CN113870532B - Movable mine roadway surrounding rock three-dimensional monitoring and alarming device and method - Google Patents
Movable mine roadway surrounding rock three-dimensional monitoring and alarming device and method Download PDFInfo
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Abstract
A movable mine roadway surrounding rock three-dimensional monitoring alarm device and method relate to the technical field of roadway surrounding rock monitoring and are used for solving the problem that deformation cannot be effectively analyzed and early warning is carried out due to the fact that the existing monitoring device cannot collect roadway surrounding rock deformation parameters in an omnibearing and efficient mode. The device comprises a movable trolley and a self-balancing rotation monitoring module, wherein the self-balancing rotation monitoring module comprises a rotation platform, a lifting part, a balancing part and a detection part; wherein the balancing component is used for keeping the detecting component in a vertical position; the detection component is used for scanning and detecting the top position and the side position of the corner reflector installed in one or more areas in the roadway by utilizing multiple groups of radars, and comprises two crisscross downward-bent arch-shaped bearing frames, and a plurality of 77-79GHz high-resolution millimeter wave radars are uniformly distributed on each arch-shaped bearing frame at intervals. The invention can collect deformation parameters of surrounding rock of the roadway in an omnibearing and efficient way, further analyze deformation and perform effective early warning.
Description
Technical Field
The invention relates to the technical field of roadway surrounding rock monitoring, in particular to a movable mine roadway surrounding rock three-dimensional monitoring alarm device and method.
Background
Roadway surrounding rock collapse, water permeability and gas leakage are important factors for underground accidents, and roadway surrounding rock deformation is often a precursor of collapse, water permeability and gas leakage. Surrounding rock deformation often presents slow change, slowly becomes characteristics, and factors such as dust, mud, light in the operation scene in the pit easily cause optical image, laser sensor to become invalid, and conventional detection sensor is difficult to carry out the stereoscopic observation of all-weather, full scene to the roadway surrounding rock deformation state, greatly threatens the safety of underground operation personnel, equipment, also causes a great deal of adverse effect to the social stability. The 77GHz millimeter wave radar has high resolution characteristics of distance (within 50-100 m) and angle (+ -30 DEG) and can still keep excellent detection performance in dust, slurry and rain and fog environments; through technologies such as antenna integration, microwave integration, millimeter wave radar can make monitoring system modularization, miniaturization, low-power (avoid flammable gas risk), is particularly suitable for operation scene such as complicated dust in the pit, mud. However, due to the complexity of deformation of the surrounding rock of the roadway, how to effectively acquire deformation parameters of the surrounding rock of the roadway at the top and in the lateral direction by using a 77GHz millimeter wave radar and analyze the deformation parameters so as to effectively early warn is a problem to be solved urgently.
Disclosure of Invention
In view of the above problems, the invention provides a movable mine roadway surrounding rock three-dimensional monitoring alarm device and method, which are used for solving the problem that the existing radar-containing monitoring device cannot collect roadway surrounding rock deformation parameters in an omnibearing and efficient manner, so that deformation quantity cannot be effectively analyzed and early warning can be carried out.
According to one aspect of the invention, a movable mine roadway surrounding rock three-dimensional monitoring alarm device is provided, and the device comprises a movable trolley and a self-balancing rotation monitoring module carried on the movable trolley;
the self-balancing rotation monitoring module comprises a rotation platform, a lifting part, a balancing part and a detection part which are arranged from bottom to top; the rotating platform is arranged on the movable trolley and is connected with the U-shaped bracket of the balance component through the lifting component; the transverse shaft of the balance component is provided with a detection component capable of swinging along the transverse shaft; when the rotating platform rotates, the lifting component, the balance component and the detection component are driven to synchronously rotate;
the rotating platform is used for providing direction rotation for the self-balancing rotation monitoring module and adjusting the detection direction of the detection component; the lifting component is used for lifting the balance component and the detection component; the balance component is used for keeping the detection component in a vertical position; the detection component is used for sequentially scanning and detecting the top position and the side position of the corner reflector installed in one or more areas in the roadway by utilizing a plurality of groups of radars; the detection component comprises a tray, a radar bracket and a plurality of millimeter wave radars, wherein the lower part of the tray is connected with the balance component, and the upper part of the tray is connected with the radar bracket; the radar support is two crisscross downward bending arch-shaped bearing frames, and a plurality of millimeter wave radars are uniformly distributed on each arch-shaped bearing frame at intervals.
