CN113758434A - Portable monitoring system for spatial deformation of mining all-solid-state area array laser radar goaf - Google Patents
Portable monitoring system for spatial deformation of mining all-solid-state area array laser radar goaf Download PDFInfo
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- CN113758434A CN113758434A CN202010484251.7A CN202010484251A CN113758434A CN 113758434 A CN113758434 A CN 113758434A CN 202010484251 A CN202010484251 A CN 202010484251A CN 113758434 A CN113758434 A CN 113758434A
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- radar
- goaf
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- main shaft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention relates to a portable monitoring system for the space deformation of a mining full-solid-state area array laser radar goaf, which combines a radar monitoring mechanism, a telescopic supporting rod, a control box and the like, a controller controls a motor in the radar monitoring mechanism to rotate, so that the radar monitoring mechanism is controlled to rotate around a U-shaped frame, the scanning monitoring range of a radar is enlarged, the goaf condition can be accurately monitored, the monitoring accuracy is improved, and favorable data support is provided for the detailed occurrence condition of the goaf accurately detected in the next step.
Description
Technical Field
The invention relates to the technical field of mining equipment, in particular to a portable monitoring system for the spatial deformation of a mining full-solid-state area array laser radar goaf.
Background
On one hand, the waste goaf is often provided with abundant water, gas, residual coal pillar resources and a large amount of available underground space inside; on the other hand, the ground surface of the waste old goaf can be developed and utilized in a grading way according to the stability degree of the foundation, for example, the stable ground surface of the waste goaf can be developed and utilized as a project and construction foundation, and the unstable ground surface of the goaf can be developed into a landscape land. However, the precondition for changing waste goaf resources into valuables and fully developing and utilizing the waste goaf resources is the detailed occurrence condition for accurately detecting the goaf.
The current detection goaf mainly adopts a geological radar monitoring method, however, a space left between the goaf and a working face is limited, the monitoring difficulty is high, the monitoring range of a fixed radar is small, the monitoring work cannot be completed comprehensively and accurately, and the monitoring precision is influenced.
Disclosure of Invention
In order to solve the technical problems, the invention provides a portable monitoring system for the space deformation of a mining all-solid-state area array laser radar goaf, which adopts the technical scheme that:
the radar monitoring device comprises a radar monitoring mechanism, a telescopic supporting rod and a control box, wherein the radar monitoring mechanism is connected with the telescopic supporting rod through a fixing piece, and the control box is connected with the radar monitoring mechanism through a connecting wire;
the radar monitoring mechanism comprises a probe shell, a radar, U-shaped supports and a motor, wherein the radar and the motor are installed in the probe shell, the U-shaped supports are arranged on two sides of the probe shell, the probe shell is connected with the U-shaped supports through a main shaft, the main shaft is fixed on the U-shaped supports, the probe shell rotates around the main shaft, a fixed gear is installed at the end part of one main shaft, a driving gear is fixed at the output end of the motor, and the driving gear is meshed with the fixed gear;
the control box is internally provided with a controller, a mobile device, a battery and a deconcentrator, wherein the controller, the battery and the deconcentrator are respectively arranged in the control box; the battery is connected with controller and radar electricity respectively, and the mobile device is connected with the controller, and the controller is connected with the motor, and the control motor rotates.
Furthermore, a main shaft, the U-shaped support and the telescopic supporting rod are hollow and communicated with each other, and the connecting wire penetrates into and penetrates out of the main shaft, the U-shaped support and the telescopic supporting rod.
Furthermore, the telescopic supporting rod is composed of n sections of rods, the rods are tubular, the outer diameter of each section of rod from outside to inside is reduced section by section, the outer diameter of each section of rod between every two adjacent sections of rods is not larger than the inner diameter of each section of rod, and each section of rod is stretched and clamped tightly.
Further, the probe shell is of a frame structure and is square or cylindrical in shape.
Furthermore, the outer surface of the control box is provided with a carrying handle.
