CN108593875A - The real-time prediction meanss of coal wall caving and prediction technique - Google Patents
The real-time prediction meanss of coal wall caving and prediction technique Download PDFInfo
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- CN108593875A CN108593875A CN201810200414.7A CN201810200414A CN108593875A CN 108593875 A CN108593875 A CN 108593875A CN 201810200414 A CN201810200414 A CN 201810200414A CN 108593875 A CN108593875 A CN 108593875A
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- 230000003028 elevating effect Effects 0.000 claims description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 7
- 230000007423 decrease Effects 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000001681 protective effect Effects 0.000 claims description 4
- GNFTZDOKVXKIBK-UHFFFAOYSA-N 3-(2-methoxyethoxy)benzohydrazide Chemical compound COCCOC1=CC=CC(C(=O)NN)=C1 GNFTZDOKVXKIBK-UHFFFAOYSA-N 0.000 claims description 3
- FGUUSXIOTUKUDN-IBGZPJMESA-N C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 Chemical compound C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 FGUUSXIOTUKUDN-IBGZPJMESA-N 0.000 claims description 3
- 238000005086 pumping Methods 0.000 claims description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 8
- 238000012544 monitoring process Methods 0.000 description 7
- 238000000605 extraction Methods 0.000 description 5
- 238000001228 spectrum Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000002265 prevention Effects 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 239000003818 cinder Substances 0.000 description 2
- 238000002591 computed tomography Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
- 230000035515 penetration Effects 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 201000004569 Blindness Diseases 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 238000001453 impedance spectrum Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
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Abstract
The present invention relates to the real-time prediction meanss of coal wall caving and prediction techniques comprising data processing main website, electromagnetic wave receiving and transmitting apparatus, signal picker and 3 D stereo scanner；Data processing main website is electrically connected with 3 D stereo scanner and signal picker respectively；Electromagnetic wave receiving and transmitting apparatus is electrically connected with signal picker；3 D stereo scanner carries out external crack scanning recognition to the wall caving coal wall, and the external crack scanning recognition information is passed to data processing main website, and data processing main website obtains the external crack scanning recognition information；It is reasonable design of the present invention, compact-sized and easy to use.
Description
Technical field
The present invention relates to the real-time prediction meanss of coal wall caving and prediction techniques.
Background technology
In coal production, the fully-mechanized mining working that coal wall, especially mining height are larger, coal seam is softer, coal wall caving
Phenomenon frequent occurrence, has seriously affected the production efficiency and safety of coal mine, has influenced the booting of coal production working face capital equipment
Rate and the rate of extraction.
《The reason of working face wall wall caving and prevention method》Colliery engineering the 3rd phase of volume 28 in March, 2009.《Dead-soft
High seam coal wall caving and prevention mechanism》Coal journal in August, 2007 the 8th phase of volume 32 is all only to introduce to prevent processing side
Method, cannot achieve real-time prediction, and geological environment of coal mine constantly variation and it is difficult to predict, the safety accidents moments such as leakage emits occur,
The scheme that above-mentioned paper all prevents without providing good real-time dynamic monitoring.
Patent《A kind of CT scan load coal containing methane gas wall flaps side experimental bench》CN201620137012.3 provides one kind and passes through
CT scan scheme, also merely by selective examination coal sample scanning, to speculate wall caving situation, cannot achieve to the truth of wall caving into
Row monitoring in real time, safety of coal mines has a great responsibility, only by selective examination coal sample can not true reappearance coal seam truth, such as take out
The depth bounds of sample, length range, width range, each linear meter(lin.m.) sampling how many coal sample, are all unknown.Probably because missing inspection goes out
Existing safety accident, practical value is poor, cannot achieve real-time dynamic monitoring prevention.
Invention content
The application is based on the multi-information merging technologies principles such as uhf electromagnetic wave, laser scanning, realizes to coal wall caving
Predicted solve the real-time forecasting problem of the coal wall caving in recovery process in real time, convenient for taking measures, pre- anti-bias side thing
Therefore generation, improve Homes Using TV and the rate of extraction, and then improve safety production efficiency.
