技术领域technical field
本发明涉及智能采矿技术领域，特别涉及一种煤岩界面识别方法。The invention relates to the technical field of intelligent mining, in particular to a coal-rock interface identification method.
背景技术Background technique
要达到智能化工作面开采技术这种高效的安全开采方式，首先要解决煤岩智能识别问题，这也是当前制约智能化采煤装备的重大难题。这一问题一直是国内外的研究热点，虽然诸多学者提出了许多具有代表性的研究方法，但各个方法只是探讨了煤岩识别的可行性，并没有形成了一个完善的解决方案。In order to achieve an efficient and safe mining method such as intelligent mining technology, the problem of intelligent identification of coal and rock must first be solved, which is also a major problem restricting intelligent coal mining equipment. This problem has always been a research hotspot at home and abroad. Although many scholars have proposed many representative research methods, each method only explores the feasibility of coal rock identification, and does not form a perfect solution.
采煤机是综采工作面主要的开采设备，采煤机的工作效率是决定整个煤矿产量与收益的关键。然而综采面的煤层走向复杂，在采煤机开采过程中势必会造成煤岩的混合开采，影响煤炭的纯度，且夹矸和岩石的结构材质较硬，对采煤机的截齿造成严重磨损甚至失效，增加采煤成本，降低采煤机截割效率，不利于煤炭行业的长期发展。由于井下煤层走向复杂，其中的夹矸与岩石的分布具有随机性，没有具体的规律可循，因此如何快速有效地动态识别煤岩分界面，实现采煤机滚筒的自动调高控制，成为当今煤炭行业亟待解决的问题。The shearer is the main mining equipment in the fully mechanized mining face, and the working efficiency of the shearer is the key to determine the output and income of the entire coal mine. However, the coal seam of the fully mechanized mining face has a complex direction, which will inevitably cause mixed mining of coal and rock during the mining process of the shearer, which will affect the purity of the coal, and the structural material of the gangue and rock is relatively hard, which will seriously cause serious damage to the pick of the shearer. Wear and tear or even failure will increase the cost of coal mining and reduce the cutting efficiency of coal shearers, which is not conducive to the long-term development of the coal industry. Due to the complex trend of the underground coal seam, the distribution of gangue and rock is random, and there is no specific rule to follow. Therefore, how to quickly and effectively identify the interface between coal and rock dynamically and realize the automatic height adjustment control of the shearer drum has become an important issue nowadays. Problems that need to be solved urgently in the coal industry.
目前现存的煤岩界面识别方法主要存在以下问题：The existing coal-rock interface identification methods mainly have the following problems:
(1)缺少对煤岩特性差异的深入研究。(1) There is a lack of in-depth research on the differences in coal and rock properties.
(2)缺少复杂环境下或煤岩性状相近时的煤岩判别方法研究。(2) There is a lack of research on coal-rock discrimination methods in complex environments or when coal-rock properties are similar.
由于煤层地质条件复杂多变，导致以上各种方法不具备普遍适用性，同时由于工作面环境恶劣、识别实时性的原因使得这些在煤岩识别方面应用不广泛。Due to the complex and changeable geological conditions of coal seams, the above methods are not universally applicable. At the same time, due to the harsh environment of the working face and the real-time identification, these methods are not widely used in coal rock identification.
发明内容Contents of the invention
本发明提供了一种煤岩界面识别方法，以解决当前煤岩界面识别技术探测精度低、且难以适应综采面突变的工作环境的技术问题。The invention provides a coal-rock interface identification method to solve the technical problems that the current coal-rock interface identification technology has low detection accuracy and is difficult to adapt to the working environment of a fully mechanized mining face mutation.
为解决上述技术问题，本发明提供了如下技术方案：In order to solve the problems of the technologies described above, the present invention provides the following technical solutions:
一方面，本发明提供了一种煤岩界面识别方法，其包括：In one aspect, the present invention provides a coal-rock interface identification method, which includes:
收集采煤过程中当前被采煤岩破坏时所产生的电磁辐射信号；Collect the electromagnetic radiation signal generated when the current is damaged by the coal mining rock during the coal mining process;
提取所述电磁辐射信号的电磁辐射特征参量；其中，所述电磁辐射特征参量包括：电磁辐射信号的强度、主频、频带、持续时间、振铃计数以及能量值；Extracting electromagnetic radiation characteristic parameters of the electromagnetic radiation signal; wherein, the electromagnetic radiation characteristic parameters include: intensity, main frequency, frequency band, duration, ringing count, and energy value of the electromagnetic radiation signal;
基于所述电磁辐射特征参量，利用预设的识别模型对当前煤岩界面进行识别，得到当前煤岩界面的识别结果；其中，所述识别模型基于不同种类煤和岩石破坏时产生的电磁辐射信号的电磁辐射特征参量的差异进行煤岩界面识别。Based on the characteristic parameters of electromagnetic radiation, use the preset identification model to identify the current coal-rock interface, and obtain the identification result of the current coal-rock interface; wherein, the identification model is based on electromagnetic radiation signals generated when different types of coal and rock are destroyed Coal-rock interface can be identified based on the difference of electromagnetic radiation characteristic parameters.
进一步地，基于所述电磁辐射特征参量，利用预设的识别模型对当前煤岩界面进行识别，包括：Further, based on the characteristic parameters of electromagnetic radiation, a preset identification model is used to identify the current coal-rock interface, including:
判断当前收集的被采煤岩破坏时所产生的电磁辐射信号的强度是否发生突变；其中，电磁辐射信号的强度发生突变包括：电磁辐射信号的强度突然增大至原信号的5倍以上，以及电磁辐射信号的强度突然减小至原信号的20％；Judging whether the intensity of the currently collected electromagnetic radiation signal produced when the coal mining rock is destroyed has a sudden change; wherein, the sudden change in the intensity of the electromagnetic radiation signal includes: the intensity of the electromagnetic radiation signal suddenly increases to more than 5 times the original signal, and The intensity of the electromagnetic radiation signal suddenly decreases to 20% of the original signal;
当收集到的电磁辐射信号的强度发生突变时，若当前电磁辐射信号的强度突然增大至原信号的5倍以上，则确定当前是由割煤变成割顶底板岩石；若当前电磁辐射信号的强度突然减小至原信号的20％，则确定当前是进入割煤环节。When the intensity of the collected electromagnetic radiation signal changes suddenly, if the intensity of the current electromagnetic radiation signal suddenly increases to more than 5 times of the original signal, it is determined that the current is from cutting coal to cutting roof and floor rock; if the current electromagnetic radiation signal If the intensity of the signal suddenly decreases to 20% of the original signal, it is determined that the coal cutting link is currently entered.