The invention relates to a portable monitoring system for mining all-solid-state area array laser radar goaf space deformation, which combines a radar monitoring mechanism, a telescopic supporting rod, a control box and the like, a controller controls a motor in the radar monitoring mechanism to rotate, so that a rotary monitoring probe is controlled to rotate around a U-shaped frame, the scanning monitoring range of a radar is enlarged, the goaf condition can be accurately monitored, the monitoring accuracy is improved, and favorable data support is provided for the detailed occurrence condition of the goaf accurately detected in the next step.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural diagram of a radar detection mechanism according to the present invention;
FIG. 3 is a schematic view of the external structure of the control box;
FIG. 4 is a side view of the control box body;
FIG. 5 is a schematic view of the bottom structure of the control box body;
FIG. 6 is a schematic view of a panel and plate mounting structure;
FIG. 7 is a schematic view of the telescopic rod structure;
FIG. 8 is a dimensional block diagram of FIG. 7 in an expanded state;
FIG. 9 is a block diagram of the present invention;
as shown in the figure, 1-radar monitoring mechanism, 2-U type bracket, 3-telescopic supporting rod, 4-network cable, 5-DC plug connecting wire I, 6-DC plug connecting wire II, 7-host switch, 8-panel, 9-connecting sheet, 10-host charging jack, 11-radar charging jack, 12-network port, 13-radar power interface, 14-steering power interface, 15-carrying handle, 16-tablet computer, 17-box, 18-probe shell, 19-monitoring radar, 20-radar bracket, 21-fixed gear, 22-main shaft, 23-driving gear, 24-motor bracket, 25-motor, 26-radar access power line interface, 27-radar access network cable interface, 28-motor access power interface, 29-host switch bracket, 30-tablet computer layering, 31-left DC interface bracket, 32-right DC interface bracket, 33-battery, 34-battery layering, 35-supporting plate, 36-485 data module, 37-dongle, 38-splitter, 39-splitter bracket, 40-DC motor steering controller, 41-latch, 42-box cover, 43-hinge shaft, 44-clasp, 45-fixed shaft, 46-DC connector, 47 battery charging wire, 48 battery output line a, 49 battery output line b and 50 silica gel sleeve.
In a particular embodiment, the method comprises the following steps,
as shown in the figure, the portable monitoring system for the mining all-solid-state area array laser radar goaf space deformation comprises a radar monitoring mechanism 1, a telescopic supporting rod 3 and a control box, wherein the radar monitoring mechanism is connected with the telescopic supporting rod through a fixing piece, and the control box is connected with the radar monitoring mechanism through a connecting wire.
As shown in fig. 2, the right drawing is a side view of the left drawing; the radar monitoring mechanism is composed of a probe shell 18, a radar 19, a U-shaped support 2 and a motor 25, wherein the probe shell is of a frame structure and is square or cylindrical. The end that stretches out of flexible bracing piece is equipped with integrated into one piece's fixed plate, and this fixed plate is perpendicular with flexible bracing piece, and four angles of fixed plate pass through the bolt fastening in the shell bottom of popping one's head in, and the bracing piece that will stretch out and draw back is fixed with the shell of popping one's head in, and the middle part of fixed plate is equipped with the through-hole, and this through-hole communicates with the through-hole at flexible bracing piece center, makes things convenient for penetrating and wearing out of connecting wire. The radar passes through radar support 20 to be installed at probe shell internal top, and this radar support is the concave type of cross, and the radar is placed in concave type department, and the upper portion edge of radar support outwards extends, and extension department is equipped with the screw hole, fixes on the probe shell through screw and matching nut. The motor is fixed at the bottom in the probe shell through an L-shaped motor support 24, a driving gear 23 is fixed at the output end of the motor, the U-shaped supports are arranged on two sides outside the probe shell, the U-shaped supports are hollow, the probe shell and the U-shaped supports are connected through a main shaft 22, the main shaft is fixed on the inner sides of the U-shaped supports, the main shaft and the U-shaped supports can be arranged into an integrated structure, and the probe shell rotates around the main shaft. The right main shaft is a solid main shaft, the fixed gear 21 is fixed at the end part of the right main shaft through an M4 screw, and the driving gear and the fixed gear are on the same side and are mutually meshed. The left main shaft is a hollow main shaft, the U-shaped support and the telescopic supporting rod are hollow inside, and the radar access power line interface 26, the radar access network cable interface 27, the motor access power line interface 28 and other connecting wires all enter the telescopic supporting rod through the hollow main shaft and are connected with all parts in the control box.