Further, a communication module and an alarm module are arranged on the movable trolley; the alarm module is used for alarming in a roadway when the relative deformation of the corner reflector exceeds a risk threshold value; the communication module is used for carrying out real-time communication with the ground receiving end.
Further, the balance component comprises a U-shaped bracket and a cylindrical cavity, the bottom end of the lower part of the U-shaped bracket is connected with the lifting component, a transverse shaft between the opening ends of the U-shaped bracket is provided with the cylindrical cavity which can swing along the transverse shaft, and the transverse shaft passes through two opposite side walls of the upper part of the cylindrical cavity; the bottom of the cylindrical cavity is hemispherical, a counterweight, an inclination sensor and a data processing submodule are arranged in the cylindrical cavity, the counterweight is arranged at the bottom of the cylindrical cavity, the inclination sensor is vertically arranged on the inner wall of the cylindrical cavity and used for detecting the inclination angle of the cylindrical cavity, and the data processing submodule is used for carrying out real-time processing analysis on radar echo data acquired by the detection part and sending a data analysis result to the alarm module and the communication module.
Further, the rotary platform comprises a platform main body, a controller and a driving motor, wherein the controller controls the driving motor to work according to the inclination angle detected by the inclination angle sensor.
Further, the detection component further comprises a housing, and the tray, the radar support and the millimeter wave radars are all arranged in the housing; the millimeter wave radars are nine 77-79GHz high-resolution millimeter wave radars.
Further, nine 77-79GHz high-resolution millimeter wave radars are distributed on two crisscrossed downwards bent arch-shaped carriers in the following manner: a top radar is arranged at the cross part; two radars are uniformly arranged on each arch-shaped bearing frame at intervals on two sides by taking the top radar as the center; the central angle corresponding to the cambered surface formed by the centers of every two radars on each arch-shaped bearing frame is 30 degrees.
Further, the device also comprises a ground receiving end, wherein the ground receiving end comprises a display module and a ground alarm module, and the display module is used for displaying the data analysis result transmitted back by the communication module; the ground alarm module is used for giving a ground alarm when the relative deformation of the corner reflector exceeds a risk threshold.
According to another aspect of the invention, a movable mine roadway surrounding rock three-dimensional monitoring and alarming method is provided, and the method comprises the following steps:
the method comprises the steps that firstly, an angle reflector is arranged at the top position and the side position of one or more areas in a roadway, a plurality of groups of radars are utilized to sequentially scan and detect the top position and the side position in a working period, and echo data are analyzed to obtain detection results; wherein each group of radars has a different carrier frequency; the detection result comprises a distance parameter and a direction parameter of the angle reflector at each position;
training an LSTM deep learning network model based on historical detection data, inputting the detection result of the current working period into the trained LSTM deep learning network model, and obtaining the prediction detection result of the corner reflector at each position in the next working period; the historical detection data comprise distance parameters and direction parameters of one working period of the angle reflector at each position relative to the distance variation and direction variation of the previous working period;
step three, making a difference value between the predicted detection result and the detection result of the current working period to obtain the distance variation and the direction variation of the angle reflector at each position; and when the distance variation and the direction variation of the angle reflector at each position exceed the risk threshold value, sending out alarm information.