进一步地，基于所述电磁辐射特征参量，利用预设的识别模型对当前煤岩界面进行识别，还包括：Further, based on the characteristic parameters of electromagnetic radiation, using a preset identification model to identify the current coal-rock interface also includes:
当收集到的电磁辐射信号的强度未发生突变时，则基于当前收集的被采煤岩破坏时所产生的电磁辐射信号的电磁辐射特征参量构建特征向量，并利用所述预设的识别模型，根据构建的所述特征向量，进行当前被采煤岩界面的识别。When the intensity of the collected electromagnetic radiation signal does not change abruptly, a feature vector is constructed based on the electromagnetic radiation characteristic parameters of the electromagnetic radiation signal collected when the coal mining rock is destroyed, and using the preset identification model, According to the constructed feature vector, the identification of the currently mined coal rock interface is carried out.
进一步地，基于电磁辐射信号的电磁辐射特征参量构建特征向量，包括：Further, the characteristic vector is constructed based on the electromagnetic radiation characteristic parameters of the electromagnetic radiation signal, including:
通过熵权法计算出电磁辐射信号的各电磁辐射特征参量对应的第一权重；Calculate the first weight corresponding to each electromagnetic radiation characteristic parameter of the electromagnetic radiation signal by an entropy weight method;
基于层次分析法，通过复合权重计算方式分别计算出电磁辐射信号的各电磁辐射特征参量对应的第二权重；Based on the analytic hierarchy process, the second weight corresponding to each electromagnetic radiation characteristic parameter of the electromagnetic radiation signal is calculated respectively through a composite weight calculation method;
将每一电磁辐射特征参量所对应的第一权重和第二权重相乘，得到每一电磁辐射特征参量对应的权重积，并计算每一电磁辐射参数对应的权重积与全部电磁辐射参数的权重积累加和的比值，得到每一电磁辐射参数对应的权重；Multiply the first weight and the second weight corresponding to each electromagnetic radiation characteristic parameter to obtain the weight product corresponding to each electromagnetic radiation characteristic parameter, and calculate the weight product corresponding to each electromagnetic radiation parameter and the weight of all electromagnetic radiation parameters Accumulate the summed ratio to obtain the weight corresponding to each electromagnetic radiation parameter;
以电磁辐射信号的各电磁辐射参数对应的权重为特征值构建特征向量。An eigenvector is constructed with weights corresponding to the electromagnetic radiation parameters of the electromagnetic radiation signal as eigenvalues.
进一步地，所述基于层次分析法，通过复合权重计算方式分别计算出电磁辐射信号的各电磁辐射特征参量对应的第二权重，包括：Further, based on the analytic hierarchy process, the second weight corresponding to each electromagnetic radiation characteristic parameter of the electromagnetic radiation signal is calculated respectively through a composite weight calculation method, including:
对于电磁辐射信号的每一电磁辐射特征参量，分别通过预设的多种权重计算方法计算出当前电磁辐射特征参量对应的多个子权重；For each electromagnetic radiation characteristic parameter of the electromagnetic radiation signal, a plurality of sub-weights corresponding to the current electromagnetic radiation characteristic parameter are calculated through preset multiple weight calculation methods;
对电磁辐射信号的每一电磁辐射特征参量对应的多个子权重分别进行均值计算，得到电磁辐射信号的各电磁辐射特征参量对应的第二权重。Perform mean value calculation on the plurality of sub-weights corresponding to each electromagnetic radiation characteristic parameter of the electromagnetic radiation signal, to obtain a second weight corresponding to each electromagnetic radiation characteristic parameter of the electromagnetic radiation signal.
进一步地，所述权重计算方法包括几何平均法和最小二乘法。Further, the weight calculation method includes geometric mean method and least square method.
进一步地，所述预设的识别模型的获取方法，包括：Further, the method for obtaining the preset recognition model includes:
对待进行煤岩界面识别的区域内的各矿区的煤层顶底板岩样和煤样在破坏时产生的电磁辐射信号进行采集，并提取出电磁辐射信号的电磁辐射特征参量；Collect the electromagnetic radiation signals generated when the coal seam roof and floor rock samples and coal samples are destroyed in the coal-rock interface identification area of each mining area, and extract the electromagnetic radiation characteristic parameters of the electromagnetic radiation signals;
构建煤岩样本数据集；其中，所述样本数据集中的每一样本为基于煤和岩石破坏时产生的电磁辐射信号的各电磁辐射特征参量的权重构建的特征向量；Constructing a coal and rock sample data set; wherein, each sample in the sample data set is a feature vector constructed based on the weight of each electromagnetic radiation characteristic parameter of the electromagnetic radiation signal generated when the coal and rock are destroyed;
使用所述样本数据集对预设的识别模型进行训练，通过识别模型在样本数据集上的误差不断迭代训练识别模型，提高识别模型的识别准确率，得到对样本数据集拟合合理的识别模型；其中，所述识别模型的输入为基于电磁辐射信号的各电磁辐射特征参量的权重构建的特征向量，输出为煤岩界面识别结果。Use the sample data set to train the preset recognition model, continuously iteratively train the recognition model through the error of the recognition model on the sample data set, improve the recognition accuracy of the recognition model, and obtain a recognition model that fits the sample data set reasonably ; Wherein, the input of the identification model is a feature vector constructed based on the weight of each electromagnetic radiation characteristic parameter of the electromagnetic radiation signal, and the output is the coal-rock interface identification result.
进一步地，所述预设的识别模型进行煤岩界面识别的准则为：Further, the criterion for identifying the coal-rock interface by the preset identification model is:
煤体破坏产生的电磁辐射信号的主频小于15kHz，顶底板岩体破坏产生的电磁辐射信号的主频大于15kHz；The main frequency of the electromagnetic radiation signal produced by coal mass destruction is less than 15kHz, and the main frequency of electromagnetic radiation signal produced by roof and floor rock mass destruction is greater than 15kHz;
煤体破坏产生的电磁辐射信号的频带集中在1～25kHz，顶底板岩体破坏产生的电磁辐射信号的频带大于25kHz；The frequency band of the electromagnetic radiation signal generated by the destruction of the coal body is concentrated at 1-25kHz, and the frequency band of the electromagnetic radiation signal generated by the destruction of the roof and floor rock mass is greater than 25kHz;
煤体破坏产生的电磁辐射信号的持续时间低于10ms，顶底板岩体破坏产生的电磁辐射信号的持续时间超过10ms；The duration of the electromagnetic radiation signal generated by the destruction of the coal body is less than 10ms, and the duration of the electromagnetic radiation signal generated by the destruction of the roof and floor rock mass exceeds 10ms;
煤体破坏产生的电磁辐射信号的振铃计数小于1000次，顶底板岩体破坏产生的电磁辐射信号的振铃计数大于1000次；The ringing count of the electromagnetic radiation signal generated by the coal mass destruction is less than 1000 times, and the ringing count of the electromagnetic radiation signal generated by the roof and floor rock mass damage is greater than 1000 times;
煤体破坏产生的电磁辐信号的能量值低于300V·μs，顶底板岩体破坏产生的电磁辐射信号的能量值高于300V·μs。The energy value of the electromagnetic radiation signal produced by coal mass destruction is lower than 300V·μs, and the energy value of electromagnetic radiation signal produced by roof and floor rock mass destruction is higher than 300V·μs.
