CN112177675B - Coal roadway driving head-on displacement monitoring and early warning system and method - Google Patents
Coal roadway driving head-on displacement monitoring and early warning system and method Download PDFInfo
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- CN112177675B CN112177675B CN202011038981.0A CN202011038981A CN112177675B CN 112177675 B CN112177675 B CN 112177675B CN 202011038981 A CN202011038981 A CN 202011038981A CN 112177675 B CN112177675 B CN 112177675B
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
- E21F17/185—Rock-pressure control devices with or without alarm devices; Alarm devices in case of roof subsidence
Abstract
The invention discloses a coal roadway driving head-on displacement monitoring and early warning system and a method, which are suitable for monitoring the head-on stability of a coal mine driving roadway. Including displacement monitoring early warning module and scalable string establish the pole, displacement monitoring early warning module includes the fixed shell of laser emitter, and laser emitter removes the slide, laser emission receiver, displacement computing system, connecting rod, audible-visual annunciator. The system is hung at a stable top plate behind the head of a roadway, a plurality of laser beams are horizontally projected to a head-on section through a laser emitting receiver, the system automatically calculates the side length and area change of each side of the graphic projection formed by a plurality of points, further, the coal displacement change of the heading face is automatically calculated according to a finite difference equation, and when the displacement exceeds a certain critical value, the audible and visual alarm can give an alarm to play a role in early warning in time. The installation process is simple, the monitoring result is accurate, the technical effect is obvious, and the method has wide practicability.
Description
Technical Field
The invention relates to a coal roadway driving head-on displacement monitoring and early warning system and a method, in particular to a coal roadway driving head-on displacement monitoring and early warning system and a method suitable for underground coal mine roadway detection
Background
The coal mine in China mainly adopts underground mining, and large-scale tunnel engineering (about 12000km for newly driving a tunnel every year) needs to be driven underground. After a roadway is excavated in a coal body, the stress state of the coal body at the head of the roadway is changed from a three-dimensional compression balance state to a two-dimensional compression state, the strength of the coal body is greatly weakened, tensile stress occurs in a third direction, when the tensile strength of the coal body is far smaller than the tensile stress, the coal body at the head of the roadway can generate cracks, the self-bearing capacity of the coal body is further reduced, when the tensile stress exceeds the ultimate strength of the coal body, the coal body is gradually damaged and is expanded towards the direction of a free surface (the axial direction of the head of the roadway) and even is loosened, safety accidents are easily caused, and if the displacement of the coal body at the head of the former stage is not monitored and early warned in real time, the hidden danger of large-area collapse and instability damage of the coal body at the head of the later stage and the accident of the head roof caused by the collapse can be inevitably caused, and the unforeseen result can be caused. In fact, the counted roadway safety accidents happen at the top plate and the roadway head-on part.
The existing coal roadway tunneling head-on displacement monitoring and early warning method does not report mature complete set of technology and equipment, the stress and displacement state of a coal body at the head-on position is mostly deduced by a numerical simulation and theoretical analysis method, and the method is restricted in that numerical simulation software and a theoretical sub-model cannot completely simulate the actual situation, so the method is often inaccurate and cannot play the role of actual monitoring and early warning. In the actual tunneling process of a roadway, the displacement of the head-on coal body is determined whether the coal body has a tendency of loosening and collapsing or not by manual observation and experience of workers to determine whether safety measures need to be taken or not, but the manual judgment is usually lagged behind the sudden collapse of the coal body, so that the safety accidents can not be effectively avoided, and the prior art cannot play a role of early warning.
Disclosure of Invention
The technical problem is as follows: aiming at the defects of the prior art, the invention provides the coal roadway driving head-on displacement monitoring and early warning system and the method which are simple to operate, meet the explosion-proof requirement, automatically monitor in real time, have accurate monitoring results and early warn in real time.