The present invention realizes the combination of 3-D scanning and radar detection, realizes that dynamic realtime monitors wall caving situation, realizes
Intelligent early-warning, automation control, information process- analysis, to coal mine wall caving research, the prevention of safety accident is with revolutionary
Progress, the hysteresis quality for solving the long-standing static monitoring techniques of coal mine wall caving and monitoring afterwards, the blindness that early period, sampling prevented
With no specific aim, problem with high costs.
Specifically, present context is as follows：
A kind of real-time prediction meanss of coal wall caving, including data processing main website, electromagnetic wave receiving and transmitting apparatus, signal picker with
And 3 D stereo scanner；Data processing main website is electrically connected with 3 D stereo scanner and signal picker respectively；Electromagnetic wave
Receiving and transmitting apparatus is electrically connected with signal picker；
3 D stereo scanner carries out external crack scanning recognition to the wall caving coal wall, and the external crack is scanned and is known
Other information passes to data processing main website, and data processing main website obtains the external crack scanning recognition information；
Data processing main website controls electromagnetic wave receiving and transmitting apparatus by signal picker and emits to the crack of the wall caving coal wall
Electromagnetic wave signal, electromagnetic wave signal generate signal echo in wall caving coal wall crack, and electromagnetic wave receiving and transmitting apparatus receives signal echo
And the signal echo is fed back into signal picker, the wall caving is calculated according to the signal echo of reception in signal picker
Wall caving information inside the crack is simultaneously passed to data processing main website by coal wall crack inside wall caving information.
As a further improvement of the above technical scheme：
When electromagnetic wave receiving and transmitting apparatus sending and receiving electromagnetic wave, electromagnetic wave receiving and transmitting apparatus is fitted on the surface of wall caving coal wall.
As a further improvement of the above technical scheme：
It further include the pressure sensor being arranged on face guard upper surface；Pressure sensor will receive the positive pressure of wall caving coal wall
Force information passes to data processing main website；Electromagnetic wave receiving and transmitting apparatus is arranged on face guard upper surface or the frame body of hydraulic support
On；Signal picker, 3 D stereo scanner and data processing main website are arranged on hydraulic support；It is also set on hydraulic support
It is equipped with oscillating motor, rotary extension manipulator is connected on the output shaft of oscillating motor, is provided on rotary extension manipulator
The hairbrush that face guard upper surface is cleaned；Be additionally provided on hydraulic support wind that face guard upper surface is rinsed/
(operating) water nozzle；3 D stereo scanner is three-dimensional laser scanner, and protective cover is provided on 3 D stereo scanner；Data processing
Main website is electrically connected with the Electric Machine at Pumping Station of the control cylinder of face guard.
As a further improvement of the above technical scheme：
It further include the pressure sensor for being arranged in cover top surface and being bonded with wall caving coal wall lower surface；
It is provided with lifting screw on each hydraulic support foundation of working face in the pit, is set on the nut seat of lifting screw
It is equipped with walking track, the walking track is connected successively forms delivery track, and walking dolly is provided on the delivery track；
Signal picker, 3 D stereo scanner are separately positioned on walking dolly, and electric screw is vertically arranged on walking dolly,
Electromagnetic wave receiving and transmitting apparatus is arranged on the nut seat of electric screw, and underground is provided with director server, on walking dolly respectively
Movable motor, microcontroller and electric machine controller are set；Movable motor is walked for controlling walking dolly on walking track,
Director server is wirelessly connected with data processing main website, and director server is wirelessly connected with microcontroller；Microcontroller passes through electricity
Machine controller controls the screw rod control motor and movable motor of electric screw respectively；Movable motor controls motor on time with screw rod
Between sequentially-operating；
The positive pressure force information for receiving wall caving coal wall is passed to director server by pressure sensor；
The long-press that the power supply connection of one end and underground is provided on walking track is that open short-press be powered-down sub switch；
Long-press is out that short-press is that the other end of powered-down sub switch divides two-way, is used to control the control cylinder of face guard all the way
Face guard folds control motor, and another way controls the elevating control motor of lifting screw, the electricity of director server by delay switch
It is connected with alarm module；
Further include locating module, director server positions the position of microcontroller by locating module.
