CN107121082A - Coal mine roadway based on fiber-optic inertial technology continuous linear detection means and method - Google Patents
Coal mine roadway based on fiber-optic inertial technology continuous linear detection means and method Download PDFInfo
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- CN107121082A CN107121082A CN201710433208.6A CN201710433208A CN107121082A CN 107121082 A CN107121082 A CN 107121082A CN 201710433208 A CN201710433208 A CN 201710433208A CN 107121082 A CN107121082 A CN 107121082A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
Abstract
The invention discloses a kind of coal mine roadway based on fiber-optic inertial technology continuous linear detection means and method, the carrier of the device is the wheeled detection car of rigidity, track operation of the detection car along tunnel structure surface programming to be measured, the front and rear wheel of the detection car forms contact point with tunnel structure surface to be measured；The wheeled detection car of the rigidity is provided with optical fibre gyro, acceleration transducer, mileage gauge, position sensor, signal processor and computer；Signal processor is arranged on the wheeled detection car rear end part of rigidity, is fixedly connected with car body surface, and be connected with each sensor, and for collecting and handling, rigidity is wheeled detects on car the signal of all the sensors and be sent to computer；Computer, with signal processor wireless connection, the signal for being sent according to the signal processor of reception derives the movement locus of the wheeled detection car of rigidity, and showing movement locus using strap-down matrix and integral operation method.
Description
Technical field
The present invention relates to fiber laser arrays field, more particularly to a kind of coal mine roadway based on fiber-optic inertial technology are continuously linear
Detection means and method.
Background technology
Coal is the main body energy of China, and 70% or so is occupied in China's primary energy structure.It is considerably long in future
In period, coal will not change as the status of the main body energy, and coal industry is relation economic life line of the country and energy security
Important foundation industry.According to statistics, China's coal-mine mining depth is with 8~12m/a speed increase, and east mine speedup is then up to
20~25m/a.With being continuously increased for coal mining depth, a series of problems such as rock pressure of coal production is influenceed to increase
Greatly, deformation of the surrounding rock in tunnel significantly, quickenings of country rock convergent deformation speed, support well damage etc. also increasingly seriously, it could even be possible to
Trigger the country rock accidents such as roof caving.
The deformation and failure of roadway surrounding rock is to need the problem of emphasis considers in coal mining.Deformation of the surrounding rock in tunnel refers to lane
The change for the shape and size that road is produced under external factor effect, destruction then refers to that surrounding rock structure reorganization and structural union are lost
Phenomenon.Roadway deformation can block underground traffic, damage production equipment, cause casualties, seriously threaten Safety of Coal Mine Production,
Therefore roadway deformation is monitored timely and reasonably, it is accurate to grasp state of surrounding rock and development trend, for ensureing Safety of Coal Mine Production tool
It is of great significance.
Domestic and international existing deformation of the surrounding rock in tunnel measuring method and instrument have a lot, can be divided into machinery by its operation principle
Formula measuring instrument, electric measuring type measuring instrument, ranging method of sound wave, laser ranging method, optical survey instrument, Close Up Photogrammetry
Deng.Mechanical measurement instrument is the observation instrument monitored earliest applied to roadway deformation, and it is to be based on machine driving principle, profit
With elastic deformation is produced after hardware stress, numerical value is shown after being amplified by transmission system.Due to operation letter
Single, equipment cost is low, such as surveys rifle, measuring staff, Combined capacitor roof dynamic monitor, convergence gauge, displacement meter measuring instrument still in engineering practice
In generally use.This quasi-instrument can reach higher measurement accuracy, but easily be installed by equipment and section is excessive etc. that factor is influenceed,
Repeatability is bad, and can only try to achieve the displacement of a little relatively another point, it is impossible to measure the assymmetrical deformation of section.Electrical measurement quasi-instrument
Roadway deformation is converted into electric signal using sensor, and then measured, mainly including resistor type displacement sensor, strain beam
Formula displacement transducer, electric slope angle instrument, sedimentometer etc., it is possible to achieve the convergent automatic measurement of section, but can only also measure limited
Discrete point.