The technical scheme is as follows: in order to achieve the technical purpose, the coal roadway driving head-on displacement monitoring and early warning system comprises a displacement monitoring and early warning module and a telescopic hanging rod, wherein the displacement monitoring and early warning module is hung on a roadway top plate through the telescopic hanging rod and is arranged right opposite to the head-on of the roadway, the displacement monitoring and early warning module comprises a plurality of laser transmitting receivers, the plurality of laser transmitting receivers are arranged on a laser transmitting receiver support so as to ensure that the plurality of laser transmitting receivers are in the same vertical plane with the head-on, and meanwhile, the plurality of laser transmitting receivers are transmitted to adjacent laser point annular connecting lines of the head-on to form a detection area.
The laser transmitting and receiving device support is composed of a plurality of connecting rods, the number of the connecting rods is matched with that of the laser transmitting and receiving devices, and each laser transmitting and receiving device is connected with the other two laser transmitting and receiving devices through the two connecting rods to form a closed-loop structure; the center of the annular structure formed by the laser emitting receivers is also provided with a displacement calculation system by utilizing the connecting rod, and the displacement calculation system is provided with an audible and visual alarm.
The laser transmitter fixing shell is arranged outside the laser transmitter receiver on the displacement monitoring and early warning module, and the laser transmitter fixing shell is arranged in the laser transmitter moving slide way, so that the laser transmitter receiver can slide in the laser transmitter moving slide way under the help of the laser transmitter fixing shell, and the projection of a closed loop structure formed by the laser transmitter receiver is not less than 1/6 of the total head-on area.
The telescopic range of the telescopic hanging rod is 300mm-1000mm, the length of the connecting rod is 300mm-500mm, and the sliding range of the laser emitter moving slideway is 50mm-140 mm.
The number of the laser emitting receivers is three, four, five or more.
An early warning method of a coal roadway tunneling head-on displacement monitoring and early warning system comprises the following steps:
a. in the process of tunneling a coal roadway, constructing a roof at a region (the sinking rate of the roof is lower than 5 mm/day for 7 continuous days) where anchor rods are constructed and the activity is stable on the roof behind the head-on;
b. a telescopic hanging rod is installed by utilizing a drill hole, and a displacement monitoring and early warning module is hung facing to the head;
c. spraying white matte paint in the center area of the coal body facing the coal body;
d. the length of the telescopic hanging rod is adjusted, so that a plurality of laser emitting receivers of the displacement monitoring and early warning module are positioned in the same vertical plane and directly point to the white matte paint coated in the center area of the head coal body; after all the laser emitting receivers are started, laser is horizontally injected into a white matte paint coated area of the head, the laser emitting receivers receive reflected laser point clouds, the distance between the displacement monitoring and early warning module and the head is obtained through laser point cloud information, and the laser point clouds are recorded once every time t;
e. according to the horizontal distance between the monitored laser transmitter and the head-on and recorded at each moment of the three laser transmitter and receivers, the displacement calculation system can automatically calculate the displacement of each laser point at each moment t, so that a displacement sequence of each laser point at each moment t is obtained;
f. and automatically calculating each side length and area change of closed-loop projection formed by a plurality of points at each t moment by using a displacement calculation system based on the displacement delta d of the plurality of points at each t moment and the distance between each point at the beginning, further automatically calculating the displacement change of the head coal body according to a finite difference equation, and controlling an audible and visual alarm to give an alarm when the displacement exceeds a critical value.
