CN109736894A - A kind of monitoring system, monitoring method and method for early warning for coal mine roadway country rock disaster - Google Patents
A kind of monitoring system, monitoring method and method for early warning for coal mine roadway country rock disaster Download PDFInfo
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- CN109736894A CN109736894A CN201811425384.6A CN201811425384A CN109736894A CN 109736894 A CN109736894 A CN 109736894A CN 201811425384 A CN201811425384 A CN 201811425384A CN 109736894 A CN109736894 A CN 109736894A
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Abstract
A kind of monitoring system for coal mine roadway country rock disaster, monitoring method and method for early warning be not in the case where influencing tunnel transport operation, Image Acquisition is carried out to tunnel inner wall country rock by UAV flight's binocular camera, it is real to obtain tunnel continuous cross-section information, based on binocular vision 3 D restructing algorithm, seek the three-dimensional coordinate of roadway surrounding rock point cloud, reconstruct the outdoor scene threedimensional model of country rock in the tunnel section measured every time, then sequentially spliced again, obtain the outdoor scene threedimensional model in entire tunnel to be measured, according to the method described above, tunnel to be measured is taken multiple measurements, obtain multiple measurement data, using the roadway surrounding rock location information measured for the first time as initial value, thereafter the result measured every time is made comparisons with first time, roadway deformation amount is calculated, it realizes automatic in real time to the monitoring of roadway deformation, high degree of automation.The secure threshold that the present invention is equipped with each monitoring index then starts alarm system, timely early warning once detecting the secure threshold that each monitoring index is more than.
Description
Technical field
The present invention relates to underworkings monitoring and warning control technology fields, and in particular to one kind is used for coal mine roadway country rock calamity
Harmful monitoring system, monitoring method and method for early warning.
Background technique
Coal mine roadway is responsible for the tasks such as underground transportation, ventilation and drainage, is carried out according to real-time measuring data to coal mine roadway
Three-dimensionalreconstruction, then the tunnel threedimensional model by reconstructing are compared with initial tunnel threedimensional model, to realize in real time
Roadway deformation, and the purpose of early warning in time are monitored, and monitors roadway deformation and timely early warning, to realize mine safety production, mentioning
High management efficiency provides important guarantee, while being also construction digital mine important link.
The data basis of tunnel three-dimensionalreconstruction is measured from tunnel, can be in tunnel according to mine development end measurement data
Line, stringcourse are demarcated, and the space trend and distribution in tunnel are determined, in addition, to reconstruct tunnel threedimensional model, it is necessary to obtain true
Real drift section data.
Existing tunnel section measurement method is usually directly to measure tunnel height, wide equidimension, then in conjunction with specific lane
Road section configuration, applies formula and is calculated, and provides a variety of measurements and monitoring method in the prior art, specifically discloses following
Several method:
1) entire drift section is divided into several triangular sections, by calculating the sum of all triangle areas come close
Seemingly acquire entire drift section product.Or withdrawable ruler is rotated in tested tunnel section, obtain multiple groups length, angle number
Right, according to formula approximate calculation drift section size, but this mode, due to being manual measurement, there are large errors.
2) by rotary laser measuring device, the range data under different rotary angle is obtained, it will by computer program
Measurement data is converted to the space coordinate of each measuring point, so as to draw out the profile of drift section.This method can realize full lane
The full face digital imagery of overall process, but measuring device is mounted on tunnel anchor cable/rod tail portion, and artificial dismounting is needed when moving survey station,
Calamity source measures in serious tunnel, causes serious threat to the personal safety of staff.
3) the irregular working section three-dimensional fast Reconstruction Algorithms based on discrete point, can by underground space tunnel progress three-dimensional
Depending on changing, obtaining drift section data in traveling by laser measuring device for measuring and calculating tunnel segment body product, but measuring device needs
It is run on roadway floor or track, but influences tunnel transport when this mode measures again.
And the above method is first successively to be measured the discrete measuring point in multiple tunnels, then seek drift section by calculating
Size, but influenced by factors such as construction error, roadway deformations, drift section and nonideal geometry, it is sought by calculating
Drift section data and full-size(d) be inevitably present certain error, it is insufficient that there is also measuring device the degree of automation,
Measurement process influences the problems such as tunnel transport.
Therefore, invent it is a kind of can obtain in real time tunnel continuous cross-section information and operation do not influence tunnel transport, tunnel become
The technical issues of shape real-time monitoring and the method for early warning are current urgent need to resolve.
