CN110736434B - Online monitoring system and monitoring method for coal mine tunnel surface displacement - Google Patents
Online monitoring system and monitoring method for coal mine tunnel surface displacement Download PDFInfo
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- G—PHYSICS
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Abstract
The invention relates to an online monitoring system and a monitoring method for coal mine roadway surface displacement, belongs to the technical field of coal mine roadway safety monitoring methods, and solves the problems that an existing roadway surface displacement monitoring method is large in measurement error, incapable of integrally measuring a roadway and inaccurate in data analysis. The coal mine roadway surface displacement online monitoring system provided by the invention comprises a control unit, a processing unit and an analysis unit; the control unit comprises a travelling mechanism, a rotating mechanism, a laser range finder, a data memory, a control chip and a data conducting wire; the walking structure is used for moving the laser range finder, and the rotating mechanism is used for controlling the laser range finder to rotate for 360 degrees along the cross section of the coal mine roadway; the laser range finder is used for acquiring deformation data of the roadway surface; the processing unit is used for processing the monitoring data; the analysis unit is used for analyzing the data of each measuring point. The method can continuously monitor and record the displacement data of the surface of the roadway in real time, and realize the real-time monitoring of the non-uniform deformation of the surface of the irregular roadway surrounding rock.
Description
Technical Field
The invention relates to the technical field of coal mine roadway detection devices, in particular to a coal mine roadway surface displacement online monitoring system and a monitoring method.
Background
A plurality of potential safety hazards exist in the coal mine excavation process, the safety of a coal mine tunnel is one of the potential safety hazards, the safety of the coal mine tunnel directly influences the coal mine mining operation, once the coal mine tunnel has the potential safety hazards, the consequences are unreasonable, so whether the coal mine tunnel is safe or not needs to be monitored in real time in the coal mine mining process, and some existing monitoring devices cannot accurately monitor the tunnel in real time.
The roadway surface displacement is the most basic roadway mine pressure monitoring content and comprises roof subsidence, floor heave and single-wall displacement, according to the monitoring result, a relation curve of the displacement and the displacement speed along with the tunneling working face and time can be drawn, the deformation rule of the roadway surrounding rock is analyzed, and important reference basis is provided for evaluating the stability and the supporting effect of the roadway surrounding rock. The traditional roadway surface displacement monitoring method mainly comprises a steel tape monitoring method, a measuring rod monitoring method, a measuring gun monitoring method, a convergence meter monitoring method and the like. The monitoring methods are convenient to measure, can meet the requirement of general measurement precision, and are relatively wide in application.
However, the above measurement methods all belong to contact measurement methods, the arrangement of monitoring and measuring points in a softer roadway of a coal rock mass is complicated, the measurement error is increased along with the increase of the fracture section of the roadway, the effect of continuously monitoring and recording the surface displacement of the roadway cannot be realized, the efficiency is low, and the labor intensity is high.
The existing non-contact roadway surface displacement monitoring method based on the laser ranging principle mainly has the following problems: the laser range finder cannot guarantee that the laser projected to the arranged measuring points at each time is at the same position, and the measuring error is large; when the displacement of the two sides of the roadway is monitored, only the approaching amount of the two sides can be monitored, but the deformation amount of a single side cannot be monitored; when the top plate monitoring base points are arranged, a deep anchor method is not adopted, the deformation of the top plate measuring points cannot be guaranteed, and the sinking amount and the bottom bulging amount of the top plate cannot be accurately monitored; the roadway surface displacement cannot be continuously monitored and recorded in real time.
Considering that the roadway in the engineering is influenced by various factors such as ground stress, lithology and the like, the initial section shape and the unevenness difference are large under the normal condition, and the surface of the surrounding rock is deformed non-uniformly. The traditional method is limited by the influence of measuring point positions; if a cross observation method is adopted, the measurement can be performed only for a certain measuring point of a certain roadway section, the whole deformation of the roadway surrounding rock cannot be measured, the whole deformation of the irregular roadway surrounding rock cannot be measured, and the problem of inaccurate data analysis caused by untimely data recording and low precision of workers easily occurs in the measurement process.
Disclosure of Invention
In view of the above analysis, the embodiments of the present invention are directed to providing an online monitoring system and a monitoring method for coal mine roadway surface displacement, so as to solve the technical problems that the existing roadway surface displacement monitoring method has a large measurement error, cannot perform overall measurement of the roadway, and cannot perform accurate data analysis.
The purpose of the invention is mainly realized by the following technical scheme:
on one hand, the invention discloses an online monitoring system for coal mine roadway surface displacement, which comprises a control unit, a processing unit and an analysis unit; the control unit comprises a travelling mechanism, a rotating mechanism, a laser range finder, a data memory, a control chip and a data conducting wire; the walking structure is used for the laser range finder to move in the roadway, and the rotating mechanism is used for controlling the laser range finder to rotate for 360 degrees along the broken section of the coal mine roadway; the laser range finder is used for acquiring deformation data of the roadway surface; the data memory is used for storing roadway surface deformation data and transmitting the roadway surface deformation data to the computer through a data transmission line; the processing unit is used for processing the data stored in the data memory; the analysis unit is used for analyzing the data of each measuring point.
In a possible design, the travelling mechanism comprises a gear and a track, the track is arranged along the central line of the roadway roof, and light rays emitted by a laser range finder arranged on the gear are perpendicular to the central line of the roadway roof.
In one possible design, the roadway surface deformation data comprises a measuring point position, monitoring time and a roadway surface displacement L; the processing unit is used for analyzing and screening the coal mine tunnel deformation data to form a database, and establishing a 3D space three-dimensional tunnel section model of each measuring point according to the database.
In one possible design, the roadway section is divided into a plurality of blocks, the area of each block is calculated by the laser range finder rotating the angle θ every time, and the laser range finder calculates the area swept between the angles n θ and (n +1) θ:
wherein S isnThe area swept by the laser range finder in the nth rotation is obtained; l isnMeasuring the distance between the laser range finder and the surrounding rock on the surface of the roadway for the nth rotation; l isn+1For laser rangefindersThe distance between the measured n +1 rotation and the surrounding rock on the surface of the roadway; theta is the angle of each rotation of the laser range finder.
In one possible design, the deformation S of the tunnel surface at a certain tunnel cross-sectionAThe calculation method is as follows:
SA＝(S1+S2+…+Sn)-SB
wherein S isAThe deformation of the roadway surface of a certain roadway section; sBIs the initial area of the roadway cross section.
In one possible design, the online monitoring system for the roadway surface displacement further comprises an early warning unit, wherein the early warning unit comprises early warning for roadway surface displacement and early warning for roadway surface deformation; and when the roadway surface displacement or the roadway surface deformation exceeds a set value, the alarm sends out an alarm signal.
In a possible design, the early warning unit further comprises early warning of the whole deformation area of the broken section of the roadway and early warning of the deformation area of a certain section.
In one possible design, the rotating mechanism controls the laser range finder to rotate 360 degrees along the roadway section through the control chip.
On the other hand, the invention also discloses a coal mine tunnel surface displacement online monitoring and early warning method, and the coal mine tunnel surface displacement online monitoring system is adopted, and the method comprises the following steps:
step 1, erecting a track at the center line position of a top plate of a roadway, enabling light rays emitted by a laser range finder to be vertical to the center line of the roadway, determining the rotation angle theta and the moving distance A of the laser range finder, determining each roadway section and dividing each roadway section into a plurality of blocks;
and 5, when the roadway surface displacement, the roadway surface deformation, the overall deformation area of the roadway cross section and the deformation area of a certain section exceed set values, the alarm sends out an alarm signal.
Further, in the step 5, the displacement amount of the surface of the roadway is pre-warned, and when the displacement data of the surface of the monitored roadway exceeds a set value, the pre-warning unit sends out a warning signal; for the early warning of the deformation amount of the surface of the roadway, when the deformation areas of the roadway in different blocks are calculated, and the deformation area of a certain block exceeds a set value, the early warning unit sends out an alarm signal; aiming at the early warning of the whole deformation area of the section of the roadway, when all the deformation areas of the blocks are added up, the early warning unit sends out a warning signal after the deformation exceeds a set value; and aiming at the early warning of the deformation area of a certain section position, the displacement of the surface of the roadway in the continuous rotation angle of the laser range finder at the certain section position changes, and the early warning unit sends out a warning signal when the deformation area exceeds a set value.
Compared with the prior art, the invention has at least one of the following beneficial effects:
(1) the non-contact roadway surface displacement monitoring device is adopted, the walking mechanism is arranged at the center line position of the roadway top plate, and the laser range finder is moved through the walking mechanism, so that the laser point projected by the laser range finder at each time can be ensured to be at the same position as the arranged measuring points, and the measuring error is reduced; the deformation of each section of the roadway can be monitored, and therefore integral measurement is achieved; when monitoring the displacement of two sides in the tunnel, except can monitoring the displacement volume of two sides, this application can also use roof laser range finder as the basic point or refer to, calculates the displacement volume of single wall.
(2) This application carries out 360 circumferential direction through adopting control chip control laser measuring apparatu, utilize laser range finder to tunnel disconnected cross-section different positions, different angles closely survey the tunnel, the tunnel surface deformation data that the observation obtained utilizes SD memory card through digital short-term storage back, utilize data transmission line transmission to the computer in, realize real-time continuous monitoring and record tunnel surface displacement data, data record is timely and the precision is high, finally realize to the surrounding rock deformation harmless, non-contact monitoring.
(3) On the basis of accurately acquiring deformation of all directions of the cross section of the roadway, the space distance of automatic adjustment measurement sampling and the real-time monitoring function of non-uniform deformation of the surface of irregular roadway surrounding rock are achieved, the influence of the external environment on a measuring device is reduced, the measurement cost is reduced, and the like, and the method has extremely important research and engineering significance on safe and effective implementation of rock engineering supporting and mining activities.
In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a main installation intention of an on-line detection system on a roadway section in embodiment 1 of the present invention;
FIG. 2 is a top view of the installation of the on-line detection system on a roadway section in accordance with embodiment 1 of the present invention;
FIG. 3 is a schematic view of a broken cross-section block model of a roadway according to embodiment 1 of the present invention;
FIG. 4 is an enlarged view of A in FIG. 3;
fig. 5 is a flowchart of the operation of the monitoring and warning unit in embodiment 1 of the present invention.
Reference numerals:
1-a first block; 2-a second block; 3-a third block; 4-a fourth block; 5-a fifth block; 6-a sixth block; 7-a seventh block; 8-an eighth block; 9-a ninth block; 10-tenth block; 11-eleventh block; 12-a twelfth block; 13-a thirteenth block; 14-a fourteenth block; 15-a fifteenth block; 16-a sixteenth block; 17-a guide rail; 18-monitoring roadway section; 19-laser rangefinder.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
Example 1
The embodiment provides an online monitoring and early warning system for coal mine roadway surface displacement, as shown in fig. 1 to 5, comprising a control unit Z1, a processing unit Z2, an analysis unit Z3 and an early warning unit Z4; the control unit comprises a travelling mechanism, a rotating mechanism, a laser range finder 19, a data memory, a control chip and a data conducting wire; the walking structure is used for the laser range finder 19 to move in the roadway, and the rotating mechanism is used for controlling the laser range finder 19 to rotate for 360 degrees along the cross section of the coal mine roadway; the laser range finder 19 is used for acquiring deformation data of the roadway surface; the data memory is used for storing roadway surface deformation data and transmitting the roadway surface deformation data to the computer through a data transmission line; the processing unit is used for processing the data stored in the data memory; the analysis unit is used for analyzing the data of each measuring point.
Specifically, the control unit of the present invention comprises a rotating mechanism, a laser range finder 19, a data memory (for example, an SD memory card), a control chip, and a data conducting wire; the walking mechanism is used for moving the laser range finder 19 to move in the roadway, the rotating mechanism controls the laser range finder 19 to rotate 360 degrees along the section of the whole roadway through the control chip, the rotating angle is set to be theta, and the size of the theta can be adjusted through the control unit; the laser range finder 19 is used for short-distance observation of the roadways at different positions and different angles, and the roadway surface deformation data obtained by observation is digitally stored for a short time by using an SD memory card and then is transmitted to a computer by using a data transmission line; the processing unit is used for processing the data stored in the data memory; the laser range finder 19 analysis unit is used for analyzing the data of each measuring point.
Compared with the prior art, the non-contact roadway surface displacement monitoring device is adopted, the walking mechanism is arranged at the center line position of the roadway top plate, and the laser range finder 19 is moved through the walking mechanism, so that the laser point projected by the laser range finder 19 each time is at the same position as the arranged measuring point, and the measuring error is reduced; the deformation of each section of the roadway can be monitored, and therefore integral measurement is achieved; when the displacement of two sides of the roadway is monitored, in addition to monitoring the displacement of the two sides, the displacement of a single side can be calculated by taking the top plate laser range finder 19 as a base point or reference; in addition, the laser range finder 19 is used for observing the laneways at different positions and different angles in a short distance, the laneway surface deformation data obtained by observation is digitally stored for a short time by using the SD memory card and then is transmitted to the computer by using the data transmission line, so that the real-time continuous monitoring and the recording of the laneway surface displacement data are realized, and the data recording is timely and has high precision; in conclusion, on the basis of accurately acquiring deformation of all directions of the cross section of the roadway, the method and the device realize functions of automatically adjusting the space distance of measurement sampling, monitoring non-uniform deformation of the surface of irregular roadway surrounding rock in real time and the like, reduce the influence of the external environment on a measuring device, reduce the measurement cost and the like, and have extremely important research and engineering significance on safe and effective implementation of rock engineering supporting and mining activities.
It should be noted that, because the laser range finder 19 can only observe the distance, in order to enable the laser range finder 19 to rotate 360 degrees along the whole roadway section, the control chip is programmed, and the control chip further controls the rotating mechanism, and the rotating mechanism can drive the laser range finder 19 to rotate 360 degrees along the whole roadway section, and the control chip is programmed in advance and is arranged beside the laser range finder 19 or is realized through a computer.
In order to reduce measurement errors and ensure that the laser range finder 19 projects a laser spot to a distributed measuring point at the same position every time, the traveling mechanism comprises a gear and a guide rail, the guide rail is arranged along the central line of a roadway top plate, and light rays emitted by the laser range finder 19 arranged on the gear are perpendicular to the central line of the roadway top plate.
Specifically, the guide rail of this application arranges along tunnel roof central line position, and the gear is located on the guide rail and can be followed the guide rail and removed, and then drives laser range finder 19 of locating on the gear and removes to realize that laser range finder 19 detects the tunnel country rock near quantity of different positions, laser range finder 19 displacement A at every turn, A's numerical value accessible control chip adjusts, control chip can realize displacement and angle of movement's regulation through procedure and code design. It should be noted that the tunnel surface displacement monitoring devices that this application provided is applicable to different section tunnels, and this application only uses the rectangle tunnel as an example, this application all acquiesces to be the rectangle for tunnel cross-section.
In order to realize real-time continuous monitoring of roadway surface deformation data, the roadway surface deformation data comprise space positions, coordinate positions, monitoring time and roadway surface displacement of various measuring points; the processing unit is used for analyzing and screening the coal mine tunnel deformation data, carrying out digital processing on the screened data to form a digital module, analyzing the deformation of each measuring point according to the derived monitored surrounding rock deformation data, and drawing a 3D space three-dimensional tunnel section model of each measuring point of the tunnel section by using 3D GMS software.
Specifically, roadway surface deformation data in the SD memory card are led into the processing unit, the processing unit deletes error data or data with large errors, the processing unit firstly conducts screening processing on the data, and then surrounding rock space coordinates are calculated according to collected monitoring data through a three-dimensional processing technology and a 3D space model according to the data meeting the requirements, so that a 3D space three-dimensional roadway section model is formed.
In order to analyze the data generated by the processing unit, the analysis unit is designed by computer programming, analyzes the deformation of each measuring point by deriving monitored surrounding rock deformation data, divides the section of the roadway into a plurality of blocks, comprehensively processes and analyzes the deformation of the surrounding rock of each block, and calculates the area swept between the angles n theta and (n +1) theta by the laser range finder 19:
wherein S isnThe area swept by the nth rotation of the laser rangefinder 19;
Lnmeasuring the distance between the laser range finder and the surrounding rock on the surface of the roadway for the nth rotation;
Ln+1-the distance to the surrounding rock on the surface of the roadway measured for the n +1 th rotation of the laser rangefinder;
theta-the angle of each rotation of the laser rangefinder 19.
SA＝(S1+S2+…+Sn)-SB
Wherein S isAThe deformation of the roadway with a certain broken section in the roadway; sBIs the initial area of the roadway cross section.
Roadway surface deformation S of certain roadway sectionAThe calculation method is as follows:
SA＝(S1+S2+…+Sn)-SB
wherein S isAThe deformation of the roadway surface of a certain roadway section; sBIs the initial area of the roadway cross section.
Specifically, the section of the roadway is divided into 16 blocks, wherein the first block 1, the second block 2, the third block 3 and the fourth block 4 are deformation evaluation blocks of the roadway roof; the fifth block 5, the' sixth block 6, the seventh block 7 and the eighth block 8 are deformation evaluation blocks of the right wall of the roadway; the ninth block 9, the tenth block 10, the eleventh block 11 and the twelfth block 12 are deformation evaluation blocks of the roadway floor; thirteenth block 13, fourteenth block 14, fifteenth block 15 and sixteenth block 16 are tunnel left side deformation evaluation block, combine tunnel surface displacement L and tunnel surface deformation area to carry out comprehensive analysis and evaluation under the different blocks, the accurate tunnel deflection that confirms.
In order to guarantee normal use of the roadway, the roadway surface displacement monitoring system further comprises an early warning unit, the early warning unit comprises an alarm, comprehensive judgment is carried out on roadway surface displacement change and roadway surface deformation area after roadway surrounding rock deformation is processed, an alarm signal is sent out within a set red warning range when the judgment is over, and normal use and danger judgment prediction of the roadway are guaranteed.
Setting early warning values aiming at the roadway surface displacement and the roadway surface deformation, wherein the set early warning values mainly comprise four early warning values, the first early warning value is early warning of the roadway surface displacement, the second early warning value is early warning of the roadway surface deformation, the third early warning value is early warning of the whole deformation area of the roadway cross section, and the fourth early warning value is early warning of the deformation area of a certain section; in the step 5, the displacement amount of the surface of the roadway is early warned, and when the displacement data of the surface of the monitored roadway exceeds a set value, the early warning unit sends out a warning signal; for the early warning of the deformation amount of the surface of the roadway, when the deformation areas of the roadway in different blocks are calculated, and the deformation area of a certain block exceeds a set value, the early warning unit sends out an alarm signal; aiming at the early warning of the whole deformation area of the section of the roadway, when all the deformation areas of the blocks are added up in an accumulated mode, and the early warning unit sends out a warning signal after the deformation exceeds a set value; and aiming at the early warning of the deformation area of a certain section position, the laser range finder 19 at the certain section position continuously rotates to change the displacement of the surface of the roadway within a continuous rotation angle, and the early warning unit sends out a warning signal when the deformation area exceeds a set value.
It should be noted that, as long as one of the four early warning values exceeds a preset value, the early warning unit will send out an alarm signal.
Example 2
The embodiment provides an online monitoring method for coal mine roadway surface displacement, and the online monitoring system for coal mine roadway surface displacement provided by the embodiment 1 is adopted, and the monitoring method comprises the following steps:
step 1, selecting a target roadway, erecting a guide rail at the central line position of a top plate of the roadway, and moving a laser range finder 19 in the roadway by using the guide rail; the light emitted after the laser range finder 19 at the center line position of the roadway is adjusted is perpendicular to the center line of the roadway, monitoring parameters are set in the control unit, the rotation angle theta and the moving distance A of the laser range finder 19 are determined, measuring point data at different time, different angles and different positions are measured, a monitoring database is established, and a 3D model diagram of the roadway monitoring system is established by using the monitoring data in the monitoring database;
Screening the monitoring data in the SD memory card, transmitting the data to a processing unit Z2 by using a data transmission line, and calculating surrounding rock space coordinates according to the collected monitoring data through a three-dimensional processing technology and a 3D space model to form a 3D space three-dimensional roadway section model; the resulting processing data is processed for the amount of space coordinate surface approach of the roadway via the analysis unit Z3, and the monitoring roadway section 18 is divided into the first block 1 to the sixteenth block 16, calculated for the swept area of the laser rangefinder between angles n θ and (n +1) θ:
Sn-laser rangefinder 19 nThe area swept by the secondary rotation;
Lnthe distance between the nth rotation of the laser range finder 19 and the surrounding rock on the surface of the roadway;
Ln+1the distance between the n +1 th rotation of the laser range finder 19 and the surrounding rock on the surface of the roadway is calculated;
theta-angle of each rotation of the laser rangefinder 19; n is the number of rotations of the laser rangefinder 19.
In fig. 3 and 4, the roadway cross-section is divided into a plurality of blocks, wherein the first block 1, the second block 2, the third block 3 and the fourth block 4 are roadway roof deformation evaluation blocks; the fifth block 5, the' sixth block 6, the seventh block 7 and the eighth block 8 are deformation evaluation blocks of the right wall of the roadway; the ninth block 9, the tenth block 10, the eleventh block 11 and the twelfth block 12 are deformation evaluation blocks of the roadway floor; the thirteenth block 13, the fourteenth block 14, the fifteenth block 15 and the sixteenth block 16 are deformation evaluation blocks of the left wall of the tunnel; after the blocks of the cross section of the roadway are divided, comprehensive analysis and evaluation are carried out on different blocks by combining surface displacement and deformation area, and roadway deformation is accurately determined.
Setting early warning values aiming at the roadway surface displacement and the roadway surface deformation, wherein the set early warning values mainly comprise four early warning values; the early warning method comprises the following steps that a first early warning value is early warning of roadway surface displacement, a second early warning value is early warning of roadway surface deformation, a third early warning value is early warning of the overall deformation area of a roadway cross section, and a fourth early warning value is early warning of the deformation area of a certain section; for the early warning of the displacement amount of the surface of the tunnel, when the displacement data of the surface of the monitored tunnel exceeds a set value, the system automatically gives an alarm; for the early warning of the deformation amount of the surface of the roadway, when the deformation areas of the roadway in different blocks are calculated, the system can automatically give an alarm after the deformation area of a certain block exceeds a set value; aiming at the early warning of the whole deformation area of the section of the roadway, when all the deformation areas of the blocks are added up in an accumulated mode, the system can automatically give an alarm after the deformation exceeds a set value; for the early warning of the deformation area of a certain section, the laser range finder 19 at the position of the certain section continuously rotates to rotate, the displacement of the surface of the roadway changes, when the deformation area exceeds a set value, the system automatically gives an alarm, and it should be noted that the system automatically gives an alarm as long as one of the four early warning values exceeds a preset value.
In conclusion, the roadway surface displacement online monitoring method provided by the invention has the characteristics of non-contact type, high precision and continuous monitoring, can realize the real-time monitoring function of automatically adjusting the space distance of measurement sampling and the non-uniform deformation of the irregular roadway surrounding rock surface on the basis of accurately acquiring the deformation of the cross section of the roadway in each direction, and has extremely important research and engineering significance for the safe and effective implementation of rock engineering support and mining activities.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (5)
1. The coal mine roadway surface displacement online monitoring system is characterized by comprising a control unit, a processing unit and an analysis unit; the control unit comprises a travelling mechanism, a rotating mechanism, a laser range finder, a data memory, a control chip and a data conducting wire;
the walking mechanism is used for moving the laser range finder in the roadway, and the rotating mechanism is used for controlling the laser range finder to rotate for 360 degrees along the cross section of the coal mine roadway;
the walking mechanism comprises a gear and a track, the track is arranged along the center line of a top plate of the roadway, the gear is arranged on the track and can move along the track, and then a laser range finder arranged on the gear is driven to move so as to detect the moving approach of the roadway surrounding rock at different positions by the laser range finder, the moving distance A of the laser range finder is adjusted by a control chip each time, and the control chip can realize the adjustment of the moving distance and the moving angle through program and code design; light rays emitted by a laser range finder arranged on the gear are vertical to the center line of a roadway top plate;
the laser range finder is used for acquiring deformation data of the surface of the roadway; the roadway surface deformation data comprise measuring point positions, monitoring time and roadway surface displacement L, wherein the measuring point positions are space positions and coordinate positions of each measuring point; the data memory is used for storing roadway surface deformation data and transmitting the roadway surface deformation data to the computer through a data transmission line;
the processing unit is used for analyzing and screening coal mine tunnel deformation data, carrying out digital processing on the screened data to form a digital module, analyzing deformation of each measuring point according to the derived monitored surrounding rock deformation data, and drawing a 3D space three-dimensional tunnel section model of each measuring point of the tunnel section by using 3D GMS software;
the analysis unit analyzes deformation of each measuring point by deriving monitored surrounding rock deformation data, divides a roadway section into a plurality of blocks, comprehensively processes and analyzes the deformation of the surrounding rock of each block, and calculates the swept area between angles n theta and (n +1) theta by the laser range finder:
wherein S isnThe area swept by the laser range finder in the nth rotation is obtained; l isnMeasuring the distance between the laser range finder and the surrounding rock on the surface of the roadway for the nth rotation; l isn+1Measuring the distance between the laser range finder and the surrounding rock on the surface of the roadway for the n +1 th rotation; theta is the angle of each rotation of the laser range finder;
the coal mine roadway surface displacement online monitoring system further comprises an early warning unit, the early warning unit comprises roadway surface displacement early warning and roadway surface deformation early warning, and when the roadway surface displacement or the roadway surface deformation exceeds a set value, an alarm sends out an alarm signal;
the early warning unit also comprises early warning of the whole deformation area of the broken section of the roadway and early warning of the deformation area of a certain section.
2. The coal mine roadway surface displacement on-line monitoring system of claim 1, wherein roadway surface deformation S of a certain roadway cross-sectionAThe calculation method is as follows:
SA＝(S1+S2+…+Sn)-SB
wherein S isAThe deformation of the roadway surface of a certain roadway section; sBIs the initial area of the roadway cross section.
3. The coal mine roadway surface displacement online monitoring system of claim 1, wherein the rotating mechanism controls the laser range finder to rotate 360 degrees along the roadway cross section through a control chip.
4. An online monitoring and early warning method for coal mine roadway surface displacement, which is characterized in that the online monitoring system for coal mine roadway surface displacement of any one of claims 1 to 3 is adopted, and the method comprises the following steps:
step 1, erecting a track at the center line position of a top plate of a roadway, wherein light rays emitted by a laser range finder are vertical to the center line of the roadway, determining the rotation angle theta and the moving distance A of the laser range finder, determining each roadway section and dividing each roadway section into a plurality of blocks;
step 2, starting the laser range finder, rotating the laser range finder by 360 degrees according to a set rotation angle theta through a control unit, recording data measured by the laser range finder, and storing the data into a data memory; moving the laser range finder L along the set direction on the broken section of the roadway, starting the laser range finder again, recording the measured data of the laser range finder rotating for 360 degrees at the measuring point, and storing the measured data in a data memory;
step 3, moving the laser range finder along the track, wherein the moving distance is A each time, and then repeating the step 2;
step 4, establishing a monitoring database aiming at the measured data of the laser range finder at different tunnel broken sections and different positions and different angles on the tunnel broken sections, constructing a 3D model diagram of a tunnel monitoring system according to the monitoring database, and calculating tunnel surface displacement and tunnel surface deformation at different positions;
and 5, when the roadway surface displacement, the roadway surface deformation, the overall deformation area of the roadway cross section and the deformation area of a certain section exceed set values, the alarm sends out an alarm signal.
5. The coal mine roadway surface displacement online monitoring and early warning method according to claim 4, characterized in that in the step 5, early warning is performed on roadway surface displacement, and when the monitored roadway surface displacement data exceeds a set value, the early warning unit sends out a warning signal;
and (3) for the early warning of the deformation amount of the surface of the roadway, when the deformation areas of the roadway in different blocks are calculated, and the early warning unit sends out a warning signal after the deformation area of a certain block exceeds a set value.
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| CN111829441A (en) * | 2020-09-03 | 2020-10-27 | 东北大学 | Roadway surface displacement deformation monitoring method based on laser ranging principle |
| CN112945121B (en) * | 2021-02-05 | 2022-12-27 | 安徽理工大学 | Roadway multi-view vision measurement method and device based on line structured light scanning |
| CN113401175B (en) * | 2021-07-21 | 2022-07-05 | 中国矿业大学 | Advanced detection early warning system and method for monorail crane |
| CN113945189A (en) * | 2021-09-30 | 2022-01-18 | 国能神东煤炭集团有限责任公司 | Roadway deformation monitoring method and system, electronic equipment and storage medium |
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