When the number of the laser transmitting receivers is 3, the 3 laser transmitting receivers are formed on the headThe closed loop structure of the laser is projected to be triangular, and the displacement computing system automatically computes the displacement of the laser point at each time t to be delta d respectively1、Δd2、Δd3(ii) a Calculating the displacement change of the head-on coal body by using a displacement calculation system, wherein the specific displacement calculation method comprises the following steps:
at the beginning of hanging the starting displacement monitoring and early warning module, calculating to obtain the side length and the area of a triangle formed by projecting 3 laser transmitting receivers to three laser points at the head; let the displacement of three head-on points monitored by 3 laser emission receivers at a certain moment be respectively delta d1、Δd2、Δd3(ii) a The spacing between the three laser points is d1、d2、d3Using the formula:
respectively calculating the side length and the area of each side of a triangle formed by three laser points on the head, and because the laser is horizontally projected, after the coal body on the head is deformed, the 3 laser points have different displacement amounts and can generate the change of an angle, thereby utilizing a formula
Calculating the displacement change of the head-on coal body, wherein: as is the length of one side of the triangle, summing the three sides,<f>taking an average value of one side; n isiIs a unit normal vector of the triangular plane; f is a scalar; a is the area of the triangle;
the finite difference displacement variation of the coal body in the triangular area is obtained; when in use
Over 0.7SiThe alarm is given by the sound and light alarm, in the formula SiIs the ultimate displacement before the head-on coal body falls off.
The spraying range of the white matte paint exceeds 1/3 of the closed-loop structure projection area formed by all laser points on the head-on section so as to adapt to the potential deformation of the coal body.
Advantageous effects
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages:
(1) the equipment installation and operation process is simple, the cost is low, the operation is convenient for workers, and the existing production process flow is not interfered;
(2) the displacement change of the coal body at the head of the coal roadway can be automatically monitored and calculated, and the automation degree is high;
(3) the monitoring and calculation result is accurate, the problem that coal and rock body instability occurs and casualties are caused due to the fact that the deformation of a driving face cannot be sensed in the prior art is solved, and the technical effect is obvious;
(4) before the coal body at the head of the coal roadway is displaced greatly and is broken down, early warning can be timely carried out, and potential casualty accidents are avoided.
Drawings
Fig. 1 is a schematic space diagram of the coal roadway tunneling head-on displacement monitoring and early warning system.
FIG. 2(a) is a sectional side view of the head of the laser transmitter-receiver of the present invention projected between three points of the head of the laser transmitter-receiver before deformation.
FIG. 2(b) is a sectional side view of the head-on of the three laser transmitter-receivers of the present invention projected between three points of the head-on after deformation.
Fig. 3 is a schematic structural diagram of the coal roadway tunneling head-on displacement monitoring and early warning system.
In the figure: 1-head-on, 2-displacement monitoring and early warning module, 3-telescopic hanging rod, 4-roadway roof, 5-anchor rod, 6-roadway, 7-drilling, 2-1-laser transmitter fixing shell, 2-2-laser transmitter moving slideway, 2-3-laser transmitting receiver, 2-4-displacement computing system, 2-5-connecting rod and 2-6-audible and visual alarm.
Detailed Description
An embodiment of the invention is further described below with reference to the accompanying drawings:
as shown in fig. 1, the coal roadway tunneling head-on displacement monitoring and early warning system is characterized in that: it comprises a displacement monitoring and early warning module 2 and a telescopic hanging rod 3, wherein the telescopic range of the telescopic hanging rod 3 is 300mm-1000mm, the length of a connecting rod 2-5 is 300mm-500mm, the sliding range of a laser emitter moving slideway 2-2 is 50mm-140mm, wherein the displacement monitoring and early warning module 2 is hung on a roadway roof 4 through a telescopic hanging rod 3 and is arranged right opposite to the head 1 of the roadway, the empty top distance of the head 1 of the roadway is L, the displacement monitoring and early warning module 2 comprises a plurality of laser transmitting and receiving devices 2-3, the plurality of laser transmitting and receiving devices 2-3 are arranged on a laser transmitting and receiving device bracket, so as to ensure that the plurality of laser transmitting and receiving devices 2-3 are positioned in the same vertical plane from the head-on 1, simultaneously, a plurality of laser emitting and receiving devices 2-3 are emitted to adjacent laser point annular connecting lines of the head 1 to form a detection area; as shown in fig. 3, the laser transmitter-receiver bracket is composed of a plurality of connecting rods 2-5, the number of the connecting rods 2-5 is matched with the number of the laser transmitter-receivers 2-3, and each laser transmitter-receiver 2-3 is connected with the other two laser transmitter-receivers 2-3 through two connecting rods 2-5 to form a closed loop structure; the center of an annular structure formed by the plurality of laser emitting receivers 2-3 is also provided with a displacement calculation system 2-4 by utilizing a connecting rod 2-5, and the displacement calculation system 2-4 is provided with an audible and visual alarm 2-6; a laser transmitter fixing shell 2-1 is arranged outside a laser transmitting receiver 2-3 on the displacement monitoring and early warning module 2, and the laser transmitter fixing shell 2-1 is arranged in a laser transmitter moving slide way 2-2, so that the laser transmitting receiver 2-3 can slide in the laser transmitter moving slide way 2-2 under the help of the laser transmitter fixing shell 2-1, and the projection of a closed loop structure formed by the laser transmitting receiver 2-3 is not less than 1/6 of the total area of a head 1.