Further, the specific process of scanning and detecting the top position and the side position sequentially by using multiple groups of radars in one working period in the first step comprises the following steps: the plurality of groups of radars rise from a lowest position to a highest position to a working period, and at each height position in the working period: when the top radar and the angle reflector at the top position are positioned on the same vertical line, the top radar firstly performs scanning detection, and after the top radar detection is finished, the other two groups of radars sequentially perform scanning detection according to the sequence, so as to obtain multiple groups of echo data corresponding to multiple height positions in one working period.
Further, the risk threshold is 20% of the maximum value of the absolute value of the distance variation and the maximum value of the absolute value of the direction variation of the angular reflector in N continuous working cycles in the historical detection data.
The beneficial technical effects of the invention are as follows:
according to the invention, the movable trolley is provided with the millimeter wave radar detection device, whether displacement change occurs to a marker placed on a well wall is detected by the millimeter wave radar, so that whether the risk of collapse of surrounding rock of the underground roadway exists is judged, and risk alarm is carried out when the risk is predicted. The device can collect deformation parameters of surrounding rock of the roadway in an omnibearing and efficient manner, analyze deformation and perform effective early warning. The invention can be used for the risk investigation of down-hole surrounding rock collapse, falling rocks and the like.
Drawings
The invention may be better understood by reference to the following description taken in conjunction with the accompanying drawings, which are included to provide a further illustration of the preferred embodiments of the invention and to explain the principles and advantages of the invention, together with the detailed description below.
FIG. 1 is a schematic structural view of a movable mine roadway surrounding rock three-dimensional monitoring alarm device;
FIG. 2 is a top view structural diagram of a movable mine roadway surrounding rock three-dimensional monitoring alarm device;
FIG. 3 is a schematic diagram of a millimeter wave radar arrangement in accordance with the present invention;
fig. 4 is a schematic diagram of the operation of millimeter wave radar on an arcuate carrier in accordance with the present invention;
fig. 5 is a schematic diagram of the operation of millimeter wave radar on another arcuate carrier in accordance with the present invention;
FIG. 6 is a schematic diagram of the operation of the hydraulic lifter of the present invention;
FIG. 7 is a diagram showing an example of the operation of the ground receiver display module according to the present invention;
FIG. 8 is a flow chart of a movable mine roadway surrounding rock three-dimensional monitoring and alarming method;
FIG. 9 is a diagram showing an example of a deep learning analysis process in the present invention;
FIG. 10 is a diagram of another example of the deep learning analysis process of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, exemplary embodiments or examples of the present invention will be described below with reference to the accompanying drawings. It is apparent that the described embodiments or examples are only implementations or examples of a part of the invention, not all. All other embodiments or examples, which may be made by one of ordinary skill in the art without undue burden, are intended to be within the scope of the present invention based on the embodiments or examples herein.
Aiming at the problem of monitoring surrounding rock of the current mine tunnel, the invention provides a movable mine tunnel surrounding rock three-dimensional monitoring alarm device and method based on a plurality of groups of 77-79GHz high-resolution millimeter wave radars, through a movable self-balancing monitoring platform, the real-time monitoring of a plurality of anchor point markers (angle reflectors) such as the top position, the lateral position and the like of the tunnel is realized, the influence of underground road surface concave-convex and potholes on instrument arrangement is overcome, high-resolution specific marker (angle reflector) ranging and angle measuring parameters are obtained, physical parameters such as deformation size, deformation rate and relative displacement of specific marker points of the tunnel surrounding rock are further analyzed, and by means of a deep learning analysis algorithm, periodic time sequence data are stored to evaluate deformation risks, so that efficient monitoring and early warning are realized.