另一方面，本发明还提供了一种煤岩界面识别系统，其包括：固定在采煤机顶部的智能升降支架、固定在所述智能升降支架顶部的非接触式电磁辐射感知系统以及与电磁辐射感知系统采用无线方式进行信息传输的操作终端；其中，On the other hand, the present invention also provides a coal-rock interface identification system, which includes: an intelligent lifting bracket fixed on the top of the coal mining machine, a non-contact electromagnetic radiation sensing system fixed on the top of the intelligent lifting bracket, and an electromagnetic The radiation sensing system uses wireless operation terminals for information transmission; among them,
所述电磁辐射感知系统的接收方向垂直于被探测煤岩层的表面，所述电磁辐射感知系统用于收集采煤过程中被采煤岩破坏时产生的电磁辐射信号；The receiving direction of the electromagnetic radiation sensing system is perpendicular to the surface of the detected coal bed, and the electromagnetic radiation sensing system is used to collect electromagnetic radiation signals generated when the coal mining process is destroyed by the coal mining rock;
所述操作终端用于获取所述电磁辐射感知系统收集的被采煤岩破坏时产生的电磁辐射信号；提取所述电磁辐射信号的电磁辐射特征参量；基于所述电磁辐射特征参量，利用预设的识别模型对当前煤岩界面进行识别，得到当前煤岩界面的识别结果；其中，所述电磁辐射特征参量包括电磁辐射信号的强度、主频、频带、持续时间、振铃计数和能量值；所述识别模型基于不同种类煤和岩石破坏时产生的电磁辐射信号的电磁辐射特征参量的差异进行煤岩界面识别。The operation terminal is used to obtain the electromagnetic radiation signal collected by the electromagnetic radiation sensing system when it is damaged by coal mining rock; extract the electromagnetic radiation characteristic parameter of the electromagnetic radiation signal; based on the electromagnetic radiation characteristic parameter, use the preset The identification model of the current coal-rock interface is identified to obtain the identification result of the current coal-rock interface; wherein, the electromagnetic radiation characteristic parameter includes the intensity, main frequency, frequency band, duration, ringing count and energy value of the electromagnetic radiation signal; The identification model identifies coal-rock interfaces based on differences in electromagnetic radiation characteristic parameters of electromagnetic radiation signals generated when different types of coal and rocks are destroyed.
进一步地，所述智能升降支架用于通过自身的智能升降调节所述电磁辐射感知系统的位置；Further, the intelligent lifting bracket is used to adjust the position of the electromagnetic radiation sensing system through its own intelligent lifting;
所述电磁辐射感知系统包括环形电磁天线和电磁辐射前置放大器；其中，所述环形电磁天线用于采集煤岩破坏时产生的电磁辐射信号；所述电磁辐射前置放大器与所述环形电磁天线相连，所述电磁辐射前置放大器有多个可连接通道，用于预先将拾取的电磁辐射信号放大预设倍数再通过调节档位调衰减输出；The electromagnetic radiation sensing system includes a loop electromagnetic antenna and an electromagnetic radiation preamplifier; wherein, the loop electromagnetic antenna is used to collect electromagnetic radiation signals generated when coal rocks are destroyed; the electromagnetic radiation preamplifier and the loop electromagnetic antenna Connected, the electromagnetic radiation preamplifier has multiple connectable channels, which are used to amplify the picked up electromagnetic radiation signal by a preset multiple and then adjust the attenuation output by adjusting the gear position;
所述操作终端包括采集控制子系统和智能计算机；其中，所述采集控制子系统包括微控制器、数据获取模块、数据处理模块以及存储模块；所述微控制器用于协同所述数据获取模块、数据处理模块以及存储模块工作，并控制所述智能计算机的显示信息；所述数据获取模块用于获取所述环形电磁天线采集的被探测煤岩层的电磁辐射信号；所述数据处理模块用于对获取的电磁辐射信号采用经验小波变换和希尔伯特变换进行时频分析处理；所述存储模块用于存储电磁辐射信号数据；所述智能计算机用于将所获取的且经过处理后的电磁辐射特征参量的权重通过预设的识别模型进行判别，从而识别出未知煤岩的类型。The operation terminal includes an acquisition control subsystem and an intelligent computer; wherein, the acquisition control subsystem includes a microcontroller, a data acquisition module, a data processing module and a storage module; the microcontroller is used to cooperate with the data acquisition module, The data processing module and the storage module work, and control the display information of the intelligent computer; the data acquisition module is used to obtain the electromagnetic radiation signal of the detected coal formation collected by the loop electromagnetic antenna; the data processing module is used for The acquired electromagnetic radiation signal adopts empirical wavelet transform and Hilbert transform for time-frequency analysis and processing; the storage module is used to store electromagnetic radiation signal data; the intelligent computer is used to convert the acquired and processed electromagnetic radiation characteristics The weight of the parameter is judged by the preset identification model, so as to identify the type of unknown coal rock.
本发明提供的技术方案带来的有益效果至少包括：The beneficial effects brought by the technical solution provided by the present invention at least include:
本发明通过采集煤岩破坏电磁辐射数据，提取出能有效区分煤岩的电磁辐射特征参量，使得识别结果更加准确；本发明在复杂环境下的矿井，有很强的抗干扰能力，可准确进行煤岩识别，且操作过程简单，适用性好，能对煤矿和岩石的分布情况进行有效识别，相对于现有的煤岩识别方法，本发明具有较高的判别精度和良好的普遍适用性，具有适用范围广、可靠性好、精度高等优势。The present invention extracts the electromagnetic radiation characteristic parameters that can effectively distinguish coal and rock by collecting the electromagnetic radiation data of coal and rock destruction, so that the identification result is more accurate; the present invention has strong anti-interference ability in mines in complex environments, and can accurately perform Coal and rock identification, and the operation process is simple, the applicability is good, and the distribution of coal mines and rocks can be effectively identified. Compared with the existing coal and rock identification methods, the present invention has higher discrimination accuracy and good universal applicability. It has the advantages of wide application range, good reliability and high precision.