The laser transmitter-receiver 2-3 is three, four, five or more.
An early warning method of a coal roadway tunneling head-on displacement monitoring and early warning system comprises the following steps:
a. in the process of tunneling a coal roadway 6, a roof construction drill hole 7 is formed at a position where the sinking rate of a roof is lower than 5 mm/day in a continuous 7-day area where an anchor rod 5 is constructed and supported and the activity is stable on a roof 4 behind a head 1;
b. a telescopic hanging rod 3 is installed by utilizing a drill hole 7, and a displacement monitoring and early warning module 2 is hung facing to a head 1;
c. spraying white matte paint in the central area of the coal body facing the head 1; the spraying range of the white matte paint exceeds 1/3 of the closed-loop structure projection area formed by all laser points on the head-on 1 section so as to adapt to the potential deformation of the coal body;
d. the length of the telescopic hanging rod 3 is adjusted, so that a plurality of laser emitting receivers 2-3 of the displacement monitoring and early warning module 2 are positioned in the same vertical plane and directly point to the white matte paint coated in the central area of the head-on coal body 1; after all the laser emitting receivers 2-3 are started, laser horizontally enters a white matte paint coated area of the head 1 at the same time, the laser emitting receivers 2-3 receive reflected laser point clouds, the distance between the displacement monitoring and early warning module 2 and the head 1 is obtained through laser point cloud information, and the laser point clouds are recorded once every other time t;
e. according to the horizontal distance between the monitored laser transmitter-receiver 2-3 and the head 1 recorded at each moment of the three laser transmitter-receivers 2-3, the displacement calculation system 2-4 can automatically calculate the displacement of each laser point at each moment t, so as to obtain the displacement sequence of each laser point at each moment t;
f. and (3) automatically calculating each side length and area change of closed-loop projection formed by a plurality of points at each t moment by using a displacement calculation system 2-4 based on the displacement delta d of the plurality of points at each t moment and the distance between each point at the beginning, further automatically calculating the displacement change of the head-on coal body 1 according to a finite difference equation, and controlling an audible and visual alarm 2-6 to alarm when the displacement exceeds a critical value.