As shown in FIG. 3, the control box is composed of a box body 17 and a matched box cover 42, the control box achieves the IP68 waterproof grade, a waterproof sealing strip is pasted on the contact surface between the box cover and the box body, the width is 8mm, and the waterproof sealing strip is pasted on the box cover in the embodiment. The box body consists of a bottom edge and four side edges which are upwards vertical to the edge of the bottom edge, the box cover consists of a top plate and side plates which are downwards vertical to the edge of the top plate, the length and the width of the bottom edge of the box body are as long as the length and the width of the top plate of the box cover, the box body and the box cover are connected through a connecting plate 9, a carrying handle 15 is arranged on the front side of the box body, the connecting plate is arranged on the left side and the right side of the box body and is in an oblong shape, a hinge hole is formed in one end of the connecting plate, an oblong hole is formed in the other end of the connecting plate, a fixing shaft 45 is arranged in the middle of two sides of the box cover, one end of the connecting plate is hinged to the box cover through a hinge shaft 43, the other end of the fixing shaft penetrates through the oblong hole to arrange the connecting plate on the box body, and the fixing shaft can be fixed on the box body through screws and matching nuts. Four lock catches 41 are arranged on the front side and the rear side of the box cover, the four lock catches are arranged on the same horizontal plane, eight hooks 44 are arranged on the left side and the right side of the box body, the four hooks in the same horizontal direction are arranged on the same straight line, the hooks are matched with the lock catches, the hooks protrude outwards, the lock catches can be turned over to be opened and fastened, the four lock catches and the four hooks are mutually fastened, and the box cover is fixedly connected with the box body. During the use, open the hasp, go up the body case lid gently, backward rotation to box below is fixed with hasp and hook and loop locking again, and equipment in the box exposes, alright in order to operate.
As shown in fig. 4 and 6, a mobile device, which is a tablet pc 16, is also included in the control box. There is the layer board 35 of central extension in control box upper surface edge, this layer board extension length is 2cm, still be equipped with panel 8 in the control box, the panel edge is equipped with a plurality of screw holes, through bolt and layer board fixed connection, the panel is frame rack structure, the middle part is the fretwork rectangle, at panel back installation panel computer, the panel computer operation face upwards, fretwork rectangle department is the panel computer operation face, panel computer back passes through panel computer layering 30 and fixes on the panel, at the back of panel, the left and right sides of panel is fixed mounting DC interface support respectively, left DC interface support 31 and right DC interface support 32 promptly, this DC interface support is the U type, and the opening is downward, the opening is towards the bottom half promptly. The panel upper surface DC connectors 46 are disposed within the U-shaped brackets. The panel is provided with a host switch 7, the host switch corresponds to the tablet computer switch, the tablet computer is turned on by turning on the host switch, and the host switch is fixed on the panel by a host switch bracket 29.