附图说明Description of drawings
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained based on these drawings without creative effort.
图1是本发明实施例提供的煤岩界面识别方法的流程示意图；Fig. 1 is a schematic flow chart of a coal-rock interface identification method provided by an embodiment of the present invention;
图2是本发明实施例提供的煤岩界面识别系统的结构框图。Fig. 2 is a structural block diagram of a coal-rock interface recognition system provided by an embodiment of the present invention.
具体实施方式Detailed ways
为使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明实施方式作进一步地详细描述。In order to make the purpose, technical solution and advantages of the present invention clearer, the following will further describe in detail the embodiments of the present invention in conjunction with the accompanying drawings.
第一实施例first embodiment
本实施例提供一种煤岩界面识别方法，该方法可以由电子设备实现，该电子设备可以是终端或者服务器。该方法的执行流程如图1所示，包括以下步骤：This embodiment provides a coal-rock interface identification method, which can be implemented by electronic equipment, and the electronic equipment can be a terminal or a server. The execution flow of the method is shown in Figure 1, including the following steps:
S1，收集采煤过程中当前被采煤岩破坏时所产生的电磁辐射信号；S1, collect the electromagnetic radiation signal generated when the current is damaged by the coal mining rock during the coal mining process;
具体地，本实施例是收集煤岩破坏产生的ULF～LF频段电磁辐射信号。Specifically, this embodiment collects electromagnetic radiation signals in ULF-LF frequency bands generated by coal rock destruction.
S2，提取电磁辐射信号的电磁辐射特征参量；其中，所述电磁辐射特征参量包括：电磁辐射信号的强度、主频、频带、持续时间、振铃计数以及能量值；S2, extracting electromagnetic radiation characteristic parameters of the electromagnetic radiation signal; wherein, the electromagnetic radiation characteristic parameters include: intensity, main frequency, frequency band, duration, ringing count, and energy value of the electromagnetic radiation signal;
S3，基于电磁辐射特征参量，利用预设的识别模型对当前煤岩界面进行识别，得到当前煤岩界面的识别结果；其中，所述识别模型基于不同种类煤和岩石破坏时产生的电磁辐射信号的电磁辐射特征参量的差异进行煤岩界面识别。S3, based on the characteristic parameters of electromagnetic radiation, use the preset identification model to identify the current coal-rock interface, and obtain the identification result of the current coal-rock interface; wherein, the identification model is based on electromagnetic radiation signals generated when different types of coal and rock are destroyed Coal-rock interface can be identified based on the difference of electromagnetic radiation characteristic parameters.
其中，所述预设的识别模型所使用的煤岩界面识别方法为：岩石破裂时产生的电磁辐射强度是煤体破坏所产生的5～6倍。当电磁辐射信号强度突然增大至原信号的5倍以上时，确定是由割煤变成割顶底板岩石；反之，当突然减小至原信号的20％左右时，确实是进入割煤环节。若满足以上强度要求，则可以直接进行判别。若电磁辐射强度不满足突变条件，则利用电磁辐射信号参数的权重进行综合判别。煤体破坏产生的电磁辐射信号主频小于15kHz，顶底板岩体破坏产生的电磁辐射信号主频大于15kHz；煤体破坏产生的电磁辐射信号频带集中在1～25kHz，顶底板岩体破坏产生的电磁辐射信号频带大于25kHz；煤体破坏产生的电磁辐射波形的持续时间低于10ms，顶底板岩体破坏产生的电磁辐射波形的持续时间超过10ms；煤体破坏产生的电磁辐射振铃计数小于1000次，顶底板岩体破坏产生的电磁辐射振铃计数大于1000次；煤体破坏产生的电磁辐能量低于300V·μs，顶底板岩体破坏产生的电磁辐射能量高于300V·μs。Wherein, the coal-rock interface identification method used in the preset identification model is: the intensity of electromagnetic radiation generated when the rock is broken is 5-6 times that generated by the destruction of the coal mass. When the intensity of the electromagnetic radiation signal suddenly increases to more than 5 times of the original signal, it is determined that the coal cutting has become the roof and floor rock; on the contrary, when it suddenly decreases to about 20% of the original signal, it is indeed entering the coal cutting link . If the above strength requirements are met, it can be directly judged. If the electromagnetic radiation intensity does not meet the mutation condition, the weight of the electromagnetic radiation signal parameters is used for comprehensive judgment. The main frequency of the electromagnetic radiation signal generated by coal damage is less than 15kHz, and the main frequency of electromagnetic radiation signal generated by roof and floor rock mass damage is greater than 15kHz; The frequency band of the electromagnetic radiation signal is greater than 25kHz; the duration of the electromagnetic radiation waveform produced by the destruction of the coal mass is less than 10ms, and the duration of the electromagnetic radiation waveform produced by the destruction of the roof and floor rock mass exceeds 10ms; the ringing count of the electromagnetic radiation produced by the coal mass destruction is less than 1000 Second, the electromagnetic radiation ringing count produced by the roof and floor rock mass damage is greater than 1000 times; the electromagnetic radiation energy produced by the coal mass damage is lower than 300V·μs, and the electromagnetic radiation energy generated by the roof and floor rock mass damage is higher than 300V·μs.
基于上述，利用预设的识别模型对当前煤岩界面进行识别包括以下步骤：Based on the above, using the preset identification model to identify the current coal-rock interface includes the following steps:
1、判断当前收集的被采煤岩破坏时所产生的电磁辐射信号的强度是否发生突变；其中，由于岩石破裂时产生的电磁辐射强度是煤体破坏所产生的5～6倍。因此，本实施例中电磁辐射信号强度发生突变包括：电磁辐射信号强度突然增大至原信号的5倍以上，以及电磁辐射信号强度突然减小至原信号的20％左右；1. Judging whether the strength of the electromagnetic radiation signal collected when the coal mining rock is damaged has a sudden change; among them, the electromagnetic radiation intensity generated when the rock is broken is 5 to 6 times that generated by the coal body damage. Therefore, the mutation of the electromagnetic radiation signal intensity in this embodiment includes: the electromagnetic radiation signal intensity suddenly increases to more than 5 times of the original signal, and the electromagnetic radiation signal intensity suddenly decreases to about 20% of the original signal;
2、当收集到的电磁辐射信号强度发生突变时，若当前电磁辐射信号强度突然增大至原信号的5倍以上，则确定当前是由割煤变成割顶底板岩石；若当前电磁辐射信号强度突然减小至原信号的20％左右，则确定当前是进入割煤环节。2. When the intensity of the collected electromagnetic radiation signal changes suddenly, if the current electromagnetic radiation signal intensity suddenly increases to more than 5 times the original signal, it is determined that the current is from cutting coal to cutting roof and floor rock; if the current electromagnetic radiation signal If the intensity suddenly decreases to about 20% of the original signal, it is determined that the coal cutting link is currently entered.