Ultrasonic ranging is to be set out using the aerial spread speed of ultrasonic wave and transmitting, the time difference received to calculate
Exit point is to the actual range of barrier, and this quasi-instrument can be used for section convergence measurement, but measurement accuracy is not universal high.Laser ranging
Method is the method for carrying out Accurate Determining to target range using laser, and high-precision noncontact can be realized when being measured for surrouding rock deformation
Formula is measured.Laser ranging method can be divided into a distance measurement, plane deformation measurement and spatial point displacement field measurement, engineering and often make
Laser range finder is one-dimensional point distance measurement instrument, and laser periphery displacement monitoring instrument can realize section convergence survey
Amount；The TMS systems of Switzerland carry out section test using three-dimensional laser scanner, and Cavity Monitoring System (CMS) uses three-dimensional laser
Scanning technique is measured and monitored to underground mining stope and dead zone.
Total powerstation, theodolite, spirit level etc. are the optical survey instruments of specialty, are widely used in ground heavy construction and underground
The precise engineering surveys such as constructing tunnel or deformation monitoring, in particular with mining theodelite, spirit level, total powerstation appearance, should
Technology is also gradually popularized in roadway deformation observation field.This method have Free Station, flexibility strong, non-cpntact measurement,
The features such as precision is high, Japanese guest obtains total powerstation PTS-V series and takes the lead in set up the special work(of section survey in Special menu
Energy.Feng Zhongke, Chen Yuheng devise a kind of automated system that can be used for tunnel big cross section mapping, and the system passes through total powerstation
Field acquisition cut surface character point data, can in real time be recorded and processing data on electron register handbook, finally in four color printers
On print drift section figure.
Above-mentioned measuring method and means belong to finite discrete point measurement category, and its measurement range is small, it is difficult to realize region
Property observation；The measurement consuming time is long, and real-time response is poor, and the continuous shape of detection object is fitted by measuring point few in number
Become, it is difficult to observe noncontinuity deformation, the sudden deformation in tunnel, it is difficult to judge turning point and the destruction of roadway deformation
Initial position, and these information are most crucial for early warning wall rock destabilization.
Existing patent (publication number：CN 10348695A) invention device helped for coal mine roadway two under the amount of shifting near and top plate
The measurement of heavy amount, the method overcome the defect that conventional method measurement accuracy is inadequate and takes, take a lot of work, but be only limitted to small range
Local deformation is measured, and is not suitable for long range, the continuous deformation measurement in a wide range of tunnel.
Existing patent (publication number：CN 203891934U) it is related to a kind of coal mine down-hole tunnel deformation warning device, including it is solid
The mine laser distance measuring sensor that is scheduled on the rib of tunnel one and back and it is fixed on another rib in tunnel and roadway floor
Correspondence position reflection unit, belong to point type laser distance measurement method.Laser range sensor is easily influenceed by measuring environment, and
It is only capable of measuring finite discrete point, whole system implements expensive.
The content of the invention
The technical problem to be solved in the present invention is to be based on fiber-optic inertial skill there is provided one kind for defect of the prior art
The coal mine roadway of art continuous linear detection means and method.
The technical solution adopted for the present invention to solve the technical problems is：
There is provided a kind of coal mine roadway based on fiber-optic inertial technology continuous linear detection means, the carrier of the device is rigidity
Wheeled detection car, the detection car along tunnel structure surface programming to be measured track operation, the front and rear wheel of the detection car with it is to be measured
Tunnel structure surface forms contact point；The wheeled detection car of the rigidity is provided with optical fibre gyro, acceleration transducer, mileage gauge, position
Put sensor, signal processor and computer；Wherein：
Optical fibre gyro and acceleration transducer are fixed on the middle part shaft core position of the wheeled detection car of rigidity, are respectively used to measurement
Real-time perception rigidly wheeled detection car along tunnel surface run when relative inertial space rotational angular velocity and linear acceleration along firm
Property it is wheeled detection car coordinate system component；
Mileage gauge is provided with rotary encoder, and rotary encoder is fixedly connected with the wheel shaft of the wheeled detection car of rigidity, the rotation
Turn encoder by detecting the distance that number of pulses is walked come metrology inspection vehicle；
Position sensor is arranged on the front end of the wheeled detection car of rigidity, for being carried out in test process to reference point locations
Mark；
Signal processor is arranged on the wheeled detection car rear end part of rigidity, is fixedly connected with car body surface, and is passed with each
Sensor connect, for collect and handle rigidity it is wheeled detection car on all the sensors signal and be sent to computer；
Computer, with signal processor wireless connection, the signal for being sent according to the signal processor of reception uses prompt
Connection matrix and integral operation method derive the movement locus of the wheeled detection car of rigidity, and showing movement locus.
Further, the rigidity it is wheeled detection car on be additionally provided with shock absorber, for alleviate or overcome because track out-of-flatness to
What detection dolly was brought jolts.
Present invention also offers a kind of detection method, comprise the following steps：
Demarcate starting point, the terminal point coordinate of the linear detection in tunnel to be measured；
The continuous linear detection means of coal mine roadway is allowed to shift to an earlier date the preheated one-section time in starting point, and the direction advanced with track
Static alignment certain time；
Start the wheeled detection car of rigidity of the continuous linear detection means of coal mine roadway, allow it to be transported along the track that tunnel is laid
OK, until reaching home；
Obtained by computer and the data of detection are resolved, deduced, sent with specific reference to the signal processor of reception
Signal derive the movement locus of the wheeled detection car of rigidity using strap-down matrix and integral operation method, and by movement locus
Show.
The beneficial effect comprise that：The present invention substitutes common inclination angle sensing using highly sensitive optical fibre gyro
Device come perceive carrier traveling during angular speed minor variations；Tunnel structure table to be measured is characterized with the track of carrier movement
Face alignment curve.Compared with conventional art, the device has the characteristics of rapidly, continuously measuring, and will not omit any disease of structure
Place, and measurement accuracy is higher；Measurement is convenient, without installing any sensing device in tunnel to be measured, not by coal mining region
Adverse circumstances (such as dust, light, weather) influence；The device is adapted to rail measurement, the transport vehicle that can be commonly used with mine day
Slitless connection is carried out, vehicle transport progress synchronous with railway monitoring is realized.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is the wheeled detection car of rigidity and the position relationship of tunnel structure surface curve to be measured that the present invention is previously mentioned；
Fig. 2 is the continuous linear detection means of coal mine roadway sensed based on fiber-optic inertial that the present invention is previously mentioned；
Fig. 3 is the continuous linear detection method of coal mine roadway sensed based on fiber-optic inertial that the present invention is previously mentioned；
Fig. 4 is the continuous linear detection error processing side of coal mine roadway sensed based on fiber-optic inertial that the present invention is previously mentioned
Method；
Fig. 5-1 is the alignment curve figure before the Error processing that the present invention is previously mentioned；
Fig. 5-2 is the alignment curve figure after the Error processing that the present invention is previously mentioned.
In Fig. 1：1 is the wheeled detection car of rigidity, and 2 be that tunnel structure surface to be measured is actually linear, and 3 be that linear detection means is surveyed
Try the tunnel structure surface alignment curve deduced out.
In Fig. 2：4 it is optical fibre gyro (FOG), 5 be accelerometer, 6 be mileage gauge, 7 be position sensor, 8 is at signal
Reason device, 9 be computer, 10 be shock absorber, 11 be detection Chinese herbaceous peony wheel, 12 be detection back wheels of vehicle, 13 be the wheeled detection car of rigidity.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.
The wheeled detection car of rigidity and the position relationship of tunnel structure surface curve to be measured of the invention are as shown in Figure 1.Will be involved
And to sensor and integration of equipments on the wheeled detection car 13 of rigidity, allow detection car along the prefabricated track of body structure surface to be measured
Operation, it is known that it is 2a that tunnel structure surface to be measured is actually linear；After linear detection car is completed, pass through detected data
Deduced, tunnel structure surface alignment curve can be obtained for 3a.
In the specific embodiment of the present invention, the continuous linear detection means of coal mine roadway based on fiber-optic inertial sensing is such as
Shown in Fig. 2.The continuous linear detection means of the coal mine roadway includes optical fibre gyro (FOG) 4, accelerometer 5, mileage gauge 6, position biography
Sensor 7, signal processor 8, computer 9, shock absorber 10, front-wheel 11, trailing wheel 12 and the wheeled detection car 13 of rigidity.
FOG and acceleration transducer in device install, are fixed on the middle part shaft core position of the wheeled detection car of rigidity, respectively
For measuring the component of the rotational angular velocity and linear acceleration in detection car relative inertness space along vehicle coordinate system；Using rotation
Rotary encoder and wheel hub are carried out Hard link, by detecting number of pulses by encoder as the core devices of mileage gauge
Carry out the distance of metrology inspection vehicle walking；Position sensor is arranged on the right side of detection Chinese herbaceous peony end, for giving reference point in test process
Position carries out mark；Signal processor be arranged on detection car rear end part, be firmly connected with car body surface, for collect with
The signal of all the sensors on processing detection car；Computer is used for the signal that real-time resolving system acquisition is arrived, and by it with track
Form show.Rigidity is wheeled to detect car by optical fibre gyro (FOG), accelerometer, mileage gauge, position sensor, signal
The equipment such as processor and computer is all integrated into one, allows track of the detection car along tunnel structure surface programming to be measured to transport
OK, the characteristics of can accurately measure carrier movement attitude angle using optical fibre gyro, gyroscope and accelerometer during collection carrier movement
The rotational angular velocity and linear acceleration in relative inertness space, with reference to the output information of mileage gauge, are adopted along vehicle coordinate system component
Carrier can be derived along body structure surface movement locus to be measured with integral operation method, and its movement locus is to represent tunnel structure table
Upper thread shape.
Optical fibre gyro (FOG) be used for real-time perception carrier along tunnel surface run when angular velocity signal；Accelerometer
For measuring optical fibre gyro (FOG) linear acceleration along vehicle coordinate system component；Mileage gauge binding signal processor is detected
Pulse signal export in real time carrier along tunnel surface run when linear speed angle value；Position sensor is used for providing a system to reference
Point coordinates control information, so as to effectively suppress the diversity error of optical fibre gyro (FOG).
Signal processor is used for angular velocity information, acceleration information, carrier the operation linear velocity information for collecting optical fibre gyro
And position sensor pulse information, computer is sent to by RS-232 strings after being collected；Computer is used for real-time resolving
The various sensor signals that system acquisition is arrived, and it is shown in the form of track；
The wheeled detection car of rigidity is that the front and rear wheel of carrier and tunnel structure surface to be measured form contact point, detecting system
Run by contact point along tunnel structure surface to be measured, the linear track being equal to when its surface is run in tunnel structure surface；
The characteristics of can accurately measure carrier movement attitude angle using optical fibre gyro, with reference to the output information of mileage gauge, uses
Integral operation method can derive the movement locus of carrier.
Shock absorber is additionally provided with the wheeled detection car of the rigidity, for alleviating or overcoming because detection dolly band is given in track out-of-flatness
That comes jolts.
The detection method of the continuous linear detection means of coal mine roadway based on above-described embodiment of the invention, including following step
Suddenly：
Demarcate starting point, the terminal point coordinate of the linear detection in tunnel to be measured；
The continuous linear detection means of coal mine roadway is allowed to shift to an earlier date the preheated one-section time in starting point, and the direction advanced with track
Static alignment certain time；
Start the wheeled detection car of rigidity of the continuous linear detection means of coal mine roadway, allow it to be transported along the track that tunnel is laid
OK, until reaching home；
Obtained by computer and the data of detection are resolved, deduced, sent with specific reference to the signal processor of reception
Signal derive the movement locus of the wheeled detection car of rigidity using strap-down matrix and integral operation method, and by movement locus
Show.
Assuming that carrier moves to i+1 points from i points, according to the limit of integration theory of similarity, when it is operated between be spaced the t limit
Hour, the coordinate (X of i+1 pointi+1,Yi+1) can using approximate representation as：
Formula (2) is substituted into formula (1) to obtain：
Wherein, Ωi+1、Vi+1Gyroscope and the rotational angular velocity and linear velocity in accelerometer relative inertness space are represented respectively
Along vehicle coordinate system component；θiRepresent the initial angle of carrier and body structure surface to be measured；Δ θ, Δ L represent carrier respectively
The distance of angle variable quantity and walking when moving to i+1 points from i points.Assuming that the physical size of carrier is relative to treating geodesic structure
Linear surface is negligible, you can carrier is considered as into a particle, the recursion set up according to formula (1), (2)
Functional relation (3), you can carry out carrier along body structure surface to be measured run when continuous linear trajectory calculation, gyro delivering
The track run on body is body structure surface alignment curve to be measured.
The present invention substitutes common obliquity sensor to perceive carrier traveling process using highly sensitive optical fibre gyro
The minor variations of middle angular speed；Tunnel structure surface to be measured alignment curve is characterized with the track of carrier movement.With conventional art
Compare, the device has the characteristics of rapidly, continuously measuring, and will not omit at any disease of structure, and measurement accuracy is higher；Measurement
It is convenient, without installing any sensing device in tunnel to be measured, not by coal mining region adverse circumstances (such as dust, light, gas
Wait etc.) influence；The device is adapted to rail measurement, can carry out slitless connection with the conventional transport vehicle of mine day, realize that vehicle is transported
Defeated progress synchronous with railway monitoring.
The continuous linear detection method of coal mine roadway sensed based on fiber-optic inertial is as shown in Figure 3.Before test, traditional water is first used
Quasi- method demarcates the starting point of the linear detection in tunnel to be measured, terminal point coordinate；Then, linear detection means is allowed to be preheated in advance in starting point
20min, and the direction static alignment 120s advanced with track；Start the power set of detection car, allow what it laid along tunnel
Track is run, until reaching home；The data of detection are resolved by computer, deduced, so as to obtain tunnel to be measured
Continuous alignment curve；
The continuous linear detection error processing method of coal mine roadway sensed based on fiber-optic inertial is as shown in Figure 4.Due to linear
The simply relative deformation of detection means measurement, wants to obtain the absolute value of tunnel deformation, it is necessary to substitute into known reference point coordinates
The absolute deformation value of all fronts can be obtained, this algorithm substitutes into the starting point in tunnel to be measured, end point (i.e. head and the tail point) reference coordinate,
Its object is to：Both all fronts absolute coordinate information can be resolved, the diversity error of gyro can be control effectively again；By
In the inherent characteristic of optical fibre gyro, its output valve error is in over time divergent trend, therefore can take the fixed point coordinates of substitution
Method constrain the diversity error in its test process, some fixing point coordinate informations will be updated on the way by head and the tail
Continuous alignment curve after constraint, so as to further reduce diversity error；It is unavoidable between track when the track of detection is longer
There are physical seams or small irregularity degree, these irregularity degreees and track body construction health status and onrelevant, but detect small
Car may be produced when passing through and jolted, and larger error is brought to linear detecting system, therefore need to take wavelet filteration method external
Boundary's interference data are rejected, and take the method for data reconstruction to be filled the data segment after rejecting, so that it is guaranteed that linear
The integrality of track；By the continuous alignment curve in the tunnel finally given, with reference to track fitness assessment standard, you can to colliery lane
Road structural health is estimated.
The linear forward and backward alignment curve of testing result Error processing is as shown in Fig. 5-1 and Fig. 5-2.Fig. 5-1 is before Error processing
Alignment curve, it is a kind of conventional survey tool in civil engineering field, the reference marker point of measurement, 7 companies that wherein *, which represents spirit level,
Continuous curve represents that the multiple measurement structure surface of linear detection means is linear, and its repeatability is poor；Fig. 5-2 is the line after Error processing
Shape curve, the multiple linear repeatability in measurement structure surface is obviously improved, and is essentially coincided with reference marker point.
It should be appreciated that for those of ordinary skills, can according to the above description be improved or converted,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (3)
1. a kind of continuous linear detection means of coal mine roadway based on fiber-optic inertial technology, it is characterised in that the carrier of the device
For the wheeled detection car of rigidity, track operation of the detection car along tunnel structure surface programming to be measured, the front and rear wheel of the detection car
Contact point is formed with tunnel structure surface to be measured；The wheeled detection car of the rigidity is provided with optical fibre gyro, acceleration transducer, mileage
Instrument, position sensor, signal processor and computer；Wherein：
Optical fibre gyro and acceleration transducer are fixed on the middle part shaft core position of the wheeled detection car of rigidity, are respectively used to measurement real-time
Perceive the wheeled detection car of rigidity along tunnel surface run when with respect to inertial space rotational angular velocity and linear acceleration along rigid wheel
Formula detects the component of car coordinate system；
Mileage gauge is provided with rotary encoder, and rotary encoder is fixedly connected with the wheel shaft of the wheeled detection car of rigidity, and the rotation is compiled
Code device is by detecting the distance that number of pulses is walked come metrology inspection vehicle；
Position sensor is arranged on the front end of the wheeled detection car of rigidity, for being beaten in test process to reference point locations
Mark；
Signal processor be arranged on rigidity it is wheeled detection car rear end part, be fixedly connected with car body surface, and with each sensor
Connection, for collect and handle rigidity it is wheeled detection car on all the sensors signal and be sent to computer；
Computer, with signal processor wireless connection, the signal for being sent according to the signal processor of reception uses strapdown square
Battle array and integral operation method derive the movement locus of the wheeled detection car of rigidity, and showing movement locus.
2. device according to claim 1, it is characterised in that be additionally provided with shock absorber on the wheeled detection car of the rigidity, be used for
Alleviate or overcome because track out-of-flatness is to jolting that detection dolly is brought.
3. a kind of detection method based on claim 1 or 2, it is characterised in that comprise the following steps：
Demarcate starting point, the terminal point coordinate of the linear detection in tunnel to be measured；
The continuous linear detection means of coal mine roadway is allowed to shift to an earlier date the preheated one-section time in starting point, and the direction static state advanced with track
It is directed at certain time；
Start the wheeled detection car of rigidity of the continuous linear detection means of coal mine roadway, allow it to be run along the track that tunnel is laid,
Until reaching home；
Obtained by computer and the data of detection are resolved, deduced, the letter sent with specific reference to the signal processor of reception
Number derive the movement locus of the wheeled detection car of rigidity using strap-down matrix and integral operation method, and by the displaying of movement locus
Out.
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| CN108253924A (en) * | 2017-12-29 | 2018-07-06 | 上海建工集团股份有限公司 | A kind of steel construction deforms automatic inclination measurement device |
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| CN109993369A (en) * | 2019-04-09 | 2019-07-09 | 中国矿业大学(北京) | Coal mine stope high position rock movement information acquisition system and acquisition, analysis method |
| CN111323044A (en) * | 2020-04-14 | 2020-06-23 | 中国矿业大学(北京) | Two-dimensional displacement measuring device and method for heading machine |
| CN113939383A (en) * | 2019-04-05 | 2022-01-14 | 简罗拉亚技术股份公司 | 3D position and orientation calculation and robot application architecture using Inertial Measurement Unit (IMU) and pull-wire encoder position sensors |
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