As shown in fig. 5, a controller, a battery and a deconcentrator are installed in the control box body, the controller is installed on the right side of the bottom in the box body, threaded holes are formed in four corners of the controller, and the controller is fixed to the bottom in the box body through m3 screws; the battery is arranged in the center of the bottom in the box body and is fixed at the bottom in the box body through a battery pressing strip 34, the battery pressing strip is in a cross shape, a threaded hole is formed in the end part of the cross shape, and a screw penetrates through the threaded hole to be fixed on the box body; the deconcentrator 38 is arranged on the left side of the bottom in the box body and fixed at the bottom in the box body through a deconcentrator support 39, four threaded holes are formed in the deconcentrator support, and screws penetrate through the threaded holes and are fixed at the bottom in the box body. The control box also comprises a panel 8, the panel is arranged on the control box through a fixing piece, and the mobile equipment is arranged on the panel through the fixing piece; the battery is connected with controller and radar electricity respectively, and the mobile device is connected with the controller, and the controller is connected with the motor, and the control motor rotates.
The connection relation of each component is as follows: the host tablet interface cord is connected to the host charging jack 10. DC plug connecting wire I5 is connected with the motor, and DC plug connecting wire II6 is connected with the radar, and deconcentrator 38 is with usb interface grafting panel computer, and 485 data module 36 and dongle 37 are pegged graft to deconcentrator 38, and deconcentrator and net gape 12 are connected with net twine 4, and the radar passes through the net twine to be connected with the deconcentrator, and battery output line a48 is connected 13 radar power source, and radar charging socket 11 is connected to battery charging wire 47. The battery output line b 49 is connected to the controller. The controller connection 14 turns to a power interface, the controller is connected with the motor through a DC connector, and the 485 data module 36 is connected with a controller data terminal for data transmission.
The equipment adopted by the invention is as follows:
the controller adopts a direct current motor direction change controller 40, and the model number of the controller is AQMD2410 NS;
the battery is adopted, the intrinsic safety type radar battery, namely the intrinsic safety type lithium ion storage battery, is used, the output voltage is less than or equal to 12v, the charging termination voltage is less than or equal to 12v, the output power is 21v, the peak current is 2A, the charging current is less than or equal to 2A, and the battery capacity is 15 AH;
a splitter, using (SAMZHE) USB3.0 white UWH 03;
the radar adopts Smartlidar-TOF25030 full-solid-state area array laser radar;
the motor adopts a speed reducing motor, and the model number is JGY-370 turbine worm speed reducing motor 12 v;
tablet computer, adopting KNote X Pro;
the method comprises the following steps of (1) dog encryption: USB-keyYH00 h;
a 485 module: USB to RS485 LX 08H.
As shown in fig. 7, the left drawing is a general structure drawing, and the right drawing is a connection drawing between two adjacent sections; fig. 8 is a drawing structure diagram of the stretching state of fig. 7, the telescopic supporting rod is composed of 7 sections of rods, the rods are tubular, the length of a single section is about 1.6 meters, the thickness of the pipe wall is 1.4mm, and the whole device is made of carbon fiber and stainless steel and is a conductor. In order to avoid mistakenly touching the electrified equipment in the implementation process, the outer most section of the support rod is tightly wrapped with a semitransparent silica gel sleeve 50 for insulation. The outer diameter of each section of rod is gradually reduced from front to back, the outer diameter of the inner section of rod between adjacent sections of rods is not larger than the inner diameter of the outer section of rod, the middle section of each section of rod is respectively kept with the same inner diameter and outer diameter, the 100mm position of the adjacent section of rod is provided with a reducer, and the reducer is closed, and the closed end is compact and smooth; each section of rod is stretched and clamped, is flexible to stretch and retract, and is not allowed to fall off or slide out.
The operation process of the invention is as follows:
the telescopic supporting rod is stretched, the monitoring probe is stretched into a working face goaf, a host switch is turned on, the monitoring probe is operated on a tablet personal computer, a controller signal is given, the controller controls the motor to rotate positively or negatively, so that the monitoring probe shell is driven to rotate, goaf data can be comprehensively detected, and powerful data support is provided for accurate monitoring.