As shown in fig. 2(a) and 2(b), when the number of the laser transmitter-receivers 2-3 is 3, the closed loop structure formed by the 3 laser transmitter-receivers 2-3 on the head 1 is projected as a triangle, and the displacement calculating system 2-4 automatically calculates the displacement of the laser spot at each time t as Δ d1、Δd2、Δd3(ii) a Calculating the displacement change of the head-on 1 coal body by using a displacement calculation system 2-4, wherein the specific displacement calculation method comprises the following steps:
at the beginning of hanging the starting displacement monitoring and early warning module 2, 3 laser transmitting receivers 2-3 are calculated to projectThe side length and the area of a triangle formed by the three laser points of the head-on 1; let the displacement of three head-on 1 points monitored by 3 laser transmitter-receivers 2-3 at a certain time be Deltad1、Δd2、Δd3(ii) a The spacing between the three laser points is d1、d2、d3Using the formula:
respectively calculating the side length and the area of each side of a triangle formed by three laser points on a head 1, wherein the laser is horizontally projected, and after the coal body of the head 1 is deformed, the 3 laser points have different displacement amounts and can generate angle change, so that a formula is utilized
Calculating the displacement change of the head-on 1 coal body, wherein: as is the length of one side of the triangle, summing the three sides,<f>taking an average value of one side; n isiIs a unit normal vector of the triangular plane; f is a scalar; a is the area of the triangle;
the finite difference displacement variation of the coal body in the triangular area is obtained; when in use
Over 0.7SiWhen the alarm is in use, the audible and visual alarm 2-6 alarms, wherein SiIs the ultimate displacement before the coal body falls off at the head-on 1.
Claims (5)
1. The utility model provides a coal road tunnelling head-on displacement monitoring early warning system which characterized in that: the system comprises a displacement monitoring and early warning module (2) and a telescopic hanging rod (3), wherein the displacement monitoring and early warning module (2) is hung on a roadway roof (4) through the telescopic hanging rod (3) and is arranged right opposite to a head (1) of the roadway, the displacement monitoring and early warning module (2) comprises a plurality of laser emission receivers (2-3), the plurality of laser emission receivers (2-3) are arranged on a laser emission receiver support, so that the plurality of laser emission receivers (2-3) are positioned on the same vertical plane away from the head (1), and meanwhile, a plurality of laser emission receivers (2-3) are emitted to adjacent laser point annular connecting lines of the head (1) to form a detection area;
the laser transmitting and receiving device support is composed of a plurality of connecting rods (2-5), the number of the connecting rods (2-5) is matched with that of the laser transmitting and receiving devices (2-3), and each laser transmitting and receiving device (2-3) is connected with the other two laser transmitting and receiving devices (2-3) through the two connecting rods (2-5) to form a closed-loop structure; a displacement calculation system (2-4) is further arranged at the center of an annular structure formed by the laser emitting receivers (2-3) by utilizing a connecting rod (2-5), an acousto-optic alarm (2-6) is arranged on the displacement calculation system (2-4), a laser emitter fixing shell (2-1) is arranged outside the laser emitting receiver (2-3) on the displacement monitoring and early warning module (2), the laser emitter fixing shell (2-1) is arranged in the laser emitter moving slideway (2-2), so that the laser emitting receivers (2-3) can slide in the laser emitter moving slideway (2-2) under the help of the laser emitter fixing shell (2-1), 1/6 for ensuring that the projection of the closed loop structure formed by the laser emitting and receiving devices (2-3) is not less than the total area of the head (1);
the early warning method of the coal roadway driving head-on displacement monitoring early warning system comprises the following steps:
a. in the tunneling process of the coal roadway (6), a roof construction drill hole (7) is formed in the area where the roof (4) behind the head (1) is already supported by the construction anchor rod (5) and is stable in movement;
b. a telescopic hanging rod (3) is installed by utilizing a drilling hole (7) and a displacement monitoring and early warning module (2) is hung to face the head-on (1);
c. white matte paint is sprayed in the central area of the coal body facing the head (1);
d. the length of the telescopic hanging rod (3) is adjusted, so that a plurality of laser emitting receivers (2-3) of the displacement monitoring and early warning module (2) are positioned in the same vertical plane and directly point to the white matte paint coated in the central area of the coal body of the head-on (1); after all the laser emitting receivers (2-3) are started, laser horizontally enters a white matte paint coated area of the head (1) at the same time, the laser emitting receivers (2-3) receive reflected laser point clouds, the distance between the displacement monitoring and early warning module (2) and the head (1) is obtained through laser point cloud information, and the laser point clouds are recorded once every other time t;
e. according to the horizontal distance between the laser transmitter-receiver (2-3) and the head (1) which are recorded and monitored by the three laser transmitter-receivers (2-3) at each moment, the displacement calculation system (2-4) can automatically calculate the displacement of each laser point at each moment t, so that the displacement sequence of each laser point at each moment t is obtained;
f. and (2) automatically calculating each side length and area change of closed-loop projection formed by a plurality of points at each t moment by using a displacement calculation system (2-4) based on the displacement delta d of the plurality of points at each t moment and the distance between each point at the beginning, further automatically calculating the displacement change of the coal body at the head-on (1) according to a finite difference equation, and controlling an audible and visual alarm (2-6) to alarm when the displacement exceeds a critical value.