Summary of the invention
In view of the deficiencies of the prior art and coal mine roadway surrouding rock deformation has heterogeneity, continuity, paroxysmal spy
Point, the present invention is based on machine vision techniques to monitor coal mine roadway deformation automatically, and is based on multi objective country rock disaster alarm criterion,
A kind of monitoring system, monitoring method and method for early warning for coal mine roadway country rock disaster is provided, realizes the reality to roadway deformation
When monitoring and early warning, to guarantee the safety in production of mine.
To achieve the goals above, the present invention provides a kind of monitoring system for coal mine roadway country rock disaster, including nothing
Man-machine and its loading device, underground wireless communication network and computer workstation；
UAV flight's device includes control device, is mounted on inside unmanned plane, for according to the computer work received
Make station signal, control unmanned plane starts or stops, and for the information according to the sensing device transmission received, adjustment unmanned plane flies
Row posture, the line of flight and flying speed；It is carried out for presetting the every flight T distance controlling image capture module of unmanned plane
Image Acquisition, and by acquired image data by underground wireless communication network real-time transmission to computer workstation,
Computer workstation can be arranged on underground or ground according to the actual situation；
Sensing device is mounted on unmanned plane, including gyroscope, acceleration transducer, light stream sensor, supersonic sensing
Device, each sensor is by collected information real-time transmission to control device；Gyroscope is for perceiving nobody in unmanned plane during flying
The direction of motion of machine, acceleration transducer, for obtaining the acceleration information of unmanned plane in unmanned plane during flying, to calculate
The moving distance of unmanned plane realizes the accurate positionin to unmanned plane by gyroscope and acceleration transducer；Light stream sensor is used
In the posture and flying speed of acquisition unmanned plane；Ultrasonic sensor is for perceiving front obstacle information；
Image collecting device is mounted on unmanned aerial vehicle body, for back, bottom plate, Zuo Bangbi, right side country rock
Carry out image information collecting；
Power supply unit is mounted on inside unmanned plane, for being unmanned plane, control device, sensing device, image collecting device
Power supply is provided；
Computer workstation, for sending control signal to the control device of unmanned plane, for what is transmitted to control device
Information is handled, and is shown on computer workstation.
A kind of monitoring method for coal mine roadway country rock disaster, the roadway surrounding rock that unmanned plane maiden flight measurement is obtained
Outdoor scene threedimensional model in each monitoring point coordinate as initial value, the result measured every time thereafter is made comparisons with initial value,
Roadway deformation amount is calculated, realizes the real-time monitoring to roadway deformation, specifically includes the following steps:
1) start unmanned plane, move towards it along tunnel from tunnel region to be measured, to terminal from starting point flight, and it is automatic
Save the line of flight；
2) unmanned plane is measured since being taken off starting point, according to the line of flight of step (1), every flight T meters, is mounted in machine
4 groups of binocular cameras with it simultaneously once shoot tunnel inner wall country rock, while recording photo opporunity, obtain a tunnel
Country rock image measurement data in section, and the data are passed through into wireless communication networks for the photo real-time transmission of shooting to computer work
It stands；The image measurement data that computer workstation is shot according to binocular camera passes through binocular vision 3 D restructing algorithm, reconstruct
The outdoor scene threedimensional model of country rock in the tunnel section of the secondary measurement, until completing the shooting measurement in tunnel region to be measured；
3) computer workstation sequentially splices the outdoor scene threedimensional model of country rock in each tunnel section, generates tunnel to be measured
Outdoor scene threedimensional model；
4) it repeats step (2) to step (3) back and forth to measure tunnel to be measured, computer workstation real-time update
The outdoor scene threedimensional model of roadway surrounding rock, while by tunnel cross-sectional area in country rock outdoor scene threedimensional model in the section of the tunnel of Real-time Reconstruction
It is compared with the drift section area of maiden flight measurement, real-time drift section convergence ratio is obtained, by Real-time Reconstruction
In the section of tunnel in country rock outdoor scene threedimensional model at the beginning of the monitoring point of the monitoring point three-dimensional coordinate of drift section and maiden flight measurement
Initial value is compared, and obtains real-time deformation of the surrounding rock in tunnel amount, rate of deformation, wing deformation acceleration, is realized to the real-time of roadway deformation
Monitoring.
