is the time-frequency figure of present invention monitoring coal petrography destruction signals；
Fig. 5 is triangle battle array delay estimation positioning principle model of the present invention；
Fig. 6 is the system structure composition frame chart of the present invention；
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
As shown in Fig. 1 monitored by infrasonic wave coal rock dynamic disaster localization method flow charts, before monitoring coal rock dynamic disaster,
The region for needing to be monitored selected first, such as certain stope region is selected as monitoring region, wherein lower work
Disaster occurs for face, generates vibrations, generates infrasound with overhead surface Air Coupling and is reached at a distance by air.3 groups of monitoring
Array is distributed in different directions away from monitoring regional center 1.0km ~ 2.5km, and every group is made of 3 infrasonic sensors,
In the distribution of shapes of the equilateral triangle of length of side 30m, as shown in Figure 3.Secondly the acquisition and preservation of data, every group of monitoring submatrix are carried out
Row are separately connected mating infrasound transmission instrument, and carry out data preservation with 30min monitoring times, by USB data transmission or
Gathered data is transmitted to the computer of monitoring center by Radio Transmission Technology.Then it is filtered, acquisition and filtering operation face are opened
Before adopting, in recovery process（Normal exploitation, dynamic disaster omen）Infrasound signal, select FIR filter, be arranged filter on
Lower limit is respectively 0.01HZ and 20HZ.Then to before working face mining, in recovery process（Normal exploitation, dynamic disaster omen）'s
Infrasound signal data waveform carries out time frequency analysis, calculates band energy density.Ultimate analysis contrast signal waveforms amplitude, frequency
The characteristic quantities such as rate and energy density monitor whether that the signal of the low-frequency range of relatively high energy generates, for monitoring system
Positioning provides foundation.
As shown in Fig. 2, method for calculating and locating flow of the present invention is：Time delay estimation theory method for calculating and locating is for abnormal secondary
Sound wave frequency band carries out positioning analysis, the data L that first group of subarray segmentation is preserved1It is sampled, sample length 50s, leads to
Time delay estimation theory is crossed, determines the delay volume τ of the sensor of subarray each sample length between any two.To τ statistical analyses, ask
Go out normal distribution mean μ, chooses threshold delta=1/f, sample frequency 1000Hz, solve effective time delay range μ-δ<τ1<μ+δ,
Virtual value τ is extracted, wild amount is deleted, reduces error.Using triangle subarray any one sensor as origin, plane coordinates is established
System, is combined with the geometric configuration of array according to effective time delay value, determines the projected position direction of infrasound wave source on the ground.
Above step is repeated, and sub-array monitoring positioning result is summarized, and wave source ground location is marked.System is for marking wave source
Behind the band of position, prompt should be made, design of its support, disaster can be made according to the data such as mine geological graph, corresponding downhole area
The decisions such as prevention.
As shown in figure 4, the method for the time-frequency figure of monitoring coal petrography destruction signals is：When monitoring loaded coal rock rupture, acquisition
Infrasound signal, passes through short time discrete Fourier transform（STFT）, time window function is introduced, according to the conversion of computer Matlab softwares
Time-frequency figure.By the method analysis comparison can be carried out to intercept signal, the block signal of collection in worksite.
As shown in figure 5, triangle battle array delay estimation positioning principle is, triangle basic matrix receives the plane wave transmitted at a distance, therefore
With triangle basic matrix, effective coordinate system is established, is combined with the geometric configuration of array according to effective delay volume, determines infrasound to broadcast
Direction.L12、L23、L31For the spacing of two two sensors, angle α, β can obtain wave source incidence angle angle.
As shown in fig. 6, monitored by infrasonic wave coal rock dynamic disaster positioning system provided by the invention, is specifically supervised by multiple triangles
It surveys substation and a monitoring main website is constituted, be respectively used to acquisition signal, time frequency analysis, positioning analysis.Monitoring sub-station is by infrasound
Sensor 1, external power supply 2, monitored by infrasonic wave instrument 3 form, and monitoring main website is a calculation server 4.Monitoring sub-station and monitoring
Device between main website is all connected with optical network, and external power supply 2 is monitoring sub-station, the main power supply of monitoring.
Claims (7)
1. a kind of monitored by infrasonic wave coal rock dynamic disaster localization method, it is characterised in that：The step of localization method is：
S1, arrangement monitored by infrasonic wave coal rock dynamic disaster positioning system, it is selected to need the region that is monitored and as the center of circle,
Set up a monitoring main website and multiple monitoring sub-stations in selected monitoring region Near Ground, the arrangement of monitoring sub-station triangle subarray with
Receive select premonitoring region infrasound information go forward side by side row information data preservation, upload to main website after being saved；
After S2, main website calculation server receive the infrasound information data of monitoring sub-station, gathered data is filtered, is led to
It crosses short time discrete Fourier transform and time frequency analysis is carried out to data, compare frequency energy density, extract main frequency band signals, pass through statistics
Analysis, time delay estimation theory, location Calculation result；
S3 main websites calculation server is filtered first, selects FIR filter, and filter bound is arranged and is respectively
0.01HZ and 20HZ；It acquires before being exploited with filtering operation face, the infrasound signal in recovery process；
S4, extraction wave character；Time frequency analysis, meter are carried out to the infrasound signal before working face mining, in recovery process respectively
Calculate band energy density；By short time discrete Fourier transform, transformation for mula is as follows：
Wherein, X (f, t) is the time-frequency function after transformation；F is frequency, unit Hz；T is time, unit s；F (τ) is
Signal after filtering and noise reduction；W (τ-t) is analysis window；τ is finite time, unit s；
Its energy density spectrum is as follows：
；
S5, analysis comparison；By the infrasound signal waveform amplitude before working face mining, in recovery process, frequency and energy are close
The characteristic quantities such as degree are compared, and monitor whether that the signal of the low-frequency range of relatively high energy generates, to monitor the positioning of system
Foundation is provided；
S6, time delay estimation theory method for calculating and locating carry out positioning analysis for main infrasound frequency band；One group of subarray is protected
The data L deposited1It is sampled, by time delay estimation theory, determines the sensor of subarray each sample length between any two
Delay volume τ；
S7, to τ statistical analyses, find out normal distribution mean μ, choose threshold delta=1/f, sample frequency 1000Hz, solution has
Imitate time delay range μ-δ<τ1<μ+δ extract virtual value τ, delete wild amount, reduce error；
S8, triangle subarray receive the plane wave that transmits at a distance, therefore using triangle subarray any one sensor as origin, build
Vertical plane coordinate system, is combined with the geometric configuration of array according to effective time delay value, determines the throwing of infrasound wave source on the ground
Shadow locality；
L12、L23、L31For the spacing of two two sensors, angle α, β can obtain wave source incidence angle angle；
And according to the geometric configuration of triangle battle array, seek velocity of wave v=L12*τ12；
S9, above step is repeated, each triangle battle array is carried out to seek wave source incidence angle angle, velocity of wave v；And to each subarray
Monitoring positioning result is summarized, mark wave source position；
After S10, monitored by infrasonic wave coal rock dynamic disaster positioning system are for the mark wave source band of position, prompt is made, according to mine
Well geologic map data, corresponding downhole area make design of its support, disaster prevention decision.
2. localization method as described in claim 1, it is characterised in that：In step sl, monitoring sub-station monitoring sub-station is with 30min
The permanent preservation of data file.
3. localization method as described in claim 1, it is characterised in that：In step s 6, sample length 50s.
4. a kind of monitored by infrasonic wave coal rock dynamic disaster positioning system, it is characterised in that：The monitored by infrasonic wave coal rock dynamic disaster
Positioning system includes a monitoring main website and multiple monitoring sub-stations, and the multiple monitoring sub-station is connected by optical network and monitoring main website
It connects；Each described monitoring sub-station constitutes a triangular shaped subarray by 3 infrasonic sensors, and described 3 secondary
Sonic sensor connects monitored by infrasonic wave instrument；The monitoring main website setting is at least provided with a calculation server；Main website calculates
Server is filtered gathered data, carries out time frequency analysis to data by short time discrete Fourier transform, compares frequency energy
Metric density extracts main frequency band signals, passes through statistical analysis, time delay estimation theory, location Calculation result.
5. monitored by infrasonic wave coal rock dynamic disaster positioning system as claimed in claim 4, it is characterised in that：Monitoring sub-station be 3 ~
5, which is distributed in different directions in 1.0km ~ 2.5km using selected premonitoring regional center as the center of circle.
6. monitored by infrasonic wave coal rock dynamic disaster positioning system as claimed in claim 4, it is characterised in that：Triangle subarray
3 infrasonic sensors between any two distance setting 20 ~ 30m.
7. monitored by infrasonic wave coal rock dynamic disaster positioning system as claimed in claim 4, it is characterised in that：The infrasound prison
It further includes external power supply to survey coal rock dynamic disaster positioning system, which provides work electricity for monitoring main website, monitoring sub-station
Source.
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| CN111366972B (en) * | 2020-02-27 | 2021-05-18 | 国网山西省电力公司晋城供电公司 | Goaf power transmission line monitoring method and device |
| CN111412979A (en) * | 2020-04-26 | 2020-07-14 | 伟宸科技（武汉）有限公司 | Ultralow-frequency infrasound abnormal signal distinguishing method |
| CN111815909A (en) * | 2020-07-17 | 2020-10-23 | 江苏曌丰智能安防有限公司 | Wireless ad hoc network landslide collapse debris flow monitoring system based on UWB sensing positioning |
| CN112698405A (en) * | 2020-12-11 | 2021-04-23 | 西南交通大学 | Landslide event identification, early warning and evaluation method based on seismic signal |
| CN114993353A (en) * | 2022-05-18 | 2022-09-02 | 成都市美幻科技有限公司 | Self-adaptive filtering method, device, equipment and system for multiple disaster monitoring equipment |
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