As shown in fig. 1-7, the invention provides a movable mine roadway surrounding rock three-dimensional monitoring alarm device, which comprises a movable trolley 1 and a self-balancing rotation monitoring module 2 carried on the movable trolley 1; the self-balancing rotation monitoring module 2 comprises a rotation platform 21, a lifting part 22, a balancing part 23 and a detecting part 24 which are arranged from bottom to top; the rotating platform 21 is arranged on the movable trolley 1, and the rotating platform 21 is connected with a U-shaped bracket of the balance component 23 through the lifting component 22; the detection part 24 capable of swinging along the transverse axis is arranged on the transverse axis of the balance part 23; when the rotating platform 21 rotates, the lifting component 22, the balancing component 23 and the detecting component 24 are driven to synchronously rotate;
the rotating platform 21 is used for providing direction rotation for the self-balancing rotation monitoring module 2 and adjusting the detection direction of the detection component 24; the rotary platform 21 comprises a platform main body, a controller and a driving motor, wherein the controller controls the driving motor to work according to the inclination angle detected by the inclination angle sensor;
the lifting member 22 is used for lifting and lowering the balance member 23 and the detection member 24; the lifting component 22 comprises a lifting rod and a driver, wherein the driver is connected with the lifting rod and is used for driving the lifting rod to lift; the driver can adopt a lifting motor, a hydraulic motor or other driving modes;
the balance member 23 is for holding the detection member 24 in a vertical position; the balance component 23 comprises a U-shaped bracket 231 and a cylindrical cavity 232, the bottom end of the lower part of the U-shaped bracket 231 is connected with the lifting component 22, the cylindrical cavity 232 capable of swinging along the transverse shaft is arranged on the transverse shaft between the opening ends of the U-shaped bracket 231, and the transverse shaft passes through the two opposite side walls of the upper part of the cylindrical cavity 232; the bottom of the cylindrical cavity 232 is hemispherical, a counterweight 233, a data processing submodule 234 and an inclination sensor are arranged in the cylindrical cavity 232 vertically, the counterweight 233 is arranged at the bottom of the cylindrical cavity 232, the inclination sensor is bonded with the inner wall of the cylindrical cavity 232 by colloid and used for detecting the inclination angle of the cylindrical cavity 232 and transmitting the inclination angle to the rotating platform 21, and the data processing submodule 234 is used for carrying out real-time processing analysis on radar echo data acquired by the detecting component 24 and transmitting the data analysis result to the alarm module 12 and the communication module 11; the cylindrical cavity 232 is connected with the tray 241 of the detecting component 24 by welding or screw fixation;
the detecting component 24 is used for scanning and detecting a top area and a lateral area of one or more areas in the roadway, wherein the top area and the lateral area are provided with the corner reflectors, by utilizing multiple groups of radars in sequence; the detecting section 24 includes a tray 241, a radar support 242, a plurality of millimeter wave radars 243, and a housing 244, the tray 241, the radar support 242, and the plurality of millimeter wave radars 243 being disposed within the housing 244; the lower part of the tray 241 is connected with the cylindrical cavity 232, and the upper part is connected with the radar bracket 242; the radar support 242 is two crisscross downward bending arch-shaped bearing frames, and a plurality of millimeter wave radars 243 are uniformly distributed on each arch-shaped bearing frame at intervals; the plurality of millimeter wave radars 243 are nine 77-79GHz high-resolution millimeter wave radars, and the nine 77-79GHz high-resolution millimeter wave radars are distributed on two crisscross downward-bent arch-shaped bearing frames in the following manner: a top radar is arranged at the cross part, and the detection direction of the top radar is vertical to the horizontal direction; two radars are uniformly arranged on each arch-shaped bearing frame at intervals on two sides by taking the top radar as the center; the central angle corresponding to the cambered surface formed by each two radar centers on each arch-shaped bearing frame is 30 degrees;
the mobile trolley 1 is provided with a communication module 11 and an alarm module 12; the alarm module 12 is used for alarming in a roadway when the relative deformation of the corner reflector exceeds a risk threshold; the communication module 11 is used for real-time communication with a ground receiving end.