A kind of method for early warning for coal mine roadway country rock disaster, is based on multi objective country rock disaster alarm criterion, and monitoring refers to
Mark includes that drift section restrains ratio, deformation of the surrounding rock in tunnel amount, rate of deformation, wing deformation acceleration, and it is as follows to set secure threshold,
Deformation of the surrounding rock in tunnel amount secure threshold pushes up, the deflection secure threshold of bottom plate monitoring point is set as corresponding tunnel height
The 3% of degree, left and right two help the deflection secure threshold of monitoring point to be set as the 3% of corresponding span length；
Rate of deformation secure threshold is set as corresponding lane for all monitoring points by deformation of the surrounding rock in tunnel rate secure threshold
The 5% of country rock average deformation rate interior for 24 hours after the completion of road excavation and preliminary bracing；
Wing deformation acceleration secure threshold is set as lane for all monitoring points by deformation of the surrounding rock in tunnel rate of acceleration secure threshold
The 50% of country rock maximum distortion rate of acceleration interior for 24 hours after the completion of road excavation and preliminary bracing；
Drift section restrains ratio secure threshold, and for all drift sections, drift section is restrained ratio secure threshold
It is set as 5%；
Ratio is restrained according to the drift section of real-time update, deformation of the surrounding rock in tunnel amount, rate of deformation, wing deformation acceleration carry out
Monitoring；
When above-mentioned any monitoring index is more than secure threshold, i.e. triggering country rock calamity forecast, and the position for prompting alert to occur
It sets, does not alarm then when all indexs are less than secure threshold.
Compared with prior art, the present invention passes through UAV flight's binocular in the case where not influencing tunnel transport operation
Camera carries out Image Acquisition to tunnel inner wall country rock, real to obtain tunnel continuous cross-section information, is calculated based on binocular vision 3 D reconstruct
Method seeks the three-dimensional coordinate of roadway surrounding rock point cloud, reconstructs the outdoor scene threedimensional model of country rock in the tunnel section measured every time, then again
Sequentially spliced, the outdoor scene threedimensional model for obtaining entire tunnel to be measured according to the method described above repeatedly surveys tunnel to be measured
Amount, obtains multiple measurement data, using the roadway surrounding rock location information measured for the first time as initial value, measures every time thereafter
As a result with make comparisons for the first time, roadway deformation amount is calculated, realizes automatic in real time to the monitoring of roadway deformation, automates journey
Degree is high.
In addition, the present invention is equipped with the secure threshold of each monitoring index, once detect the safety threshold that each monitoring index is more than
Value, then start alarm system, so that staff reminds in time, be effectively guaranteed the personal safety of mine staff, real
Real-time monitoring roadway deformation, and the purpose of early warning in time are showed, have been provided for mine safety production, raising management efficiency important
It ensures.
Detailed description of the invention
Fig. 1 is the electric functional block diagram of the present invention；
Fig. 2 is the tunnel section outdoor scene threedimensional model schematic diagram that one-shot measurement of the present invention obtains；
Fig. 3 is a certain drift section schematic diagram of the present invention；
Fig. 4 is a certain drift section monitoring point of the invention schematic diagram；
Fig. 5 is a certain drift section monitoring point specific location schematic diagram of the present invention；
Fig. 6 is a certain monitoring point deformation curve schematic diagram of the present invention；
Wherein, 1- Roof Monitor point, 2- bottom plate monitoring point, the left side monitoring point 3-, the right side monitoring point 4-.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
As shown in Figure 1, a kind of DEFORMATION MONITORING SYSTEM for coal mine roadway, which is characterized in that including unmanned plane and its take
Carry set, underground wireless communication network and computer workstation；
UAV flight's device includes control device, is mounted on inside unmanned plane, for according to the computer work received
Make station signal, control unmanned plane starts or stops, and for the information according to the sensing device transmission received, adjustment unmanned plane flies
Row posture, the line of flight and flying speed；It is carried out for presetting the every flight T distance controlling image capture module of unmanned plane
Image Acquisition, and by acquired image data by underground wireless communication network real-time transmission to computer workstation,
Computer workstation can be arranged on underground or ground according to the actual situation；
Sensing device is mounted on unmanned plane, including gyroscope, acceleration transducer, light stream sensor, supersonic sensing
Device, each sensor is by collected information real-time transmission to control device；Gyroscope is for perceiving nobody in unmanned plane during flying
The direction of motion of machine, acceleration transducer, for obtaining the acceleration information of unmanned plane in unmanned plane during flying, to calculate
The moving distance of unmanned plane realizes the accurate positionin to unmanned plane by gyroscope and acceleration transducer；Light stream sensor is used
In the posture and flying speed of acquisition unmanned plane；Ultrasonic sensor is for perceiving front obstacle information；
Image collecting device, including 4 groups of binocular cameras, every group of binocular camera are made of two explosion-proof high definition industrial cameras,
Image information collecting is carried out for the country rock to back, bottom plate, Zuo Bangbi, right side；4 groups of binocular cameras are separately mounted to nothing
Man-machine body upper, for shooting back；Below unmanned aerial vehicle body, for shooting roadway floor；On the left of unmanned aerial vehicle body,
For shooting the left side in tunnel；On the right side of unmanned aerial vehicle body, for shooting the right side in tunnel；
Lighting device is connected with control device, is made of, is separately mounted to 6 mine flameproof and intrinsic safety type LED light
The front, rear, top, and bottom of fuselage, left and right 6 directions, for shining tunnel shooting area in image collecting device shooting
It is bright；
Power supply unit is mounted on inside unmanned plane, is powered using mine explosion-suppression and matter safety type power, is used for as nobody
Machine, control device, sensing device, image collecting device, lighting device provide power supply；
Computer workstation, for sending control signal to the control device of unmanned plane, for what is transmitted to control device
Information is handled, and is shown on computer workstation.