3、当收集到的电磁辐射信号的强度未发生突变时，则基于当前收集的被采煤岩破坏时所产生的电磁辐射信号的电磁辐射特征参量的权重，利用预设的识别模型进行综合判别，其实现过程如下：3. When the intensity of the collected electromagnetic radiation signal does not change suddenly, based on the weight of the electromagnetic radiation characteristic parameters of the electromagnetic radiation signal collected when the coal mining rock is destroyed, the preset identification model is used for comprehensive discrimination , the implementation process is as follows:
31、通过熵权法计算电磁辐射信号的各电磁辐射特征参量的第一权重α；31. Calculate the first weight α of each electromagnetic radiation characteristic parameter of the electromagnetic radiation signal through the entropy weight method;
其中，熵权法计算原理为根据各指标提供的信息量来判断指标的指标值变异程度，若指标值变异程度越大，则信息熵越小，即信息有效价值越大。首先收集煤岩电磁辐射信号数据，构造m行n列的初始数据矩阵，m为煤岩类型，n为电磁辐射指标。xij为矩阵元素，i为煤岩研究对象，j为电磁辐射数据，xij即为第i个对象在第j项指标中的数值。对矩阵数据进行标幺化后计算第j项指标中第i对象所占比重：Among them, the calculation principle of the entropy weight method is to judge the index value variation degree of the index according to the amount of information provided by each index. If the index value variation degree is greater, the information entropy is smaller, that is, the effective value of the information is greater. Firstly, collect the coal-rock electromagnetic radiation signal data, construct an initial data matrix with m rows and n columns, m is the type of coal rock, and n is the electromagnetic radiation index. xij is a matrix element, i is the coal and rock research object, j is the electromagnetic radiation data, and xij is the value of the i-th object in the j-item index. Calculate the proportion of the i-th object in the j-th index after per unitizing the matrix data:
式中：x′ij为第i个评价对象在第j项指标中的数值的标幺值，y′ij为占比。In the formula: x′ij is the per unit value of the value of the i-th evaluation object in the j index, and y′ij is the proportion.
计算第j项指标信息熵：Calculate the information entropy of the j-th indicator:
式中：k＝1/lnm。In the formula: k=1/lnm.
计算第一权重：Compute the first weights:
式中：αj为第一权重。In the formula: αj is the first weight.
32、基于层次分析法，通过复合权重计算方式分别计算出电磁辐射信号的各电磁辐射特征参量对应的第二权重β；32. Based on the analytic hierarchy process, calculate the second weight β corresponding to each electromagnetic radiation characteristic parameter of the electromagnetic radiation signal through a composite weight calculation method;
本实施例的复合权重计算方式具体包括几何平均法以及最小二乘法，且子权重的数量与复合权重计算方式包含的计算方式数量对应。The composite weight calculation method in this embodiment specifically includes the geometric mean method and the least square method, and the number of sub-weights corresponds to the number of calculation methods included in the composite weight calculation method.
具体的，在计算第二权重时，本实施例的复合权重计算方式优选采用两种计算方式，即根据电磁辐射信号参数，通过层次分析方式，建立判断矩阵，并基于判断矩阵，分别通过几何平均法以及最小二乘法进行计算，得到相应权重。Specifically, when calculating the second weight, the composite weight calculation method of this embodiment preferably adopts two calculation methods, that is, according to the electromagnetic radiation signal parameters, through the hierarchical analysis method, a judgment matrix is established, and based on the judgment matrix, respectively through the geometric mean Calculation by method and least squares method to get the corresponding weight.
分别利用几何平均法以及最小二乘法计算：Using the geometric mean method and the least squares method to calculate:
几何平均法：Geometric mean method:
式中：aij为构造的判断矩阵中元素。即将判断矩阵中元素按行相乘后再开n次方，最后将所得向量归一化。In the formula: aij is the element in the constructed judgment matrix. That is to say, the elements in the judgment matrix are multiplied by rows and then raised to the nth power, and finally the obtained vector is normalized.
最小二乘法：Least squares method:
wi＞0,i＝1,2,...，nwi >0,i=1,2,...,n
式中：wi为权重向量中元素，代表各指标权重。In the formula: wi is the element in the weight vector, representing the weight of each index.
利用上面两种方法计算出子权重后，取平均值作为层次分析法计算出的相应的电磁辐射特征参量最终的第二权重。本实施例所改进的层次分析法计算权重时综合考虑了多种方法的优点，可避免单一方法计算所产生的偏差。After the sub-weights are calculated by the above two methods, the average value is taken as the final second weight of the corresponding electromagnetic radiation characteristic parameters calculated by the AHP. The improved AHP in this embodiment takes into account the advantages of multiple methods when calculating weights, and can avoid the deviation generated by a single method.
33、将每一电磁辐射特征参量所对应的第一权重和第二权重相乘，得到每一电磁辐射特征参量对应的权重积，并计算每一电磁辐射参数对应的权重积与全部电磁辐射参数的权重积累加和的比值，得到每一电磁辐射参数对应的权重：33. Multiply the first weight and the second weight corresponding to each electromagnetic radiation characteristic parameter to obtain the weight product corresponding to each electromagnetic radiation characteristic parameter, and calculate the weight product corresponding to each electromagnetic radiation parameter and all electromagnetic radiation parameters The ratio of the accumulated sum of the weights of , to obtain the corresponding weight of each electromagnetic radiation parameter:
式中：ωi为第i个配电网指标的指标权重。In the formula: ωi is the index weight of the i-th distribution network index.
34、基于电磁辐射信号的各电磁辐射参数的权重，构建特征向量；34. Constructing a feature vector based on the weight of each electromagnetic radiation parameter of the electromagnetic radiation signal;
35、利用预设的识别模型，根据构建的特征向量进行煤岩界面识别。35. Use the preset identification model to identify the coal-rock interface according to the constructed feature vector.