The ground receiving end comprises a display module and a ground alarm module, and the display module is used for displaying the data analysis result returned by the communication module 11; the ground alarm module is used for giving a ground alarm when the relative deformation of the corner reflector exceeds a risk threshold.
It should be noted that, the data processing sub-module 234 may communicate with the alarm module 12 and the communication module 11, the communication module 11 and the ground receiving end, and the tilt sensor and the controller in a wireless manner.
Detailed description of the preferred embodiments
1-7, a movable mine roadway surrounding rock three-dimensional monitoring alarm device, namely a downhole three-dimensional monitoring alarm system, comprises a movable trolley, a balancing device (balancing component), a rotating platform, a hydraulic lifting rod (lifting component), a millimeter wave radar detection platform (comprising an arch-shaped bearing frame (two crossed blocks), a plurality of groups of 77-79GHz millimeter wave radars, a data processing sub-module and the like), a communication module, an alarm module, a power module and the like.
The movable trolley is supported by a wheel type trolley frame, namely a wheel group, can be manually moved in an auxiliary manner, and can also be carried with a power source for movement; the self-balancing rotating device (namely a self-balancing rotating monitoring module) uses a rotating platform to provide direction rotation for the millimeter wave radar detection platform, adjusts the detection direction of the top radar by combining the balancing device, realizes vertical detection of the top radar A, is internally provided with a stepping motor to realize 10-degree clockwise circumferential rotation each time, is internally provided with an inclination sensor, forms closed-loop control with the motor in the rotating platform, and stops rotating once the inclination sensor detects a vertical angle; when the portable dolly is because the uneven slope that takes place in ground, leads to each part that hydraulic lifting rod supported also to take place the slope, when the cross-section direction of U type support among the balanced part was unanimous with ground inclination, there was great friction in self-balancing rotating device, was difficult to realize balanced correction, and the rotation of rotating platform made the cross-section direction of U type support inconsistent with ground inclination this moment, namely: the cross section direction of the U-shaped bracket is vertical to the swing direction of the cylindrical cavity 232, so that friction is reduced, and the detection direction of the top radar is further adjusted along with the gravity action (tumbler balance principle), namely the balancing weight 233, so that the detection direction of the top radar A is vertical or vertical, and vertical detection of the top radar A is realized; the balancing device consists of a balancing device bracket, a balancing device shell and a counterweight, the millimeter wave radar detection platform is kept at a horizontal position by utilizing the 'tumbler balance' principle, and the top radar A always points to the right upper side.
The hydraulic lifting rod is mainly used for lifting the millimeter wave radar detection platform and comprises 1-5 positions, wherein each position is separated by 10cm, and a plurality of groups of lateral marker data are obtained by adjusting the height (1-5) of the detection platform; the radar is distributed on the bracket as follows: the top radar A forms an included angle of 90 degrees with the horizontal direction, and other millimeter wave radars and the top radar form an included angle of 30 degrees which are distributed at intervals; when the detection platform starts to work, the hydraulic lifting rod lifts the arch-shaped bearing frame of the detection platform to the position 1, after detection of each group of radars on the detection platform is completed in sequence, the position is then 2/3/4/5, and after one working cycle, the hydraulic lifting rod returns the millimeter wave radar detection platform to the position 1.
The millimeter wave radar detection platform consists of an arched bearing frame, 9 high-resolution millimeter wave radars, a data processing sub-module and a protective shell, wherein 77-79GHz high-resolution millimeter wave radars are main detection sensors; the data processing sub-module is provided with a high-performance CPU and a DSP which are used for processing multiple groups of radar echo data and obtaining information such as relative distance, direction and the like of each marker.
The communication module is responsible for packing and uploading deformation states of all the markers (corner reflectors) of each working period to the ground processing center, and is mainly linked with the ground receiving platform by an optical fiber link, so that the problem that underground wireless signals are weak and strong and easily induce flammable and explosive risks is solved.
The alarm module comprises two parts of roadway alarm and ground alarm; after the continuous period state data obtained by the data processing sub-module in the detection platform are compared and analyzed, if the continuous period state data exceeds a set threshold value, roadway alarm is firstly carried out to remind operators of evacuation, then ground receiving end alarm is carried out, and relevant remedial measures are carried out; the threshold is set to 20% of the maximum (absolute) deformation value in each marker for 5 consecutive cycles or a value empirically.
The power supply module mainly comprises a 12V weak power supply and is used for supporting power supplies of the mobile platform, the millimeter wave radar detection platform, the communication module, the alarm module and the like.
The invention also provides a movable mine roadway surrounding rock three-dimensional monitoring and alarming method, which comprises the following steps:
the method comprises the steps that firstly, an angle reflector is arranged at the top position and the side position of one or more areas in a roadway, a plurality of groups of radars are utilized to sequentially scan and detect the top position and the side position in a working period, and echo data are analyzed to obtain detection results; wherein each group of radars has a different carrier frequency; the detection result comprises a distance parameter and a direction parameter of the angle reflector at each position;
training an LSTM deep learning network model based on historical detection data, inputting the detection result of the current working period into the trained LSTM deep learning network model, and obtaining the prediction detection result of the corner reflector at each position in the next working period; the historical detection data comprises the distance parameter and the direction parameter of one working period of the angle reflector at each position relative to the distance variation and the direction variation of the previous working period;
step three, making a difference value between the predicted detection result and the detection result of the current working period to obtain the distance variation and the direction variation of the angle reflector at each position; when the distance variation and the direction variation of the angle reflector at each position exceed the risk threshold value, alarm information is sent out; the risk threshold is 20% of the maximum absolute value of the angular reflector distance variation and the maximum absolute value of the direction variation in the continuous N working cycles in the historical detection data.
Further, the specific process of scanning and detecting the top position and the side position sequentially by using multiple groups of radars in one working period in the first step comprises the following steps: the plurality of groups of radars rise from a lowest position to a highest position to a working period, and at each height position in the working period: when the top radar and the angle reflector at the top position are positioned on the same vertical line, the top radar firstly performs scanning detection, and after the top radar detection is finished, the other two groups of radars sequentially perform scanning detection according to the sequence, so as to obtain multiple groups of echo data corresponding to multiple height positions in one working period.
Second embodiment
As shown in fig. 8-10, the movable mine roadway surrounding rock three-dimensional monitoring and alarming method specifically comprises the following steps:
firstly, when a plurality of radars on a movable three-dimensional monitoring platform detect that a marker is arranged at the top of a well wall, the movable three-dimensional monitoring platform reaches the position right below the top marker, and by means of a platform self-balancing rotating device, the top radar A and the top marker are arranged on the same vertical line (when the distance between the top radar A and the marker is the smallest in the moving process of the platform, the top radar A and the top marker are regarded as the same vertical line), a hydraulic lifting rod moves to a position 1, and according to the angle reflector direction on the top marker measured by the top radar A and the radars 1-8 uniformly distributed on an arch-shaped bearing frame of the monitoring platform, the radars are arranged at a certain angle to detect the side marker, so that the distance and the direction of each marker relative to the monitoring platform are obtained, and a three-dimensional observation coordinate system is constructed.
Then, uniformly distributed radars on an arch-shaped bearing frame of the monitoring platform sequentially detect side markers and top markers, wherein 1/4/5/8 is a group of simultaneous detection, 2/3/6/7 is a group of simultaneous detection, A is a single group, and each radar in each group adopts different carrier frequencies, so that interference is reduced; and one radar group works for 30 seconds and then the other radar group works, and the radar groups are sequentially changed; during any one group of radar detection operation, the other two groups of radars perform echo data analysis. The hydraulic lifting rod is moved to the position 2-5 after the detection of the position 1 by the monitoring platform is completed, and the distance between the positions is 10cm. The two arched bearing frames are crossed to form a curved surface, 9 radar detection areas form an umbrella-shaped radial spherical surface, because each radar detection angle is +/-30 degrees (fan-shaped), three groups of radars cannot generate cross interference, and three groups of radars work in a time-sharing mode, wave beams cannot cross (each group is responsible for own detection direction), and the three-dimensional detection effect of 360 degrees above and beside the monitoring device is more beneficial to obtaining. When the hydraulic lifting rod is lifted to different positions, the direction and the position away from the target point are different, and more target point data are obtained, so that whether the analysis is changed or not is facilitated, and the deformation rule is induced. If only data of a single position is collected, the wall can interfere with the detection of the target, so that the obtained target data cannot be guaranteed to be the clearest and accurate.
Finally, after all millimeter wave radars in a monitoring platform are detected in one working period cycle, analyzing to obtain detection results (distance and direction values of marks in a three-dimensional observation coordinate system) and previous working period data, comparing and analyzing, storing relative deformation amounts, namely distance change amounts and azimuth change amounts, of all marks of 5 working periods (set to be current working periods t0, namely t-1 to t-5) at continuous historical time, predicting deformation state values of the current working periods by utilizing an LSTM deep learning network, drawing relative distance and azimuth change difference curves of all marks of the current 5 working periods (t 0 to t 4), respectively making difference values of the deformation values of all working periods of the prediction curves and actual curves, and packaging and uploading the obtained difference values to a ground receiving end; and calculating a fluctuation difference value of the marker, judging whether the fluctuation difference value exceeds a risk threshold value, and immediately sending alarm information to a ground receiving end if the fluctuation difference value exceeds the risk threshold value, wherein the alarm information comprises detection time, deformation (distance and azimuth) fluctuation difference values of the markers and the like.
While the invention has been described with respect to a limited number of embodiments, those skilled in the art, having benefit of the above description, will appreciate that other embodiments are contemplated within the scope of the invention as described herein. The disclosure of the present invention is intended to be illustrative, but not limiting, of the scope of the invention, which is defined by the appended claims.
Claims (6)
1. The movable mine roadway surrounding rock three-dimensional monitoring alarm device is characterized by comprising a movable trolley and a self-balancing rotation monitoring module carried on the movable trolley;
the self-balancing rotation monitoring module comprises a rotation platform, a lifting part, a balancing part and a detection part which are arranged from bottom to top; the rotating platform is arranged on the movable trolley and is connected with the U-shaped bracket of the balance component through the lifting component; the transverse shaft of the balance component is provided with a detection component capable of swinging along the transverse shaft; when the rotating platform rotates, the lifting component, the balance component and the detection component are driven to synchronously rotate;
the balance component is used for keeping the detection component in a vertical position; the balance component comprises a U-shaped bracket and a cylindrical cavity, the bottom end of the lower part of the U-shaped bracket is connected with the lifting component, a transverse shaft between the opening ends of the U-shaped bracket is provided with the cylindrical cavity which can swing along the transverse shaft, and the transverse shaft passes through two opposite side walls of the upper part of the cylindrical cavity; the bottom of the cylindrical cavity is hemispherical, a counterweight, an inclination sensor and a data processing submodule are arranged in the cylindrical cavity, the counterweight is arranged at the bottom of the cylindrical cavity, and the inclination sensor is vertically arranged on the inner wall of the cylindrical cavity and is used for detecting the inclination angle of the cylindrical cavity;
the rotating platform is used for providing direction rotation for the self-balancing rotation monitoring module and adjusting the detection direction of the detection component, and comprises a platform main body, a controller and a driving motor, wherein the controller controls the driving motor to work according to the inclination angle detected by the inclination angle sensor; when the section direction of the U-shaped bracket in the balance component is consistent with the ground inclination direction, the rotary platform rotates to enable the section direction of the U-shaped bracket to be perpendicular to the swing direction of the cylindrical cavity, so that friction is reduced;
the lifting component is used for lifting the balance component and the detection component;
the detection component is used for sequentially scanning and detecting the top position and the side position of the corner reflector installed in one or more areas in the roadway by utilizing a plurality of groups of radars; the detection component comprises a tray, a radar bracket and a plurality of millimeter wave radars, wherein the lower part of the tray is connected with the balance component, and the upper part of the tray is connected with the radar bracket; the radar support is two crisscross downward-bent arch-shaped bearing frames, and a plurality of millimeter wave radars are uniformly distributed on each arch-shaped bearing frame at intervals; the distribution mode of the millimeter wave radars on the two crisscrossed downwards bent arch-shaped bearing frames is as follows: a top radar is arranged at the cross part; two radars are uniformly arranged on each arch-shaped bearing frame at intervals on two sides by taking the top radar as the center; the central angle corresponding to the cambered surface formed by each two radar centers on each arch-shaped bearing frame is 30 degrees;
the process for monitoring and alarming the movable mine roadway surrounding rock by using the device comprises the following steps:
the method comprises the steps that an angle reflector is arranged at the top position and the side position of one or more areas in a roadway, a plurality of groups of radars are utilized to sequentially scan and detect the top position and the side position in one working period, echo data are analyzed, and detection results are obtained; wherein each group of radars has a different carrier frequency; the detection result comprises a distance parameter and a direction parameter of the angle reflector at each position; the specific process comprises the following steps: the plurality of groups of radars rise from a lowest position to a highest position to a working period, and at each height position in the working period: when the top radar and the angle reflector at the top position are positioned on the same vertical line, the top radar firstly performs scanning detection, and after the top radar detection is finished, the other two groups of radars sequentially perform scanning detection according to the sequence, so as to obtain multiple groups of echo data corresponding to multiple height positions in one working period;
training an LSTM deep learning network model based on historical detection data, inputting the detection result of the current working period into the trained LSTM deep learning network model, and obtaining the prediction detection result of the corner reflector at each position in the next working period; the historical detection data comprise distance parameters and direction parameters of one working period of the angle reflector at each position relative to the distance variation and direction variation of the previous working period;
the detection result of the predicted detection result and the detection result of the current working period are made to be different to obtain the distance variation and the direction variation of the angle reflector at each position; and when the distance variation and the direction variation of the angle reflector at each position exceed the risk threshold value, sending out alarm information.
2. The movable mine roadway surrounding rock three-dimensional monitoring and alarming device according to claim 1, wherein a communication module and an alarming module are arranged on the movable trolley; the alarm module is used for alarming in a roadway when the relative deformation of the corner reflector exceeds a risk threshold value; the communication module is used for carrying out real-time communication with the ground receiving end.
3. The movable mine roadway surrounding rock three-dimensional monitoring and alarming device according to claim 2, wherein the data processing sub-module is used for carrying out real-time processing analysis on radar echo data collected by the detection component and sending a data analysis result to the alarming module and the communication module.
4. The movable mine roadway surrounding rock three-dimensional monitoring and alarming device according to claim 3, wherein the detecting component further comprises a shell, and the tray, the radar support and the millimeter wave radars are all arranged in the shell; the millimeter wave radars are nine 77-79GHz high-resolution millimeter wave radars.
5. The movable mine roadway surrounding rock three-dimensional monitoring alarm device according to claim 4, further comprising a ground receiving end, wherein the ground receiving end comprises a display module and a ground alarm module, and the display module is used for displaying data analysis results returned by the communication module; the ground alarm module is used for giving a ground alarm when the relative deformation of the corner reflector exceeds a risk threshold.
6. The movable mine roadway surrounding rock three-dimensional monitoring alarm device according to claim 5, wherein the risk threshold is 20% of the maximum value of the absolute value of the distance variation of the angular reflector and the maximum value of the absolute value of the direction variation in the continuous N working cycles in the historical detection data.
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