As a further improvement of the above technical scheme：
The locating module is using ultrasonic wave locating module, the locating module of ultra wide band, radio frequency identification location technology module
Or wireless pulses locating module.
A kind of coal wall caving real-time predicting method, by means of the above-mentioned real-time prediction meanss of coal wall caving；Specifically include with
Lower step：
Step a：It is walked at every section the track travel time according to walking dolly, it is powered-down sub switch to set long-press to open short-press
Long-press be close time；The real-time positive pressure force information for receiving wall caving coal wall is passed to director server by pressure sensor, total to take
Be engaged in device by the real-time positive pressure force information received respectively compared with preset initial pressure value and safe pressure value,
When real-time positive pressure force information is greater than or equal to safe pressure value, director server controls the alarm module of corresponding position
Alarm, reminds the personnel of working face to flee the scene；
When real-time positive pressure force information is not more than preset initial pressure value, director server stops work；
When real-time positive pressure force information is more than preset initial pressure value and is less than safe pressure value, step b is executed；
Step b：First, director server calculates row according to the position of the pressure sensor of real-time positive pressure force information in step a
Walk trolley at this at a distance from pressure sensor and by the distance information transmission to microcontroller；Secondly, according to range information, monolithic
For machine by electric machine controller to the setting time of the time relay, movable motor drives walking dolly to be arrived according to setting time walking
Designated position；
Step c：It is first when long-press of the movable motor described in the designated position of step b reaches step a is the time closed
First, face guard folds control motor and powers on, and driving hydraulic cylinder drives face guard to be folded down；Then, elevating control motor
Drive lifting screw that walking track is driven to rise；
Step d：First, wall caving coal wall carries out surface right over when 3 D stereo scanner opens face guard in step c
It scans and scanning information is transferred to director server；Then, elevating control motor drives lifting screw by electromagnetic wave receiving and transmitting apparatus
It pushes up right over when face guard is opened in step c below wall caving coal wall；When electromagnetic wave receiving and transmitting apparatus opens face guard in step c
Surface wall caving coal wall carries out crack detection, and electromagnetic wave receiving and transmitting apparatus crack detection information is by data processing master station transmission to total
Server；
Step e：After step d, controlled by sequence circuit：First, lifting screw drives under electromagnetic wave receiving and transmitting apparatus
Drop, elevating control motor drive lifting screw that walking track is driven to decline；Secondly, face guard folds control motor and powers on,
Driving hydraulic cylinder drives face guard to open up；
Step f：After step e, movable motor drives walking dolly to return to director server position.
Step g：Director server exports the crack detection information and scanning information in step d.
The application can realize effective identification to coal wall caving, and identification depth is big, be not less than 3 meters.
3 D stereo scanner obtains its surface information, and pass to by carrying out three-dimensional imaging scanning to wall caving coal wall
On processor, technical staff is clear that crack position in coal face feelings by observing three-dimensional imaging scan pattern
Condition；The laser image feature extraction of typical wall caving pattern can also be carried out, typical coal wall caving pattern database is formed.Laser is swept
Retouch the multi-source informations such as width, crack interval distance, the penetration of fracture of the fracture faces of extraction.
Using the radar detection simulation principle of electromagnetic wave, by electromagnetic wave in crack signal echo signal, signal echo
Signal includes the information such as echo spectrum, echo time and echo variation boundary condition after electromagnetic wave penetrates coal seam, extraction
Crack inside the multi-source informations such as width, crack interval distance, the penetration of fracture.Signal picker handles signal, obtains
It is deposited to coal wall in the frequency spectrum of wall caving, bias spectrum, impedance spectrum, dielectric spectra, time spectrum, color, gloss, texture etc.