Specific monitoring method is as follows:
In the outdoor scene threedimensional model for the roadway surrounding rock that unmanned plane maiden flight measurement is obtained the coordinate of each monitoring point as
Initial value, the result measured every time thereafter are made comparisons with initial value, and roadway deformation amount is calculated, and are realized to roadway deformation
Real-time monitoring, comprising the following steps:
1) computer workstation sends control of taking off to the control device inside unmanned plane by underground wireless communication network
Signal, after control device receives signal, control unmanned plane takes off, and moves towards it along tunnel from tunnel region to be measured, from
Initial point flies to terminal, and automatically saves the line of flight；
2) unmanned plane is measured since being taken off starting point, and according to the line of flight of step (1), every 5 meters of flight is mounted in machine
4 groups of binocular cameras with it simultaneously once shoot tunnel inner wall country rock, while recording photo opporunity, obtain a tunnel
Country rock image measurement data in section, and the data are passed through into wireless communication networks for the photo real-time transmission of shooting to computer work
It stands；The image measurement data that computer workstation is shot according to binocular camera passes through binocular vision 3 D restructing algorithm, reconstruct
The outdoor scene threedimensional model of country rock in the tunnel section of the secondary measurement, until completing the shooting measurement in tunnel region to be measured；
Acquisition module 5 meters of control instructions once shot of every flight, control dress are preset in control device
The information for receiving sensing device real-time transmission is set, the information such as speed, the position of the flight of unmanned plane is obtained, works as since starting point
When the distance of unmanned flight is to 5 meters, control device control acquisition device shoots one section of roadway surrounding rock, and reconstructs the tunnel
The outdoor scene threedimensional model of country rock in section, then 5 meters of the distance of flying, controller control acquisition device again and carry out to one section of roadway surrounding rock
Shooting, and the outdoor scene threedimensional model of country rock in the section of the tunnel is reconstructed, and so on, until the shooting for completing tunnel region to be measured is surveyed
Amount.
3) computer workstation sequentially splices the outdoor scene threedimensional model of country rock in each tunnel section, generates tunnel to be measured
Outdoor scene threedimensional model, as shown in Figure 1；
4) it repeats step (2) to step (3) back and forth to measure tunnel to be measured, computer workstation real-time update
The outdoor scene threedimensional model of roadway surrounding rock, while by tunnel cross-sectional area in country rock outdoor scene threedimensional model in the section of the tunnel of Real-time Reconstruction
It is compared with the drift section area of maiden flight measurement, real-time drift section convergence ratio is obtained, by Real-time Reconstruction
In the section of tunnel in country rock outdoor scene threedimensional model at the beginning of the monitoring point of the monitoring point three-dimensional coordinate of drift section and maiden flight measurement
Initial value is compared, and obtains real-time deformation of the surrounding rock in tunnel amount, rate of deformation, wing deformation acceleration, is realized to the real-time of roadway deformation
Monitoring.
Drift section and monitoring point are chosen by the following method:
A) from tunnel initial point position to be measured, a drift section is chosen every 1 meter of distance along tunnel trend and is monitored,
I.e. perpendicular to the cross section of tunnel long axis, the distance at interval can also be selected according to the actual situation, when roadway deformation is serious,
Spacing distance can choose smaller, and tunnel does not deform or slight deformation, and spacing distance can choose larger, this implementation
It is 1 meter preferably by distance, as shown in Figure 3.
B) 4 monitoring points, and bottom plate, left side, the right side are chosen respectively in the back of drift section, bottom plate, left side, right side
The spacing distance for helping each monitoring point is equal, amounts to 16 monitoring points, can also adjust monitoring section according to the actual situation certainly
With the distribution of monitoring point, such as in the biggish region of country rock risk disaster, increase the number of monitoring point, as shown in Figure 4.
The present embodiment, as shown in figure 5, the distance every 1/5L chooses 1 monitoring point, lane according to the width L of roadway floor
The monitoring point of road top plate and the monitoring location of roadway floor are corresponding；According to the height H of the left and right side in tunnel, selected every 1/5H
1 monitoring point is taken, the left and right monitoring location helped is corresponding.
It obtains and monitors a certain drift section convergence ratio data, it is disconnected to choose a certain tunnel according to the method for above-mentioned steps (a)
Face, and according to the drift section of selection, the drift section contour line is extracted from the outdoor scene threedimensional model of tunnel, is calculated and is recorded this
The drift section area value is subtracted the drift section area measured for the first time by drift section area, obtains drift section receipts
The amount of holding back, then drift section convergence ratio data, each drift section are obtained divided by the cross-sectional area measured for the first time by amount of convergence
On obtain 1 group of drift section convergence ratio data altogether, as unmanned plane moves in circles measurement, obtain a certain drift section receipts in real time
Hold back ratio data.
A certain drift section rock deformation is obtained and monitors, after choosing monitoring point according to the method for step (b), monitoring prison
The rock deformation of drift section where measuring point, the deflection include the amount of crushing, the bottom plate amount of heaving, left side shift-in amount, the right side
Shift-in amount is helped, monitoring method is as follows:
The amount of crushing, a certain Roof Monitor point real time position compared with the distance that initial position moves down,
The bottom plate amount of heaving, a certain bottom plate monitoring point real time position compared with the distance that initial position moves up,
Left side shift-in amount, a certain left side monitoring point real time position compared with the distance moved right on initial position,
Right side shift-in amount, a certain right side monitoring point real time position compared with the distance moved left on initial position,
16 groups of deformation of the surrounding rock in tunnel amount monitoring data are obtained altogether in the drift section, if monitoring point is moved round about,
Then deflection is negative；
As unmanned plane moves in circles measurement to roadway surrounding rock, the deformation data of each monitoring point of real-time update.
The surrouding rock deformation rate and rate of acceleration for obtaining and monitoring a certain drift section choose prison according to the method for step (b)
After measuring point, the surrouding rock deformation rate and rate of acceleration of a certain drift section are monitored, the specific method is as follows:
Roof Monitor, according to the amount of crushing of real-time update data, on plane right-angle coordinate, when measuring when
Between be abscissa, deflection is ordinate, and deflection here refers to the amount of crushing of selected a certain monitoring point, is drawn
Deflection is asked first derivative to obtain the monitoring point time and crushed by the curve that the monitoring point deflection changes over time
Deflection is asked second dervative to be crushed accordingly rate of acceleration the time by rate；
Illustrate as an example below, as shown in fig. 6, using a certain monitoring point deflection as ordinate, the time is abscissa, flat
The corresponding coordinate points of deflection for monitoring obtain every time are marked in the rectangular coordinate system of face, then these points are sequentially connected with, and are become
Shape --- time graph.Assuming that the curve of the amount of crushing S and time t, the functional relation between S and t is S=f (t), if t1
The amount of crushing at moment is S1, corresponding coordinate is (S1, t1), then the monitoring point is in t1The rate of crushing at momentCorresponding rate of acceleration of crushing
Bottom plate monitoring, according to the bottom plate amount of the heaving data of real-time update, on plane right-angle coordinate, when measuring when
Between be abscissa, deflection is ordinate, and deflection here refers to the bottom plate amount of heaving of selected a certain monitoring point, is obtained
Deflection is asked first derivative to obtain the bottom of the monitoring point time by the curve that the bottom plate amount of heaving of the monitoring point changes over time
Small drum for marking time plays rate, asks second dervative to obtain corresponding bottom plate the time deflection and heaves rate of acceleration；
The monitoring of left side, according to the left side shift-in amount data of real-time update, on plane right-angle coordinate, when measuring when
Between be abscissa, deflection is ordinate, and deflection here refers to the bottom plate amount of heaving of selected a certain monitoring point, is obtained
Deflection is asked first derivative to obtain a left side for the monitoring point time by the curve that the left side shift-in amount of the monitoring point changes over time
Deflection is asked second dervative to obtain corresponding left side the time and is moved into rate of acceleration by side shift-in rate；
The monitoring of right side, according to the right side shift-in amount data of real-time update, on plane right-angle coordinate, when measuring when
Between be abscissa, deflection is ordinate, and deflection here refers to the right side shift-in amount of selected a certain monitoring point, is obtained
Deflection is asked first derivative to obtain the right side of the monitoring point time by the curve that the right side shift-in amount of the monitoring point changes over time
Deflection is asked second dervative to obtain corresponding right side the time and is moved into rate of acceleration by side shift-in rate；
16 groups of rates of deformation and rate of acceleration data, i.e., the rate of deformation (top of 16 monitoring points are obtained altogether in 1 drift section
Plate fall rate, bottom plate heave rate, left side shift-in rate, right side shift-in rate) and wing deformation acceleration (acceleration of crushing
Rate, bottom plate heave rate of acceleration, left side shift-in rate of acceleration, right side shift-in rate of acceleration) measured data, according to surrouding rock deformation rate and acceleration
Rate judges surrouding rock deformation situation；
As unmanned plane moves in circles measurement to roadway surrounding rock, the rate of deformation and rate of acceleration of each monitoring point of real-time update
Data.
Staff restrains ratio, roadway deformation amount, rate of deformation, deformation by the drift section of above-mentioned real-time update
The case where rate of acceleration, comprehensive descision deformation of the surrounding rock in tunnel, to recognize the deformation in entire tunnel.
To realize full-automatic early warning analysis, the present invention also provides a kind of coal mine roadway country rock disaster alarm methods, are not necessarily to
Artificial observation judgement, system can judge automatically deformation of the surrounding rock in tunnel situation, and carry out early warning in time, and the specific method is as follows:
Based on multi objective country rock disaster alarm criterion, the monitoring index being related to includes drift section convergence ratio, and tunnel is enclosed
Rock deflection, rate of deformation, wing deformation acceleration preset the secure threshold of each monitoring index in computer workstation:
Deformation of the surrounding rock in tunnel amount secure threshold pushes up, the deflection secure threshold of bottom plate monitoring point is set as corresponding tunnel height
The 3% of degree, left and right two help the deflection secure threshold of monitoring point to be set as the 3% of corresponding span length；
Rate of deformation secure threshold is set as corresponding lane for all monitoring points by deformation of the surrounding rock in tunnel rate secure threshold
The 5% of country rock average deformation rate interior for 24 hours after the completion of road excavation and preliminary bracing；
Wing deformation acceleration secure threshold is set as lane for all monitoring points by deformation of the surrounding rock in tunnel rate of acceleration secure threshold
The 50% of country rock maximum distortion rate of acceleration interior for 24 hours after the completion of road excavation and preliminary bracing；
Drift section restrains ratio secure threshold, and for all drift sections, drift section is restrained ratio secure threshold
It is set as 5%；
Ratio is restrained according to the drift section of real-time update, deformation of the surrounding rock in tunnel amount, rate of deformation, wing deformation acceleration carry out
Monitoring；
When above-mentioned any index is more than secure threshold, computer workstation will provide rock calamity forecast information, and prompt
It does not alarm then when all indexs are less than secure threshold convenient for quickly taking control measures the position that alert occurs.Certainly
Warning device can be increased, be connected with computer workstation, once monitoring index is more than the secure threshold of setting, computer operation
It stands and control warning device is alarmed, to remind staff in time, monitoring index is abnormal.
The danger classes of country rock disaster alarm is set as 1-4 grades by the present invention, is respectively represented while being more than secure threshold
Index number, if in monitoring index, rate of deformation is more than secure threshold, remaining index is less than secure threshold, then country rock disaster
The danger classes of early warning is shown as 1 grade, rate of deformation and wing deformation acceleration are more than simultaneously secure threshold, then country rock disaster alarm
Danger classes is shown as 2 grades, and rank is higher, indicates that calamity source is higher.
Claims (10)
1. a kind of monitoring system for coal mine roadway country rock disaster, which is characterized in that including unmanned plane and its loading device, well
Lower wireless communication networks and computer workstation；
UAV flight's device includes
Control device is mounted on inside unmanned plane, for according to the computer workstation signal received, control unmanned plane starting
Or stop, for the information according to the sensing device transmission received, adjustment unmanned plane during flying posture, the line of flight and flight
Speed；An Image Acquisition is carried out for presetting the every flight T distance controlling image capture module of unmanned plane, and will be collected
Image data by underground wireless communication network real-time transmission to computer workstation, computer workstation can be according to reality
Situation is arranged on underground or ground；
Sensing device is mounted on unmanned plane, including gyroscope, acceleration transducer, light stream sensor, ultrasonic sensor；
Image collecting device is mounted on unmanned aerial vehicle body, is carried out for the country rock to back, bottom plate, Zuo Bangbi, right side
Image information collecting；
Power supply unit is mounted on inside unmanned plane, for providing for unmanned plane, control device, sensing device, image collecting device
Power supply；
Computer workstation, for sending control signal to the control device of unmanned plane, the information for being transmitted to control device
It is handled, is shown on computer workstation.
2. a kind of monitoring system for coal mine roadway country rock disaster according to claim 1, which is characterized in that image is adopted
Acquisition means include 4 groups of binocular cameras, and every group of binocular camera is made of two explosion-proof high definition industrial cameras, 4 groups of binocular camera difference
It is mounted on above unmanned aerial vehicle body, for shooting back；Below unmanned aerial vehicle body, for shooting roadway floor；Unmanned plane
On the left of fuselage, for shooting the left side in tunnel；On the right side of unmanned aerial vehicle body, for shooting the right side in tunnel；
Further include lighting device, be connected with control device, is made of 6 mine flameproof and intrinsic safety type LED light, installs respectively
Front, rear, top, and bottom, left and right 6 directions in fuselage, for being carried out to tunnel shooting area in image collecting device shooting
Illumination；
Power supply unit uses mine flameproof and intrinsic safety type power supply power supply.
3. a kind of monitoring method for coal mine roadway country rock disaster, which is characterized in that obtain unmanned plane maiden flight measurement
Roadway surrounding rock outdoor scene threedimensional model in each monitoring point coordinate as initial value, the result measured every time thereafter is and initially
Value is made comparisons, and roadway deformation amount is calculated, and realizes the real-time monitoring to roadway deformation, specifically includes the following steps:
1) start unmanned plane, move towards it along tunnel from tunnel region to be measured, to terminal from starting point flight, and automatically save
The line of flight；
2) unmanned plane is measured since being taken off starting point, according to the line of flight of step (1), every flight T meters, is mounted on fuselage
4 groups of binocular cameras tunnel inner wall country rock is once shot simultaneously, while recording photo opporunity, obtain in tunnel section
Country rock image measurement data, and the data are passed through into wireless communication networks for the photo real-time transmission of shooting to computer operation
It stands；The image measurement data that computer workstation is shot according to binocular camera, by binocular vision 3 D restructing algorithm, reconstruct should
The outdoor scene threedimensional model of country rock in the tunnel section of secondary measurement, until completing the shooting measurement in tunnel region to be measured；
3) computer workstation sequentially splices the outdoor scene threedimensional model of country rock in each tunnel section, generates the outdoor scene in tunnel to be measured
Threedimensional model；
4) it repeats step (2) to step (3) back and forth to measure tunnel to be measured, computer workstation real-time update tunnel
The outdoor scene threedimensional model of country rock, while by tunnel cross-sectional area and first in country rock outdoor scene threedimensional model in the section of the tunnel of Real-time Reconstruction
The drift section area of secondary flight measurement is compared, and real-time drift section convergence ratio is obtained, by the tunnel of Real-time Reconstruction
The monitoring point initial value that the monitoring point three-dimensional coordinate of drift section and maiden flight measure in country rock outdoor scene threedimensional model in section
It is compared, obtains real-time deformation of the surrounding rock in tunnel amount, rate of deformation, wing deformation acceleration, realize the real-time monitoring to roadway deformation.
4. a kind of monitoring method for coal mine roadway country rock disaster according to claim 3, which is characterized in that tunnel is disconnected
On face and the section monitoring point choosing method the following steps are included:
A) from tunnel initial point position to be measured, a drift section is chosen every 1m distance along tunnel trend and is monitored；
B) 4 monitoring points are chosen respectively in the back of drift section, bottom plate, left side, right side, amount to 16 points as monitoring
Point.
5. a kind of monitoring method for coal mine roadway country rock disaster according to claim 4, which is characterized in that according to lane
The width L of road bottom plate, the distance every 1/5L choose 1 monitoring point, the monitoring point of back and the monitoring point of roadway floor
Position is corresponding；
According to the height H of the left side in tunnel, 1 monitoring point is chosen every 1/5H, the monitoring location and the left prison helped that the right side is helped
Point position is corresponding.
6. a kind of monitoring method for coal mine roadway country rock disaster according to claim 4, which is characterized in that by with
Lower method obtains and monitors drift section convergence ratio:
A certain drift section is chosen according to the method for step (a), and according to the drift section of selection, from tunnel outdoor scene threedimensional model
Middle extraction drift section contour line, calculates and records the drift section area, which is subtracted and is surveyed for the first time
The drift section area of amount obtains the drift section amount of convergence, then is obtained by amount of convergence divided by the cross-sectional area measured for the first time
Drift section to the drift section restrains ratio data, as unmanned plane moves in circles measurement, obtains a certain tunnel in real time and breaks
Restrain ratio data in face.
7. a kind of monitoring method for coal mine roadway country rock disaster according to claim 4, which is characterized in that according to step
Suddenly after the method for (b) chooses monitoring point, the rock deformation of drift section where monitoring monitoring point, and obtain by the following method
Deformation of the surrounding rock in tunnel amount, the deflection include the amount of crushing, the bottom plate amount of heaving, left side shift-in amount, right side shift-in amount, specific side
Method is as follows:
The amount of crushing, a certain Roof Monitor point real time position compared with the distance that initial position moves down,
The bottom plate amount of heaving, a certain bottom plate monitoring point real time position compared with the distance that initial position moves up,
Left side shift-in amount, a certain left side monitoring point real time position compared with the distance moved right on initial position,
Right side shift-in amount, a certain right side monitoring point real time position compared with the distance moved left on initial position,
If monitoring point is moved round about, deflection is negative；
As unmanned plane moves in circles measurement to roadway surrounding rock, the deformation data of each monitoring point of real-time update.
8. a kind of deformation monitoring method for coal mine roadway according to claim 4, which is characterized in that according to step
(b) after method chooses monitoring point, the surrouding rock deformation rate and rate of acceleration of a certain drift section are obtained and monitor, specific method is such as
Under:
Roof Monitor, according to the amount of crushing of real-time update data, on plane right-angle coordinate, time when measuring is
Abscissa, deflection are ordinate, the curve that a certain monitoring point amount of crushing changes over time are drawn, by deflection to the time
It asks first derivative to obtain the rate of crushing of the monitoring point, asks second dervative to obtain under corresponding top plate the time deflection
Heavy rate of acceleration；
Bottom plate monitoring, according to the bottom plate amount of the heaving data of real-time update, on plane right-angle coordinate, time when measuring is
Abscissa, deflection are ordinate, obtain the curve that the bottom plate amount of heaving of a certain monitoring point changes over time, by deflection clock synchronization
Between ask first derivative to obtain the monitoring point bottom plate heave rate, ask second dervative to obtain corresponding bottom plate the time deflection
Heave rate of acceleration；
Left side monitoring, according to the left side shift-in amount data of real-time update, on plane right-angle coordinate, time when measuring is
Abscissa, deflection are ordinate, the curve that the left side shift-in amount of a certain monitoring point changes over time are obtained, by deflection clock synchronization
Between ask first derivative to obtain the left side shift-in rate of the monitoring point, ask second dervative to obtain corresponding left side the time deflection
It is moved into rate of acceleration；
Right side monitoring, according to the right side shift-in amount data of real-time update, on plane right-angle coordinate, time when measuring is
Abscissa, deflection are ordinate, the curve that the right side shift-in amount of a certain monitoring point changes over time are obtained, by deflection clock synchronization
Between ask first derivative to obtain the right side shift-in rate of the monitoring point, ask second dervative to obtain corresponding right side the time deflection
It is moved into rate of acceleration；
As unmanned plane moves in circles measurement to roadway surrounding rock, the rate of deformation and rate of acceleration number of each monitoring point of real-time update
According to.
9. a kind of method for early warning for coal mine roadway country rock disaster, which is characterized in that
Based on multi objective country rock disaster alarm criterion, monitoring index includes drift section convergence ratio, and deformation of the surrounding rock in tunnel amount becomes
Shape rate, wing deformation acceleration, and it is as follows to set secure threshold:
Deformation of the surrounding rock in tunnel amount secure threshold pushes up, the deflection secure threshold of bottom plate monitoring point is set as corresponding head-room
3%, left and right two help the deflection secure threshold of monitoring point to be set as the 3% of corresponding span length；
Rate of deformation secure threshold is set as corresponding tunnel and opened by deformation of the surrounding rock in tunnel rate secure threshold for all monitoring points
The 5% of country rock average deformation rate interior for 24 hours after the completion of digging and preliminary bracing；
Wing deformation acceleration secure threshold is set as tunnel and opened by deformation of the surrounding rock in tunnel rate of acceleration secure threshold for all monitoring points
The 50% of country rock maximum distortion rate of acceleration interior for 24 hours after the completion of digging and preliminary bracing；
Drift section restrains ratio secure threshold, and for all drift sections, drift section convergence ratio secure threshold is set as
5%；
Ratio is restrained according to the drift section of real-time update, deformation of the surrounding rock in tunnel amount, rate of deformation, wing deformation acceleration are supervised
Control；
When above-mentioned any monitoring index is more than secure threshold, i.e. triggering country rock calamity forecast, and the position for prompting alert to occur, institute
There is index not alarm then when being less than secure threshold.
10. a kind of method for early warning for coal mine roadway country rock disaster according to claim 9, which is characterized in that setting
The danger classes of country rock disaster alarm is 1-4 grades, respectively represents while being more than the index number of secure threshold, rank is higher, table
Show that calamity source is higher.
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