进一步地，所述预设的识别模型的构建方法包括以下步骤：Further, the construction method of the preset recognition model includes the following steps:
1、开采前，提前测试各个煤层中煤岩的类型，并通过实验对不同类型的煤层顶底板岩样和煤样进行加载破坏，对破坏产生的电磁辐射波形采用经验小波变换和傅立叶变换进行时频分析处理，实现对待进行煤岩界面识别的区域内的各矿区的具有代表性的不同类型的煤层顶底板岩样和煤样在破坏时产生的ULF～LF频段电磁辐射信号的电磁辐射特征参量的采集与分析处理；1. Before mining, test the types of coal rocks in each coal seam in advance, and carry out loading and damage on different types of coal seam roof and floor rock samples and coal samples through experiments, and use empirical wavelet transform and Fourier transform for the electromagnetic radiation waveform generated by damage. Frequency analysis and processing to realize the electromagnetic radiation characteristic parameters of ULF-LF frequency band electromagnetic radiation signals generated by the representative different types of coal seam top and bottom slate samples and coal samples in the area to be identified for coal-rock interface identification. collection and analysis;
2、计算出不同种类煤和岩石破坏产生的ULF～LF频段电磁辐射信号的各电磁辐射特征参量的权重，构建煤岩样本数据集；2. Calculate the weight of each electromagnetic radiation characteristic parameter of the ULF-LF frequency band electromagnetic radiation signal produced by different types of coal and rock damage, and construct a coal and rock sample data set;
3、使用样本数据集对预设的识别模型进行训练，通过识别模型在样本数据集上的误差不断迭代训练识别模型，提高识别模型的识别准确率，得到对样本数据集拟合合理的识别模型；其中，所述识别模型的输入为基于电磁辐射信号的各电磁辐射特征参量的权重构建的特征向量，输出为煤岩界面识别结果。将训练并调整好的煤岩电磁辐射特性识别模型应用到实际的采煤生产活动中去。通过采集需要识别煤岩界面的未知类型煤岩破坏产生的电磁辐射数据，即可采用训练好的煤岩电磁辐射特征识别模型对未知煤岩进行类型预测。3. Use the sample data set to train the preset recognition model, continuously iteratively train the recognition model through the error of the recognition model on the sample data set, improve the recognition accuracy of the recognition model, and obtain a recognition model that fits the sample data set reasonably ; Wherein, the input of the identification model is a feature vector constructed based on the weight of each electromagnetic radiation characteristic parameter of the electromagnetic radiation signal, and the output is the coal-rock interface identification result. Apply the trained and adjusted identification model of coal-rock electromagnetic radiation characteristics to actual coal mining production activities. By collecting the electromagnetic radiation data generated by the destruction of unknown coal rocks that need to identify the coal rock interface, the trained coal rock electromagnetic radiation feature recognition model can be used to predict the type of unknown coal rocks.
综上，本实施例的方法在煤岩类型及其结构复杂变化、工况环境恶劣的条件下，根据不同种类煤和岩石破坏时产生的ULF～LF频段电磁辐射信号的强度、主频、频带、持续时间、振铃计数、能量值等参数的差异，通过计算各参数对应的权重，应用识别模型得知未知煤岩的类型，达到煤岩界面识别的目的。能够适应综采面突变的工作环境，可以大大提高煤岩界面识别的效率和准确性。In summary, the method of this embodiment is based on the intensity, main frequency, and frequency band of electromagnetic radiation signals in the ULF-LF frequency band generated when different types of coal and rocks are destroyed under the conditions of complex changes in coal and rock types and their structures, and harsh working conditions. , duration, ringing count, energy value and other parameters, by calculating the weight corresponding to each parameter, and applying the identification model to know the type of unknown coal rock, so as to achieve the purpose of coal rock interface identification. It can adapt to the working environment of fully-mechanized mining face mutation, which can greatly improve the efficiency and accuracy of coal-rock interface identification.
第二实施例second embodiment
本实施例提供一种煤岩界面识别系统，其结构如图2所示，包括：固定在采煤机顶部的智能升降支架、固定在智能升降支架顶部的非接触式电磁辐射感知系统以及与电磁辐射感知系统采用无线方式进行信息传输的操作终端；其中，This embodiment provides a coal-rock interface recognition system, the structure of which is shown in Figure 2, including: an intelligent lifting bracket fixed on the top of the shearer, a non-contact electromagnetic radiation sensing system fixed on the top of the intelligent lifting bracket, and an electromagnetic The radiation sensing system uses wireless operation terminals for information transmission; among them,
所述电磁辐射感知系统在工作状态下，其接收方向垂直于被探测煤岩层的表面，所述智能升降支架的材料为抗弯特性的钛合金材料，可以进行智能升降，以调节所述电磁辐射感知系统的位置。所述电磁辐射感知系统用于收集采煤过程中被采煤岩破坏时产生的电磁辐射信号；When the electromagnetic radiation sensing system is in working condition, its receiving direction is perpendicular to the surface of the detected coal rock formation, and the material of the intelligent lifting bracket is a titanium alloy material with bending resistance, which can be intelligently lifted to adjust the electromagnetic radiation The location of the perception system. The electromagnetic radiation sensing system is used to collect electromagnetic radiation signals generated when coal mining is damaged by coal mining rocks;
所述操作终端用于获取所述电磁辐射感知系统收集的被采煤岩破坏时产生的电磁辐射信号；提取所述电磁辐射信号的电磁辐射特征参量；基于所述电磁辐射特征参量，利用预设的识别模型对当前煤岩界面进行识别，得到当前煤岩界面的识别结果；其中，所述电磁辐射特征参量包括电磁辐射信号的强度、主频、频带、持续时间、振铃计数和能量值；所述识别模型基于不同种类煤和岩石破坏时产生的电磁辐射信号的电磁辐射特征参量的差异进行煤岩界面识别。The operation terminal is used to obtain the electromagnetic radiation signal collected by the electromagnetic radiation sensing system when it is damaged by coal mining rock; extract the electromagnetic radiation characteristic parameter of the electromagnetic radiation signal; based on the electromagnetic radiation characteristic parameter, use the preset The identification model of the current coal-rock interface is identified to obtain the identification result of the current coal-rock interface; wherein, the electromagnetic radiation characteristic parameter includes the intensity, main frequency, frequency band, duration, ringing count and energy value of the electromagnetic radiation signal; The identification model identifies coal-rock interfaces based on differences in electromagnetic radiation characteristic parameters of electromagnetic radiation signals generated when different types of coal and rocks are destroyed.