Feature difference；Obtain coal wall caving formation mechenism and effective wall caving characteristic signal.
It is pressed further, it is possible to which combination pressure sensor receives working face, obtains time of roof weighting, place, pressure
Range compares and proofreads to wall caving characteristic signal to realize.
Beneficial effects of the present invention description without being limited thereto, in order to preferably be easy to understand, specific embodiment part into
More preferably detailed description is gone.
Description of the drawings
Fig. 1 is that 1 electromagnetic wave receiving and transmitting apparatus of embodiment does the structural schematic diagram that crack is detected to wall caving coal wall；
Fig. 2 is the structural schematic diagram that 13 D stereo scanner of embodiment does wall caving coal wall three-dimensional imaging；
Fig. 3 is the circuit block diagram of embodiment 1；
Fig. 4 is the first viewing angle constructions schematic diagram of embodiment 2；
Fig. 5 is the second viewing angle constructions schematic diagram of embodiment 2；
Fig. 6 is the circuit part block diagram of embodiment 2；
Fig. 7 is the circuit part block diagram of embodiment 2；
Fig. 8 is the flow diagram of embodiment 2；
Wherein：1, wall caving coal wall；2, hydraulic support；3, face guard；4, electromagnetic wave receiving and transmitting apparatus；5, data processing main website；
6, signal picker；7, pressure sensor；8,3 D stereo scanner；9, wind/(operating) water nozzle；10, rotary extension manipulator；11、
Protective cover；12, top plate；13, lifting screw；14, walking track；15, walking dolly；16, electric screw；17, director server；
18, microcontroller；19, electric machine controller；20, screw rod controls motor；21, movable motor；22, long-press is to close electronic cutting to open short-press
It closes；23, elevating control motor；24, face guard folds control motor；25, delay switch；26, alarm module；27, locating module.
Specific implementation mode
As shown in figures 1-8, the real-time prediction meanss of the coal wall caving of the present embodiment, including data processing main website 5, electromagnetic wave connect
Transmitting apparatus 4, signal picker 6 and 3 D stereo scanner 8；Data processing main website 5 respectively with 3 D stereo scanner 8 and
Signal picker 6 is electrically connected；Electromagnetic wave receiving and transmitting apparatus 4 is electrically connected with signal picker 6；
3 D stereo scanner 8 carries out external crack scanning recognition to wall caving coal wall 1, and by the external crack scanning recognition
Information passes to data processing main website 5, and data processing main website 5 obtains the external crack scanning recognition information；
Data processing main website 5 controls electromagnetic wave receiving and transmitting apparatus 4 by signal picker 6 and emits to the crack of wall caving coal wall 1
Electromagnetic wave signal, electromagnetic wave signal generate signal echo in 1 crack of wall caving coal wall, and electromagnetic wave receiving and transmitting apparatus 4 receives signal and returns
The signal echo is simultaneously fed back to signal picker 6 by wave, and wall caving is calculated according to the signal echo of reception in signal picker 6
Wall caving information inside the crack is simultaneously passed to data processing main website 5 by 1 crack of coal wall inside wall caving information.
Preferably, when 4 sending and receiving electromagnetic wave of electromagnetic wave receiving and transmitting apparatus, electromagnetic wave receiving and transmitting apparatus 4 is fitted in wall caving coal wall 1
Surface on.To avoid electromagnetic interference from being interfered with air, electromagnetic wave loss is reduced, accuracy of detection is improved.
Embodiment 1 further includes the pressure sensor 7 being arranged on 3 upper surface of face guard such as Fig. 1-3；Pressure sensor 7
The positive pressure force information for receiving wall caving coal wall 1 is passed into data processing main website 5；Electromagnetic wave receiving and transmitting apparatus 4 is arranged on face guard 3
On surface or on the frame body of hydraulic support 2；Signal picker 6,3 D stereo scanner 8 and the setting of data processing main website 5 exist
On hydraulic support 2；It is additionally provided with oscillating motor on hydraulic support 2, rotary extension machine is connected on the output shaft of oscillating motor
Tool hand 10 is provided with the hairbrush cleaned to 3 upper surface of face guard on rotary extension manipulator 10；On hydraulic support 2
It is additionally provided with the wind/(operating) water nozzle 9 being rinsed to 3 upper surface of face guard；3 D stereo scanner 8 is three-dimensional laser scanner,
Protective cover 11 is provided on 3 D stereo scanner 8；The Electric Machine at Pumping Station of data processing main website 5 and the control cylinder of face guard 3
Electrical connection.