The invention relates to a portable monitoring system for mining all-solid-state area array laser radar goaf space deformation, which combines a radar monitoring mechanism, a telescopic supporting rod, a control box and the like, a controller controls a motor in the radar monitoring mechanism to rotate, so that a rotary monitoring probe is controlled to rotate around a U-shaped frame, the scanning monitoring range of a radar is enlarged, the goaf condition can be accurately monitored, the monitoring accuracy is improved, and favorable data support is provided for the detailed occurrence condition of the goaf accurately detected in the next step.
While the foregoing is directed to embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (5)
1. The portable monitoring system for the spatial deformation of the mining all-solid-state area array laser radar goaf comprises a radar monitoring mechanism, a telescopic supporting rod and a control box, and is characterized in that the radar monitoring mechanism is connected with the telescopic supporting rod through a fixing piece, and the control box is connected with the radar monitoring mechanism through a connecting wire;
the radar monitoring mechanism comprises a probe shell, a radar, U-shaped supports and a motor, wherein the radar and the motor are installed in the probe shell, the U-shaped supports are arranged on two sides of the probe shell, the probe shell is connected with the U-shaped supports through a main shaft, the main shaft is fixed on the U-shaped supports, the probe shell rotates around the main shaft, a fixed gear is installed at the end part of one main shaft, a driving gear is fixed at the output end of the motor, and the driving gear is meshed with the fixed gear;
the control box is internally provided with a controller, a mobile device, a battery and a deconcentrator, wherein the controller, the battery and the deconcentrator are respectively arranged in the control box; the battery is connected with controller and radar electricity respectively, and the mobile device is connected with the controller, and the controller is connected with the motor, and the control motor rotates.
2. The portable monitoring system for the spatial deformation of the mined-out area of the mining all-solid-state area-array laser radar as claimed in claim 1, wherein a main shaft, the U-shaped bracket and the telescopic supporting rod are hollow inside and are communicated with each other, and a connecting wire penetrates into and penetrates out of the main shaft, the U-shaped bracket and the telescopic supporting rod.
3. The mining all-solid-state area array laser radar goaf space deformation portable monitoring system of claim 1, characterized in that the telescopic supporting rod is composed of n sections of rods, the rods are tubular, the outer diameter of each section of rod decreases from outside to inside section by section, the outer diameter of the inner section of rod between adjacent sections of rods is not larger than the inner diameter of the outer section of rod, and each section of rod is stretched and clamped.
4. The portable mining all-solid-state area array lidar goaf spatial deformation monitoring system of claim 1, wherein the probe housing is of a frame-like structure, square or cylindrical in shape.
5. The portable monitoring system for the spatial deformation of the mined-out area of the mining all-solid-state area array laser radar as claimed in any one of claims 1 to 4, wherein a carrying handle is arranged on the outer surface of the control box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010484251.7A CN113758434A (en) | 2020-06-01 | 2020-06-01 | Portable monitoring system for spatial deformation of mining all-solid-state area array laser radar goaf |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010484251.7A CN113758434A (en) | 2020-06-01 | 2020-06-01 | Portable monitoring system for spatial deformation of mining all-solid-state area array laser radar goaf |
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| Publication Number | Publication Date |
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| CN113758434A true CN113758434A (en) | 2021-12-07 |
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| CN202010484251.7A Pending CN113758434A (en) | 2020-06-01 | 2020-06-01 | Portable monitoring system for spatial deformation of mining all-solid-state area array laser radar goaf |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116902032A (en) * | 2023-09-11 | 2023-10-20 | 武汉和弦科技有限公司 | Foreign matter intrusion early warning method and device based on laser radar monitoring |
-
2020
- 2020-06-01 CN CN202010484251.7A patent/CN113758434A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116902032A (en) * | 2023-09-11 | 2023-10-20 | 武汉和弦科技有限公司 | Foreign matter intrusion early warning method and device based on laser radar monitoring |
| CN116902032B (en) * | 2023-09-11 | 2023-12-08 | 武汉和弦科技有限公司 | Foreign matter intrusion early warning method and device based on laser radar monitoring |
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