具体地，所述电磁辐射感知系统包括环形电磁天线和电磁辐射前置放大器等；其中，环形电磁天线采集煤岩破坏时产生的电磁辐射信号；电磁辐射前置放大器和与之匹配的环形电磁天线相连，电磁辐射前置放大器有多个可连接通道，可预先将拾取的电磁辐射信号放大一定倍数，再通过调节档位调衰减输出；Specifically, the electromagnetic radiation sensing system includes a loop electromagnetic antenna and an electromagnetic radiation preamplifier; wherein, the loop electromagnetic antenna collects electromagnetic radiation signals generated when coal rocks are destroyed; the electromagnetic radiation preamplifier and the matching loop electromagnetic antenna Connected, the electromagnetic radiation preamplifier has multiple connectable channels, which can pre-amplify the picked-up electromagnetic radiation signal by a certain multiple, and then adjust the attenuation output by adjusting the gear;
所述操作终端包括采集控制子系统和智能计算机；其中，所述采集控制子系统包括微控制器、数据获取模块、数据处理模块以及存储模块；所述微控制器用于协同所述数据获取模块、数据处理模块以及存储模块工作，并控制所述智能计算机的显示信息；所述数据获取模块为高速数据采集仪，最高采样频率10MHz，A/D转换精度16-bits，通过无线方式与所述环形电磁天线进行信息传输，用于获取所述环形电磁天线采集的被探测煤岩层的电磁辐射信号；所述数据处理模块也即电磁辐射分析仪，用于对获取的电磁辐射信号采用经验小波变换和希尔伯特变换进行时频分析处理；所述存储模块用于存储数据采集参数；所述智能计算机用于将所获取的且经过处理后的电磁辐射特征参量的权重通过电磁辐射特性识别模型进行判别，从而识别出未知煤岩的类型。The operation terminal includes an acquisition control subsystem and an intelligent computer; wherein, the acquisition control subsystem includes a microcontroller, a data acquisition module, a data processing module and a storage module; the microcontroller is used to cooperate with the data acquisition module, The data processing module and the storage module work, and control the display information of the intelligent computer; the data acquisition module is a high-speed data acquisition instrument with a maximum sampling frequency of 10MHz and an A/D conversion accuracy of 16-bits, which is wirelessly connected to the ring The electromagnetic antenna performs information transmission, and is used to obtain the electromagnetic radiation signal of the detected coal formation collected by the annular electromagnetic antenna; the data processing module is also an electromagnetic radiation analyzer, which is used to adopt empirical wavelet transform and Greek to the obtained electromagnetic radiation signal. The time-frequency analysis process is performed by Hubert transform; the storage module is used to store data acquisition parameters; the intelligent computer is used to discriminate the weight of the acquired and processed electromagnetic radiation characteristic parameters through the electromagnetic radiation characteristic identification model , so as to identify the type of unknown coal rock.
在实际开采活动中，首先通过电磁辐射感知系统对被开采煤岩破坏所产生的电磁辐射信号进行采集，之后将采集到的电磁辐射信号通过无线方式传输至操作终端。操作终端采用经验小波变换和希尔伯特变换对接收到的电磁辐射信号进行时频分析处理来获得电磁辐射信号的电磁辐射特征参量并计算出煤岩的电磁辐射特征参量权重；最后操作终端利用上述经过不断迭代训练而得到的电磁辐射特性识别模型对获取的参数进行分析，从而得出被开采煤岩的类型。In the actual mining activities, the electromagnetic radiation signal generated by the damage of the mined coal rock is first collected through the electromagnetic radiation sensing system, and then the collected electromagnetic radiation signal is transmitted to the operation terminal by wireless. The operation terminal adopts empirical wavelet transform and Hilbert transform to perform time-frequency analysis and processing on the received electromagnetic radiation signal to obtain the electromagnetic radiation characteristic parameters of the electromagnetic radiation signal and calculate the weight of the electromagnetic radiation characteristic parameters of coal rocks; finally, the operation terminal uses the above The electromagnetic radiation characteristic identification model obtained through continuous iterative training analyzes the obtained parameters to obtain the type of coal rock to be mined.
本实施例的煤岩界面识别系统与上述第一实施例的煤岩界面识别方法相对应；其中，本实施例的煤岩界面识别系统中的各功能模块所实现的功能与上述第一实施例的煤岩界面识别方法中的各流程步骤一一对应；故，在此不再赘述。The coal-rock interface recognition system of this embodiment corresponds to the coal-rock interface recognition method of the above-mentioned first embodiment; wherein, the functions realized by each functional module in the coal-rock interface recognition system of this embodiment are the same as those of the above-mentioned first embodiment Each process step in the coal-rock interface identification method corresponds one by one; therefore, it will not be repeated here.
此外，需要说明的是，本发明可提供为方法、装置或计算机程序产品。因此，本发明实施例可采用完全硬件实施例、完全软件实施例或结合软件和硬件方面的实施例的形式。而且，本发明实施例可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质上实施的计算机程序产品的形式。In addition, it should be noted that the present invention may be provided as a method, device or computer program product. Accordingly, embodiments of the invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the invention may take the form of a computer program product embodied on one or more computer-usable storage media having computer-usable program code embodied therein.
本发明实施例是参照根据本发明实施例的方法、终端设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、嵌入式处理机或其他可编程数据处理终端设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理终端设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。Embodiments of the present invention are described with reference to flowcharts and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, embedded processor, or other programmable data processing terminal processor to produce a machine such that instructions executed by the computer or other programmable data processing terminal processor produce instructions for A device for realizing the functions specified in one or more procedures of a flowchart and/or one or more blocks of a block diagram.
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理终端设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。这些计算机程序指令也可装载到计算机或其他可编程数据处理终端设备上，使得在计算机或其他可编程终端设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程终端设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the The instruction means implements the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram. These computer program instructions can also be loaded into a computer or other programmable data processing terminal equipment, so that a series of operational steps are performed on the computer or other programmable terminal equipment to produce computer-implemented processing, thereby The instructions executed above provide steps for implementing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.
还需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者终端设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者终端设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者终端设备中还存在另外的相同要素。It should also be noted that in this article, relational terms such as first and second etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations Any such actual relationship or order exists between. The term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or end-equipment comprising a set of elements includes not only those elements but also items not expressly listed other elements, or also include elements inherent in such a process, method, article, or end-equipment. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or terminal device comprising said element.