For those skilled in the art, data processing main website is common processor, microcontroller.For those skilled in the art,
Electromagnetic wave receiving and transmitting apparatus occur frequency, wavelength and velocity of wave can according to local coal seam the characteristics of, hardness, thickness, mainly at
It is obvious to grade using data and working experience selection use.
Data processing main website 5 can be connected with alarm module alarm, after 7 numerical value of pressure sensor is more than setting value, number
It is alarmed by alarm module according to processing main website 5.
When using the present invention, after 1 normal pressure of wall caving coal wall at the top that pressure sensor 7 incudes increases, by automatic
Control or manual control, face guard 3 fall, and 3 D stereo scanner 8 is operated by technical staff, can also data processing main website
5 electric control 3 D stereo scanners 8 carry out 3-D scanning to wall caving coal wall 1, obtain external crack, crack information.
By automatically controlling or manual control, by technical staff or 5 electric control electromagnetic wave of data processing main website will be passed through
Receiving and transmitting apparatus 4 carries out radar type crack detection, is handled by signal picker 6 and calculates information, to obtain wall caving information.
Since 3 upper surface of face guard can have the cinder fallen, prediction effect can be influenced, even if face guard 3 downwardly turns over
It will not fall, drive rotary extension manipulator 10 to realize the direct cleaning to surface cinder soil by oscillating motor, pass through
Wind/(operating) water nozzle 9 carries out water flushing by water jet or air air-dries or wind-force is cleared up.
Embodiment 2：Further include the pressure for being arranged on 12 upper surface of top plate and being bonded with 1 lower surface of wall caving coal wall such as Fig. 4-8
Force snesor 7；It, can be according to different coal seams arrangement and experience, design pressure sensor 7 to reduce real-time forecast cost
Arrangement quantity.Realize preliminary thick prediction.
It is provided with lifting screw 13 on 2 pedestal of each hydraulic support of working face in the pit, in the screw of lifting screw 13
Walking track 14 is provided on seat, walking track 14 is connected successively forms delivery track, and it is small that walking is provided on delivery track
Vehicle 15；Signal picker 6,3 D stereo scanner 8 are separately positioned on walking dolly 15, are vertically arranged on walking dolly 15
There are electric screw 16, electromagnetic wave receiving and transmitting apparatus 4 to be arranged on the nut seat of electric screw 16, underground is provided with director server
17, movable motor 21, microcontroller 18 and electric machine controller 19 are respectively set on walking dolly 15；Movable motor 21 is for controlling
Walking dolly 15 is walked on walking track 14；
By designed path and walking dolly 15, automated intelligent movement is realized, fixed point monitoring is carried out according to thick predicted position,
To reduce forecast cost, the security risk of personal monitoring in embodiment 1 is reduced, the lifting for track 14 of walking by multistage
Design, to avoid face guard, reasonable design is ingenious.
Director server 17 is wirelessly connected with data processing main website 5, and director server 17 is wirelessly connected with microcontroller 18；Microcontroller
18 control the screw rod control motor 20 and movable motor 21 of electric screw 16 by electric machine controller 19 respectively；Movable motor 21
It is acted in chronological order with screw rod control motor 20；
The positive pressure force information for receiving wall caving coal wall 1 is passed to director server 17 by pressure sensor 7；
The long-press that the power supply connection of one end and underground is provided on walking track 14 is that open short-press be powered-down sub switch 22；
Long-press is out that short-press is switching on and shutting down principle of the powered-down sub switch 22 similar to computer, mobile phone, can be realized by switching reverse design,
It can also be realized by the time relay.It is that powered-down sub switch 22 uses sequence circuit that long-press, which can certainly be saved, to open short-press
Control, is obviously to deform.
Long-press is out that short-press is that the other end of powered-down sub switch 22 divides two-way, is used to control the control oil of face guard 3 all the way
The face guard of cylinder folds control motor 24, and another way controls the elevating control motor 23 of lifting screw 13 by delay switch 25,
Director server 17 is electrically connected with alarm module 26；
Further include locating module 27, director server 17 positions the position of microcontroller 18 by locating module 27.
Locating module 27 using ultrasonic wave locating module, the locating module of ultra wide band, radio frequency identification location technology module or
Wireless pulses locating module.Preferred wireless pulse locating module.
The coal wall caving real-time predicting method of the present embodiment 2, by means of the above-mentioned real-time prediction meanss of coal wall caving；Specifically
Include the following steps：
Step a：According to walking dolly 15 in every section of 14 travel time of walking track, it is powered-down son to set long-press to open short-press
The long-press of switch 22 is the time closed；The real-time positive pressure force information for receiving wall caving coal wall 1 is passed to total service by pressure sensor 7
Device 17, director server 17 by the real-time positive pressure force information received respectively with preset initial pressure value and safe pressure
Value compares,
When real-time positive pressure force information is greater than or equal to safe pressure value, director server 17 controls the alarm mould of corresponding position
Block 26 is alarmed, and the personnel of working face is reminded to flee the scene；
When real-time positive pressure force information is not more than preset initial pressure value, director server 17 stops work；
When real-time positive pressure force information is more than preset initial pressure value and is less than safe pressure value, step b is executed；
Step b：First, director server 17 is according to the position of the pressure sensor 7 of real-time positive pressure force information in step a, meter
Calculation walking dolly 15 is at this to microcontroller 18 at a distance from pressure sensor 7 and by the distance information transmission；Secondly, according to distance
Information, for microcontroller 18 by electric machine controller 19 to the setting time of the time relay, movable motor 21 drives walking dolly 15
According to setting time walking to designated position；
Step c：When it be the time closed that movable motor 21, which in the designated position of step b reaches the long-press of step a, head
First, face guard folds control motor 24 and powers on, and driving hydraulic cylinder drives face guard 3 to be folded down；Then, elevating control electricity
Machine 23 drives lifting screw 13 that walking track 14 is driven to rise；
Step d：First, wall caving coal wall 1 carries out table right over when 3 D stereo scanner 8 opens face guard 3 in step c
Scanning information is simultaneously transferred to director server 17 by Surface scan；Then, elevating control motor 23 drives lifting screw 13 by electromagnetic wave
1 lower section of wall caving coal wall right over when the top of receiving and transmitting apparatus 4 is opened to face guard 3 in step c；Electromagnetic wave receiving and transmitting apparatus 4 is in step c
Wall caving coal wall 1 carries out crack detection right over when face guard 3 is opened, and 4 crack detection information of electromagnetic wave receiving and transmitting apparatus passes through data
Processing main website 5 is transferred to director server 17；
Step e：After step d, controlled by sequence circuit：First, lifting screw 13 drives electromagnetic wave receiving and transmitting apparatus 4
Decline, elevating control motor 23 drives lifting screw 13 that walking track 14 is driven to decline；Secondly, face guard folds control motor 24
Power on, driving hydraulic cylinder drives face guard 3 to open up；
Step f：After step e, movable motor 21 drives walking dolly 15 to return to 17 position of director server；
Step g：Director server 17 exports the crack detection information and scanning information in step d.
Embodiment 2 realizes the combination that thick prediction is predicted with essence, reduces forecast cost, realizes truly real-time
Prediction, effectively reduces security risk.
Different alarm sounds can be used according to 7 design data safe class of pressure sensor, different brackets, be aobvious and easy
See.
It is to be disclosed in order to more clear, and the prior art is not just being enumerated that the present invention, which fully describes,.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
To modify to the technical solution recorded in previous embodiment or equivalent replacement of some of the technical features；Make
It is obvious to be combined to multiple technical solutions of the present invention for those skilled in the art.And these are changed or replace
It changes, the spirit and scope for technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (6)
1. a kind of real-time prediction meanss of coal wall caving, it is characterised in that：Including data processing main website (5), electromagnetic wave receiving and transmitting apparatus
(4), signal picker (6) and 3 D stereo scanner (8)；Data processing main website (5) respectively with 3 D stereo scanner (8)
And signal picker (6) electrical connection；Electromagnetic wave receiving and transmitting apparatus (4) is electrically connected with signal picker (6)；
3 D stereo scanner (8) carries out external crack scanning recognition to the wall caving coal wall (1), and the external crack is scanned
Identification information passes to data processing main website (5), and data processing main website (5) obtains the external crack scanning recognition information；
Data processing main website (5) controls electromagnetic wave receiving and transmitting apparatus (4) to the wall caving coal wall (1) by signal picker (6)
Crack electromagnetic signals, electromagnetic wave signal generate signal echo, electromagnetic wave receiving and transmitting apparatus in wall caving coal wall (1) crack
(4) it receives signal echo and the signal echo is fed back into signal picker (6), signal picker (6) is according to the letter of reception
Number echo is calculated wall caving information inside wall caving coal wall (1) crack and wall caving information inside the crack is passed to data
Handle main website (5).
2. the real-time prediction meanss of coal wall caving according to claim 1, it is characterised in that:When electromagnetic wave receiving and transmitting apparatus (4)
When sending and receiving electromagnetic wave, electromagnetic wave receiving and transmitting apparatus (4) is fitted on the surface of wall caving coal wall (1).
3. the real-time prediction meanss of coal wall caving according to claim 1, it is characterised in that:Further include being arranged in face guard
(3) pressure sensor on upper surface (7)；The positive pressure force information for receiving wall caving coal wall (1) is passed to number by pressure sensor (7)
According to processing main website (5)；Electromagnetic wave receiving and transmitting apparatus (4) is arranged on face guard (3) upper surface or on the frame body of hydraulic support (2)；
Signal picker (6), 3 D stereo scanner (8) and data processing main website (5) are arranged on hydraulic support (2)；In hydraulic pressure
It is additionally provided with oscillating motor on holder (2), rotary extension manipulator (10) is connected on the output shaft of oscillating motor, is stretched in rotation
The hairbrush cleaned to face guard (3) upper surface is provided on contracting manipulator (10)；It is additionally provided on hydraulic support (2) pair
Wind/(operating) water nozzle (9) that face guard (3) upper surface is rinsed；3 D stereo scanner (8) is three-dimensional laser scanner, three
It is provided with protective cover (11) on dimension stereoscan instrument (8)；The pumping plant of data processing main website (5) and the control cylinder of face guard (3)
Motor is electrically connected.
4. the real-time prediction meanss of coal wall caving according to claim 1, it is characterised in that:Further include being arranged in top plate (12)
The pressure sensor (7) being bonded on upper surface and with wall caving coal wall (1) lower surface；
It is provided with lifting screw (13), the silk in lifting screw (13) on each hydraulic support (2) pedestal of working face in the pit
Walking track (14) is provided in female seat, the walking track (14) is connected successively forms delivery track, in the delivery track
On be provided with walking dolly (15)；Signal picker (6), 3 D stereo scanner (8) are separately positioned on walking dolly (15),
Electric screw (16) is vertically arranged on walking dolly (15), electromagnetic wave receiving and transmitting apparatus (4) is arranged in electric screw (16)
On nut seat, underground is provided with director server (17), movable motor (21), microcontroller are respectively set on walking dolly (15)
(18) with electric machine controller (19)；Movable motor (21) is walked for controlling walking dolly (15) on walking track (14),
Director server (17) is wirelessly connected with data processing main website (5), and director server (17) is wirelessly connected with microcontroller (18)；It is single
Piece machine (18) controls the screw rod control motor (20) and movable motor of electric screw (16) by electric machine controller (19) respectively
(21)；Movable motor (21) acts in chronological order with screw rod control motor (20)；
The positive pressure force information for receiving wall caving coal wall (1) is passed to director server (17) by pressure sensor (7)；
The long-press that the power supply connection of one end and underground is provided in walking track (14) is that open short-press be powered-down sub switch (22)；
Long-press is to open the other end that short-press is powered-down sub switch (22) to divide two-way, is used to control the control cylinder of face guard (3) all the way
Face guard folds control motor (24), and another way controls the elevating control motor of lifting screw (13) by delay switch (25)
(23), director server (17) is electrically connected with alarm module (26)；
Further include locating module (27), director server (17) positions the position of microcontroller (18) by locating module (27).
5. the real-time prediction meanss of coal wall caving according to claim 4, it is characterised in that:The locating module (27) uses
Ultrasonic wave locating module, the locating module of ultra wide band, radio frequency identification location technology module or wireless pulses locating module.
6. a kind of coal wall caving real-time predicting method, it is characterised in that:By means of the coal wall caving described in claim 1,4 or 5
Real-time prediction meanss；Specifically include following steps：
Step a：According to walking dolly (15) in every section of walking track (14) travel time, it is powered-down son to set long-press to open short-press
The long-press of switch (22) is the time closed；Pressure sensor (7) passes to the real-time positive pressure force information for receiving wall caving coal wall (1)
Director server (17), director server (17) by the real-time positive pressure force information received respectively with preset initial pressure value with
And safe pressure value compares,
When real-time positive pressure force information is greater than or equal to safe pressure value, director server (17) controls the alarm module of corresponding position
(26) it alarms, the personnel of working face is reminded to flee the scene；
When real-time positive pressure force information is not more than preset initial pressure value, director server (17) stops work；
When real-time positive pressure force information is more than preset initial pressure value and is less than safe pressure value, step b is executed；
Step b：First, director server (17) is according to the position of the pressure sensor (7) of real-time positive pressure force information in step a, meter
It calculates walking dolly (15) and gives microcontroller (18) at this at a distance from pressure sensor (7) and by the distance information transmission；Secondly, root
According to range information, by electric machine controller (19) to the setting time of the time relay, movable motor (21) drives microcontroller (18)
Dynamic walking dolly (15) is walked according to setting time to designated position；
Step c：It is first when long-press of the movable motor (21) described in the designated position of step b reaches step a is the time closed
First, face guard folds control motor (24) and powers on, and driving hydraulic cylinder drives face guard (3) to be folded down；Then, lifting control
Motor (23) driving lifting screw (13) processed drives walking track (14) to rise；
Step d：First, wall caving coal wall (1) carries out right over when 3 D stereo scanner (8) opens face guard (3) in step c
Scanning information is simultaneously transferred to director server (17) by surface scan；Then, elevating control motor (23) drives lifting screw (13)
Right over when electromagnetic wave receiving and transmitting apparatus (4) top to face guard (3) in step c is opened below wall caving coal wall (1)；Electromagnetic wave sending and receiving
Wall caving coal wall (1) carries out crack detection, electromagnetic wave receiving and transmitting apparatus right over when device (4) opens face guard (3) in step c
(4) crack detection information is transferred to director server (17) by data processing main website (5)；
Step e：After step d, controlled by sequence circuit：First, lifting screw (13) drives electromagnetic wave receiving and transmitting apparatus (4)
Decline, elevating control motor (23) drives lifting screw (13) that walking track (14) is driven to decline；Secondly, face guard folds control
Motor (24) powers on, and driving hydraulic cylinder drives face guard (3) to open up；
Step f：After step e, movable motor (21) drives walking dolly (15) to return to director server (17) position；
Step g：Director server (17) exports the crack detection information and scanning information in step d.
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