2. The coal roadway driving head-on displacement monitoring and early warning system according to claim 1, characterized in that: the telescopic range of the telescopic hanging rod (3) is 300mm-1000mm, the length of the connecting rod (2-5) is 300mm-500mm, and the sliding range of the laser emitter moving slideway (2-2) is 50mm-140 mm.
3. The coal roadway driving head-on displacement monitoring and early warning system according to claim 1, characterized in that: the number of the laser emitting receivers (2-3) is three, four, five or more.
4. The coal roadway driving head-on displacement monitoring and early warning system according to claim 1, characterized in that: when the number of the laser emitting receivers (2-3) is 3, the closed loop structure formed by the 3 laser emitting receivers (2-3) on the head (1) is projected to be triangular, and the displacement calculation system (2-4) automatically calculates the displacement of the laser point at each time t to be delta d1、Δd2、Δd3(ii) a Calculating the change of the coal body displacement of the head-on part (1) by using a displacement calculation system (2-4), wherein the specific displacement calculation method comprises the following steps:
at the beginning of hanging the starting displacement monitoring and early warning module (2), the side length and the length of a triangle formed by three laser points of the head (1) projected by 3 laser transmitting and receiving devices (2-3) are calculatedArea; let the displacement of three points of the head (1) monitored by 3 laser emitting and receiving devices (2-3) at a certain moment be delta d1、Δd2、Δd3(ii) a The spacing between the three laser points is d1、d2、d3Using the formula:
respectively calculating the side length and the area of each side of a triangle formed by three laser points on the head (1), wherein the angle change can be generated by different displacement of 3 laser points after the coal body of the head (1) is deformed due to the horizontal projection of the laser, so that a formula is utilized
Calculating the displacement change of the head-on (1) coal body, wherein: as is the length of one side of the triangle, summing the three sides,<f>taking an average value of one side; n isiIs a unit normal vector of the triangular plane; f is a scalar; a is the area of the triangle;
the finite difference displacement variation of the coal body in the triangular area is obtained; when in use
Over 0.7SiWhen the alarm is in use, the audible and visual alarm (2-6) will give an alarm, wherein SiIs the ultimate displacement before the coal body falls off in the head-on part (1).
5. The coal roadway driving head-on displacement monitoring and early warning system according to claim 1, characterized in that: the spraying range of the white matte paint exceeds 1/3 of the projection area of a closed loop structure formed by all laser points on the section of the head-on (1) so as to adapt to the potential deformation of the coal body.
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| CN108506044A (en) * | 2018-04-08 | 2018-09-07 | 安徽理工大学 | A kind of floor lift in gallery monitoring device and its monitoring system |
| WO2020070686A1 (en) * | 2018-10-03 | 2020-04-09 | PIPER, Trudi | Measuring device |
| CN109470151B (en) * | 2018-11-28 | 2020-01-31 | 中国矿业大学 | continuous monitoring and recording roadway surface displacement device and method |
| CN110005471A (en) * | 2019-05-10 | 2019-07-12 | 贵州大学 | A kind of driving face in coal mine protrusion prior-warning device and method based on infrared ray |
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