最后需要说明的是，以上所述是本发明优选实施方式，应当指出，尽管已描述了本发明优选实施例，但对于本技术领域的技术人员来说，一旦得知了本发明的基本创造性概念，在不脱离本发明所述原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。所以，所附权利要求意欲解释为包括优选实施例以及落入本发明实施例范围的所有变更和修改。Finally, it should be noted that the above description is a preferred embodiment of the present invention, and it should be pointed out that although the preferred embodiment of the present invention has been described, for those skilled in the art, once the basic creative concepts of the present invention are understood , under the premise of not departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications should also be regarded as the protection scope of the present invention. Therefore, the appended claims are intended to be interpreted to cover the preferred embodiment and all changes and modifications which fall within the scope of the embodiments of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110250593.7ACN112989984B (en) | 2021-03-08 | 2021-03-08 | A coal-rock interface identification method |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110250593.7ACN112989984B (en) | 2021-03-08 | 2021-03-08 | A coal-rock interface identification method |
| Publication Number | Publication Date |
|---|---|
| CN112989984A CN112989984A (en) | 2021-06-18 |
| CN112989984Btrue CN112989984B (en) | 2023-08-11 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110250593.7AActiveCN112989984B (en) | 2021-03-08 | 2021-03-08 | A coal-rock interface identification method |
| Country | Link |
|---|---|
| CN (1) | CN112989984B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116776091A (en)* | 2023-06-20 | 2023-09-19 | 辽宁工程技术大学 | Coal rock loaded fracture precursor early warning method based on electromagnetic radiation energy characteristic factors |
| CN117092700B (en)* | 2023-08-25 | 2024-05-17 | 徐州恒佳机械科技有限公司 | Coal-rock interface identification method |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1232187A (en)* | 1998-04-16 | 1999-10-20 | 岳棋柱 | Method and device for natural electromagnetic radiation technology |
| US6666521B1 (en)* | 1999-05-11 | 2003-12-23 | American Mining Electronics, Inc. | System for controlling cutting horizons for continuous type mining machines |
| WO2007009097A1 (en)* | 2005-07-13 | 2007-01-18 | Cidra Corporation | Method and apparatus for measuring parameters of a fluid flow using an array of sensors |
| CN202383714U (en)* | 2011-11-24 | 2012-08-15 | 中国矿业大学(北京) | Coal petrography interface identification system based on image |
| CN107238867A (en)* | 2017-06-02 | 2017-10-10 | 中科益盛科技有限公司 | A kind of portable coal rock dynamic disaster electromagnetic radiation monitoring instrument |
| CN107728218A (en)* | 2017-10-18 | 2018-02-23 | 北京科技大学 | A kind of coal petrography ruptures homologous electromagnetic signal method of discrimination |
| CN108169797A (en)* | 2017-12-26 | 2018-06-15 | 北京科技大学 | A kind of method of mobile electromagnetical radiation coordinate detection and early warning mine power disaster |
| CN111337883A (en)* | 2020-04-17 | 2020-06-26 | 中国矿业大学(北京) | A kind of mine coal-rock interface intelligent detection and identification system and method |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1232187A (en)* | 1998-04-16 | 1999-10-20 | 岳棋柱 | Method and device for natural electromagnetic radiation technology |
| US6666521B1 (en)* | 1999-05-11 | 2003-12-23 | American Mining Electronics, Inc. | System for controlling cutting horizons for continuous type mining machines |
| WO2007009097A1 (en)* | 2005-07-13 | 2007-01-18 | Cidra Corporation | Method and apparatus for measuring parameters of a fluid flow using an array of sensors |
| CN202383714U (en)* | 2011-11-24 | 2012-08-15 | 中国矿业大学(北京) | Coal petrography interface identification system based on image |
| CN107238867A (en)* | 2017-06-02 | 2017-10-10 | 中科益盛科技有限公司 | A kind of portable coal rock dynamic disaster electromagnetic radiation monitoring instrument |
| CN107728218A (en)* | 2017-10-18 | 2018-02-23 | 北京科技大学 | A kind of coal petrography ruptures homologous electromagnetic signal method of discrimination |
| CN108169797A (en)* | 2017-12-26 | 2018-06-15 | 北京科技大学 | A kind of method of mobile electromagnetical radiation coordinate detection and early warning mine power disaster |
| CN111337883A (en)* | 2020-04-17 | 2020-06-26 | 中国矿业大学(北京) | A kind of mine coal-rock interface intelligent detection and identification system and method |
| Title |
|---|
| Wenxue Chen等.Meso- and macro-behaviour of coal rock: observations and constitutive model development.《International Journal of Mining, Reclamation and Environment》.2016,1-14.* |
| Publication number | Publication date |
|---|---|
| CN112989984A (en) | 2021-06-18 |
| Publication | Publication Date | Title |
|---|---|---|
| CN112989984B (en) | A coal-rock interface identification method | |
| CN102930253B (en) | Coal and rock identification method based on image discrete multi-wavelet transform | |
| CN104297788B (en) | Mine microseism and blasting signal identification method based on waveform oscillation starting trend line slope | |
| CN104018882A (en) | Distributed coal-rock dynamic disaster potential real-time monitoring method and system | |
| CN102509087A (en) | Coal-rock identification method based on image gray level co-occurrence matrixes | |
| CN102913285B (en) | Mine roof hazard warning method | |
| CN115640512A (en) | Coal and Rock Identification Method Based on Ensemble Empirical Mode Decomposition | |
| CN109872508A (en) | Early warning method of landslide disaster in large open-pit mine based on fiber grating | |
| CN104373153A (en) | Coal and rock property identification method and system for underground coal mine full-mechanized caving face | |
| US20210060720A1 (en) | Method for monitoring chatter in machining process | |
| CN111691921A (en) | Rock burst online monitoring system and method based on support resistance monitoring | |
| CN106706119A (en) | Vibration source identification method and system based on signal frequency domain characteristics | |
| CN116819610A (en) | Automatic early warning method, device and storage medium based on microseismic magnitude and event occurrence rate threshold | |
| CN206497550U (en) | Intelligent monitoring and forecasting system for landslides based on multi-sensor information fusion | |
| CN203101226U (en) | Device for determining muck pile particle size distribution in real time based on machine vision | |
| CN201680827U (en) | Digging height online monitoring system for coal mine underground fully-mechanized coal face | |
| CN113586157A (en) | Method for rapidly dividing outburst danger zone of stope face based on Kriging interpolation | |
| CN103410569A (en) | Metal mine downhole microseismic monitoring system | |
| CN118709939A (en) | A planning mining system and intelligent perception data processing equipment | |
| CN105204066B (en) | A kind of direct indicating means in coal seam Igneous rock invasion position based on spectral factorization | |
| CN118088185A (en) | A method and device for identifying coal and rock on a cutting surface based on hardness characteristics | |
| CN113703038B (en) | Automatic microseismic signal acquisition and identification method and system | |
| CN102254050A (en) | System for forecasting impact mine pressure | |
| CN113805243B (en) | Method for delineating far scenic spot of salt lake type sylvine ore based on navigation information | |
| CN115576025A (en) | Detection and analysis system for overburden rock gap after coal seam mining of underground mining coal mine |
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |