CN102980558A - Intelligent tunnel section measurement device and method for mine based on polar coordinate integral - Google Patents

Abstract

The invention discloses an intelligent tunnel section measurement device and an intelligent tunnel section measurement method for a mine based on polar coordinate integral and belongs to the technical field of mine detection. The device comprises a laser ranging sensor unit and a main processor unit, wherein the laser ranging sensor unit comprises a laser ranging sensor, a stepping motor and a signal processing circuit; and the main processor unit comprises a power module and a main processor. By means of the embedded technology, electronic integration technology and laser detection technology, the problems that the traditional survey equipment is large in tunnel section measurement error and low in rapidness are solved.

Description

Mining intelligent drift section measurement mechanism and method based on the polar coordinates integration

Technical field

The invention belongs to mine detection technique field, particularly a kind of mining intelligent drift section measurement mechanism and method based on the polar coordinates integration.

Background technology

At present, generally be used on the market the search equipment of drift section girth, area measurement, volume is all huger, detection mode is too loaded down with trivial details, is not easy to carry and operate, because its testing process is slow and real-time is not high, cause error information detection large, be difficult to as accurate reference frame.

Summary of the invention

For the deficiencies in the prior art, the present invention proposes a kind of mining intelligent drift section measurement mechanism and method based on the polar coordinates integration, to reach real-time area, circumferential measurements to the coal mine down-hole tunnel section, simplifies pick-up unit, the simplified measurement operation, the purpose of raising detection efficiency.

A kind of mining intelligent drift section measurement mechanism based on the polar coordinates integration comprises laser range sensor unit and main processor unit; Wherein, the laser range sensor unit comprises laser range sensor, stepper motor and signal processing circuit; Main processor unit comprises power module and primary processor; Wherein:

Laser range sensor: be for to the drift section Emission Lasers and receive the device of drift section institute reflector laser;

Stepper motor: be for the device that drives the laser range sensor rotation;

Signal processing circuit: be for receiving the laser pulse signal that laser range sensor sends, the device that laser propagation speed is calculated distance between laser range sensor and the drift section;

Primary processor: be for according to distance, the laser range sensor anglec of rotation between laser range sensor and the drift section, by polar coordinates integral and calculating tunnel girth and area, and the device of control step motor rotational speed.

The method that employing is measured based on the mining intelligent drift section measurement mechanism of polar coordinates integration comprises the steps:

Step 1, starter gear adopt the laser probe of laser range sensor that drift section is measured, i.e. laser range sensor emission also receives laser;

Step 2, employing signal processing circuit are calculated distance between laser range sensor and the drift section according to the laser pulse signal that receives, laser propagation speed;

Step 3, to adopt the rotating speed of primary processor control step motor shaft, the described range of speeds be 100 °/s～200 °/s, and each time interval of measuring of setting laser distance measuring sensor, and time interval scope is 0.1s～0.2s;

Distance, the laser range sensor anglec of rotation between step 4, the laser range sensor that adopts the each measurement of main processor unit basis and the drift section, obtain inswept fan-shaped unit dimension and the fan-shaped arc length in bent limit of laser range sensor, and calculate drift section girth and area;

Take measurement of an angle by step motor control, utilize the polar coordinates integration of bent limit sectorial area and girth, obtain inswept fan-shaped unit dimension dA and the fan-shaped arc length dl in bent limit of laser range sensor, the area and perimeter of whole section is obtained by dA and dl summation, and formula is as follows:

$A=\mathrm{\&Sigma;dA}=\frac{1}{2}\underset{0}{\overset{2\mathrm{\&pi;}}{\mathrm{\&Sigma;}}}{\mathrm{<figure-callout\; id="2"\; label="r"\; filenames="HDA00002544564000012.png,HDA00002544564000021.png"\; state="\{\{state\}\}">r</figure-callout>}}^2\mathrm{d\&theta;}---\left(1\right)$

$l=\mathrm{\&Sigma;dl}=\underset{0}{\overset{2\mathrm{\&pi;}}{\mathrm{\&Sigma;}}}\mathrm{rd\&theta;}---\left(2\right)$

Wherein, A is expressed as drift section area, l and is expressed as drift section girth, d θ and is expressed as measured angular, dA and is expressed as unit dimension, dl and is expressed as that the infinitesimal curve is long, r is expressed as distance between laser range sensor and the drift section;

Step 5, adopt primary processor to judge measurement result, if girth, area value surpass actual drift section area and perimeter maximal value, then this time measured value is cast out;

Step 6, repeating step 1 to 5 are measured 5～10 drift section girths and area, and adopt primary processor to obtain mean value.

Advantage of the present invention:

The present invention a kind of mining intelligent drift section measurement mechanism and method based on the polar coordinates integration, by means such as embedded technology, electronics integrated technology, laser measuring technologies, the problems such as traditional search equipment drift section measuring error is large, rapidity is not strong have been broken through.

Description of drawings

Fig. 1 is the apparatus structure block diagram of an embodiment of the present invention;

Fig. 2 is the main processor circuit schematic diagram of an embodiment of the present invention;

Fig. 3 is the signal processing circuit schematic diagram of an embodiment of the present invention;

Fig. 4 is the mining intelligent tunnel section measurement method process flow diagram based on the polar coordinates integration of an embodiment of the present invention;

Fig. 5 is the fundamental diagram of an embodiment of the present invention.

Embodiment

Below in conjunction with accompanying drawing an embodiment of the present invention is described further.

A kind of mining intelligent drift section measurement mechanism based on the polar coordinates integration as shown in Figure 1, comprises laser range sensor unit and main processor unit; Wherein, the laser range sensor unit comprises laser range sensor, stepper motor and signal processing circuit; Main processor unit comprises power module and primary processor; Wherein: laser range sensor is for to the drift section Emission Lasers and receive the device of drift section institute reflector laser; Stepper motor is for the device that drives the laser range sensor rotation; Signal processing circuit is for receiving the laser pulse signal that laser range sensor sends, the device that laser propagation speed is calculated distance between laser range sensor and the drift section; Primary processor is for according to distance, the laser range sensor anglec of rotation between laser range sensor and the drift section, by polar coordinates integral and calculating tunnel girth and area, and the device of control step motor rotational speed.

As shown in Figures 2 and 3, in the embodiment of the invention, laser range sensor adopts the MIJP-4 model, primary processor adopts STM32F103 model, signal processing circuit to adopt the TDC-GP2 signal, wherein, 57,58 pins of primary processor connect stepper motor, and the 21st pin of primary processor connects 24 pins of signal processing circuit, and 5 pins of signal processing circuit connect laser range sensor.

The method that employing is measured based on the mining intelligent drift section measurement mechanism of polar coordinates integration as shown in Figure 4, comprises the steps:

Step 1, starter gear adopt the laser probe of laser range sensor that drift section is measured, i.e. laser range sensor emission also receives laser;

Step 2, employing signal processing circuit are calculated distance between laser range sensor and the drift section according to the laser pulse signal that receives, laser propagation speed;

100 °/the s of rotating speed of step 3, employing primary processor control step motor shaft, and the each time interval 0.1s that measures of setting laser distance measuring sensor;

Distance, the laser range sensor anglec of rotation between step 4, the laser range sensor that adopts the each measurement of main processor unit basis and the drift section, obtain inswept fan-shaped unit dimension and the fan-shaped arc length in bent limit of laser range sensor, and calculate drift section girth and area;

Adopt main processor unit that the distance signal that laser range sensor detects is processed, obtain apart from the surface, tunnel to the range data basis between the detector at laser range sensor, take measurement of an angle by step motor control, as shown in Figure 5, detector is two basic parameters to the beasurement base of cross-sectional area and girth: range data and set measured angular; Polar coordinates integration by bent limit area and segment of curve obtains inswept fan-shaped unit dimension dA and the fan-shaped arc length dl in bent limit of laser range sensor, and the area and perimeter of whole section is obtained by dA and dl summation, and formula is as follows:

$A=\mathrm{\&Sigma;dA}=\frac{1}{2}\underset{0}{\overset{2\mathrm{\&pi;}}{\mathrm{\&Sigma;}}}{\mathrm{<figure-callout\; id="2"\; label="r"\; filenames="HDA00002544564000012.png,HDA00002544564000021.png"\; state="\{\{state\}\}">r</figure-callout>}}^2\mathrm{d\&theta;}---\left(1\right)$

$l=\mathrm{\&Sigma;dl}=\underset{0}{\overset{2\mathrm{\&pi;}}{\mathrm{\&Sigma;}}}\mathrm{rd\&theta;}---\left(2\right)$

Wherein, A is expressed as drift section area, l and is expressed as drift section girth, d θ and is expressed as measured angular, dA and is expressed as unit dimension, dl and is expressed as that the infinitesimal curve is long, r is expressed as distance between laser range sensor and the drift section; Wherein, d represents variable quantity, and dA represents to scan the covering of the fan area that forms after laser range sensor turns over certain angle; It is long that dl represents that laser range sensor turns over the covering of the fan curve that scanning forms behind the certain angle.

Step 5, adopt primary processor to judge measurement result, if girth, area value surpass actual drift section area and perimeter maximal value, then this time measured value is cast out;

Wherein said actual drift section area and perimeter maximal value can obtain by the design drawing in tunnel.

Step 6, repeating step 1 to 5 are measured 5 drift section girths and area, and adopt primary processor to obtain mean value.

Claims (2)

1. the mining intelligent drift section measurement mechanism based on the polar coordinates integration is characterized in that: comprise laser range sensor unit and main processor unit; Wherein, the laser range sensor unit comprises laser range sensor, stepper motor and signal processing circuit; Main processor unit comprises power module and primary processor; Wherein:

Laser range sensor: be for to the drift section Emission Lasers and receive the device of drift section institute reflector laser;

Stepper motor: be for the device that drives the laser range sensor rotation;

Signal processing circuit: be for receiving the laser pulse signal that laser range sensor sends, the device that laser propagation speed is calculated distance between laser range sensor and the drift section;

Primary processor: be for according to distance, the laser range sensor anglec of rotation between laser range sensor and the drift section, by polar coordinates integral and calculating tunnel girth and area, and the device of control step motor rotational speed.

2. adopt the method for measuring based on the mining intelligent drift section measurement mechanism of polar coordinates integration claimed in claim 1, it is characterized in that: comprise the steps:

Step 1, starter gear adopt the laser probe of laser range sensor that drift section is measured, i.e. laser range sensor emission also receives laser;

Step 2, employing signal processing circuit are calculated distance between laser range sensor and the drift section according to the laser pulse signal that receives, laser propagation speed;

Step 3, to adopt the rotating speed of primary processor control step motor shaft, the described range of speeds be 100 °/s～200 °/s, and each time interval of measuring of setting laser distance measuring sensor, and time interval scope is 0.1s～0.2s;

Distance, the laser range sensor anglec of rotation between step 4, the laser range sensor that adopts the each measurement of main processor unit basis and the drift section, obtain inswept fan-shaped unit dimension and the fan-shaped arc length in bent limit of laser range sensor, and calculate drift section girth and area;

Take measurement of an angle by step motor control, utilize the polar coordinates integration of bent limit sectorial area and girth, obtain inswept fan-shaped unit dimension dA and the fan-shaped arc length dl in bent limit of laser range sensor, the area and perimeter of whole section is obtained by dA and dl summation, and formula is as follows:

$A=\mathrm{\&Sigma;dA}=\frac{1}{2}\underset{0}{\overset{2\mathrm{\&pi;}}{\mathrm{\&Sigma;}}}{r}^2\mathrm{d\&theta;}---\left(1\right)$

$l=\mathrm{\&Sigma;dl}=\underset{0}{\overset{2\mathrm{\&pi;}}{\mathrm{\&Sigma;}}}\mathrm{rd\&theta;}---\left(2\right)$

Wherein, A is expressed as drift section area, l and is expressed as drift section girth, d θ and is expressed as measured angular, dA and is expressed as unit dimension, dl and is expressed as that the infinitesimal curve is long, r is expressed as distance between laser range sensor and the drift section;

Step 5, adopt primary processor to judge measurement result, if girth, area value surpass actual drift section area and perimeter maximal value, then this time measured value is cast out;

Step 6, repeating step 1 to 5 are measured 5～10 drift section girths and area, and adopt primary processor to obtain mean value.

Images