CN114111583A - Mining crack monitoring device and method based on laser ranging - Google Patents
Mining crack monitoring device and method based on laser ranging Download PDFInfo
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- 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
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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
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Abstract
The application provides a mining crack monitoring devices and method based on laser rangefinder, this monitoring devices includes at least one monitoring unit and outside computational element, and this monitoring unit includes: a laser emitting unit including a plurality of laser emitters for emitting laser light and receiving reflected laser light; the laser reflection unit comprises a reflection plate, the reflection plate consists of at least one eight-communicated template, and the laser reflection unit and the laser emission unit are oppositely arranged on two sides of the mining crack in parallel in a use state; wherein, the external computing unit is in communication connection with the laser reflection unit to receive data from the laser emission unit and perform computation. The monitoring device determines the position of a reflecting point by utilizing laser ranging and wireless transmission technologies and combining with a reflecting unit of an eight-communicated template, so that the three-dimensional size change of the mining crack is determined.
Description
Technical Field
The invention relates to the technical field of mining area ground surface monitoring and laser ranging, in particular to a mining crack monitoring device and method based on laser ranging.
Background
The surface mining crack is a common mining damage phenomenon in a coal mining area, particularly, the mining area with smaller mining depth is more obvious, but the damage degree is more serious. Common damages caused by mining cracks include road breakage, traffic retardation, building (structure) structure collapse, tension and compression damage of a power transmission line or a buried pipeline, influence of tillage or vegetation growth due to land cracking, even aggravation of water and soil loss, influence of earth surface water body leakage on production and life of people and the like, damage to the existence and natural ecological environment of people is caused, and loss of lives and properties of people is caused. Therefore, mining fractures have become one of the important research contents in mining.
At present, the ground surface mining crack is mainly researched in a field actual measurement mode, a common method is a steel ruler or a tape measure, when the distance measurement is large or the topographic relief change is large, multiple persons are required to cooperate to measure, and time and labor are wasted; in recent years, there are also methods of measurement by mechanical means, such as patent CN201420594768.1 and patent CN201220196161.9, but it is necessary to manually read data, and another method is laser ranging, which uses laser pulses or laser phase interference to record the distance between the transmitted pulse and the received pulse reflected by the target. The laser ranging is fast and accurate, and in order to be convenient to carry and not increase extra cost investment, a laser ranging mobile phone is invented, such as a patent CN201710261248.7 and a patent CN 201020639150.4. However, no matter the current field manual measurement, mechanical device distance measurement or portable laser distance measurement, the requirements of portability, large-size observation and real-time full-automatic observation are difficult to be considered.
Disclosure of Invention
Aiming at the problems in the prior art, the application provides a mining crack monitoring device and method based on laser ranging, which utilize laser ranging and wireless transmission technologies to realize high-precision observation of large-size cracks, avoid incomplete observation data caused by uncertain crack fall or movement, and automatically collect data in real time and form images.
In a first aspect, the invention provides a mining crack monitoring device based on laser ranging, which comprises at least one monitoring unit and an external computing unit, wherein the monitoring unit comprises: a laser emitting unit including a plurality of laser emitters for emitting laser light and receiving reflected laser light; the laser reflection unit comprises a reflection plate, the reflection plate consists of at least one eight-communicated template, and the laser reflection unit and the laser emission unit are oppositely arranged on two sides of the mining crack in parallel in a use state; wherein, the external computing unit is in communication connection with the laser reflection unit to receive data from the laser emission unit and perform computation. With the monitoring device of this aspect, it is determined the three-dimensional change of the mining fracture by utilizing laser ranging and wireless transmission techniques in combination with determining the reflection point position through the reflection unit of the eight-way connection template.
In one embodiment of the first aspect, the laser transmitter unit further includes a transmitter unit main body, a control main board, a data transmission antenna, and a power module, and the plurality of laser transmitters, the control main board, the data transmission antenna, and the power module are all disposed on the transmitter unit main body.
In one embodiment of the first aspect, the laser reflection unit includes a reflection unit main body, the reflection plate is fixedly disposed on the reflection unit main body and is formed by at least one eight-connected template which is formed by adjoining the eight-connected template in a matrix form, the eight-connected template includes 9 reflection blocks with different reflectances, and the reflection unit can reflect the laser light from the laser reflection unit. By the embodiment, the position of the reflection point on the eight-connected template is determined by receiving echo information from the reflection units with different reflectivities on the eight-connected template by the laser transmitter, so that the three-dimensional size change of the crack is determined.
In one embodiment of the first aspect, the reflection block is a square, and a side length of the square is greater than or equal to half of a distance of a displacement between two adjacent measurement times of the laser emission unit and the laser reflection unit.
In one embodiment of the first aspect, the laser emitting unit comprises 5 laser emitters distributed in an "X" shape on the emitting unit body. By means of the embodiment, the fact that the laser can receive echo information from the laser reflection unit under various motion modes of the crack can be guaranteed.
In one embodiment of the first aspect, the mining fracture monitoring device further comprises a wireless data transmission relay for communicatively connecting the at least one monitoring unit and the external computing unit. By the embodiment, data of a plurality of monitoring units on two sides of a large-size mining crack can be collected, and comprehensiveness of mining crack monitoring is ensured.
In one embodiment of the first aspect, the laser emitting unit further includes an emitting unit support for supporting the emitting unit main body, and the laser reflecting unit further includes a reflecting unit support for supporting the reflecting unit main body. Through this embodiment, be convenient for set up the monitoring unit to the mining fracture.
In one embodiment of the first aspect, the power module is a battery and/or a solar photovoltaic panel.
In a second aspect, the present invention provides a method for detecting a mining fracture using the mining fracture monitoring device of the first aspect and any embodiment thereof, the method comprising the steps of: step 1, arranging at least one monitoring unit on two sides of a mining crack, wherein each laser emitting unit and each laser reflecting unit are oppositely positioned on two sides of the mining crack in parallel; step 2, at a first moment, the at least one laser transmitter transmits laser to the reflecting plate and receives reflected laser reflected by the reflecting plate; step 3, determining the coordinates of the reflection point at the first moment according to the reflected laser, and then sending first reflection information to the external computing unit; step 4, repeating the steps 2 and 3 at a second moment, and sending second reflection information to the external computing unit; and step 5, determining the three-dimensional scale change of the mining fracture according to the first reflection information and the second reflection information.
In one embodiment of the second aspect, the first reflection information or the second reflection information includes an echo time and a reflection point coordinate in the reflection plate. With this embodiment, the width variation, height variation, horizontal offset distance perpendicular to the width direction, and the like of the crack between the first timing and the second timing can be thus determined.
In one embodiment of the second aspect, the three-dimensional change includes a width difference, a height difference, and a horizontal dislocation distance perpendicular to the width direction.
In one embodiment of the second aspect, the width difference is calculated by the following equation:
wherein ,DiIs the distance between the laser emitting unit and the laser reflecting unit at the ith time, i is a positive integer, Δ D is the width difference between the ith time and the (i-1) th time, tiThe echo time at the i-th time and c is the speed of light.
In one embodiment of the second aspect, the height difference is a product of a difference between ordinate values of the coordinates of the reflection point at the second time and the first time and a side length of the reflection unit; the horizontal dislocation distance is the product of the difference between the abscissa values of the coordinates of the reflection points at the second time and the first time and the side length of the reflection unit.
Compared with the prior art, the mining crack monitoring device and method based on laser ranging realize high-precision monitoring of large-size cracks by using laser ranging and wireless transmission technologies, avoid incomplete monitoring data caused by uncertainty of crack fall or movement, meet the requirements of stretching and compressing the cracks, simultaneously measuring and fully automatically acquiring data and forming in real time, can adapt to complex terrain, have good reliability and can perform three-dimensional measurement; in addition, the device does not need to manually read data, avoids errors caused by human factors, can visually display a crack development curve at a PC (personal computer) end in real time, and improves monitoring efficiency.
The features mentioned above can be combined in various suitable ways or replaced by equivalent features as long as the object of the invention is achieved.
Drawings
The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings. Wherein:
FIG. 1 shows a schematic view of a monitoring device positioned relative to a mining fracture, according to an embodiment of the invention;
fig. 2 shows a schematic structural view of a laser emitting unit according to an embodiment of the present invention;
fig. 3 shows a schematic structural diagram of a laser reflection unit according to an embodiment of the present invention;
FIG. 4 shows a schematic diagram of a three-dimensional variation coordinate system of a mining fracture according to an embodiment of the invention;
FIG. 5 shows a table of displacement vectors for stations in accordance with an embodiment of the invention;
FIG. 6 shows a schematic flow diagram of a monitoring method according to an embodiment of the invention;
fig. 7 to 9 show graphs of the fracture width, the fracture height difference and the horizontal dislocation distance with time, which are obtained by using the monitoring device and the monitoring method according to the embodiment of the invention, respectively.
In the drawings, like parts are provided with like reference numerals. The drawings are not to scale.
List of reference numerals:
100-a monitoring unit; 200-an external computing unit; 300-a wireless data transmission relay station; mining crack-400; 110-a laser emitting unit; 120-a laser reflection unit; 111-a transmission unit body; 112 a-112 e-laser emitters; 113-control the main board; 114-a data transmission antenna; 115-a battery; 117-emitting unit holder; 121-a reflection unit body; 122-a reflector plate; 123-eight connected templates; 123 a-a reflection unit; 124-reflecting element holder.
Detailed Description
The invention will be further explained with reference to the drawings.
FIG. 1 is a schematic view of a mining fracture monitoring device provided by the present invention positioned relative to a mining fracture 400. As shown in fig. 1, the monitoring apparatus includes at least one monitoring unit 100, an external computing unit 200, and a wireless data transmission relay station 300. The at least one monitoring unit 100 is arranged (preferably uniformly) along the extension direction of the mining fracture 400 and is in communication with the external computing unit 200 to transmit the data collected by each monitoring unit 100 associated with the fracture movement there to the external computing unit 200 for the external computing unit 200 to calculate and map. Further, the wireless data transmission relay station 300 can communicatively connect each monitoring unit 100 to the external computing unit 200, so that the summary and remote transmission of monitoring data are realized, and the data transmission efficiency is improved.
Preferably, the external computing unit 200 is a computer device.
Only one of the monitoring units 100 is shown in fig. 1 for illustrative purposes. However, other monitoring units 100 not shown should also be suitable for the construction and operating principles to be described immediately below.
In fig. 1, the monitoring unit 100 includes a laser emitting unit 110 and a laser reflecting unit 120, which are fixedly disposed in parallel and opposite to both sides of the mining crack 400. The laser emitting unit 110 can emit a laser beam onto the opposite laser reflecting unit 120 and receive the reflected laser from the laser reflecting unit 120, determine reflection point information according to the characteristics of the reflected laser, and transmit the reflection point information to the external computing device 200 to determine the movement of the crack in the three-dimensional direction.
Specifically, as shown in fig. 2, the laser transmitter unit 110 includes a transmitter unit body 111, a plurality of laser transmitters, a control main board 113, a data transmission antenna 114, and a battery module. The transmitting unit main body 111 has a plate-shaped structure for fixing and carrying a plurality of laser transmitters, a control main board 113, a data transmission antenna 114, and a battery module thereon, and a connection hole is formed in the transmitting unit main body 111 to facilitate connection and installation of the above components. The control main board 113 is electrically connected with the plurality of laser transmitters and the data transmission antenna 114, so that the control main board 113 can receive the emitted laser from the plurality of laser transmitters and send the emitted laser information to the external computing unit 200 via the data transmission antenna 114, and the battery module is electrically connected with the control main board 113 to provide power for the control main board 113.
Alternatively, the power module of the present invention may include a battery 115 and/or a solar photovoltaic panel (not shown). In the embodiment shown in fig. 2, a storage battery 115 and a solar photovoltaic panel are both disposed on the laser emitting unit 110, wherein the storage battery 115 is installed inside the case, and the solar photovoltaic panel is attached to the emitting unit main body 111 by an adhesive or a bolt, so as to ensure long-term functional requirements of the system.
It should be understood that the laser emitting unit 110 may also be provided with a signal processing element, a microprocessor, an electronic clock, etc. which are embedded in the control motherboard 113 and embedded with software developed for the system to implement signal processing and control of the measurement unit of the system. Of course, it is also possible to provide a signal processing element inside each laser transmitter separately. Meanwhile, the laser transmitters only need to be designed with laser transmitting and signal receiving functions, and signal processing elements are not needed, so that miniaturization of equipment is realized. The data transmission antenna 114 completes the data summarization and exchange requirements, and reduces the energy consumption and processing cost.
The purpose of arranging the plurality of laser transmitters in the laser transmitting unit 110 is to increase the measuring range, realize instrument miniaturization and effectively collect data when the three-dimensional variation of the crack is large, and ensure that at least some laser transmitters can receive the transmitted laser, that is, after the laser transmitting unit 110 and/or the laser reflecting unit 120 move, even if 1-2 laser transmitters can not receive the reflected information, other laser transmitters can still receive the echo information, thereby ensuring the integrity of the measured data.
In the preferred embodiment shown in fig. 2, 5 laser transmitters 112a, 112b, 112c, 112d and 112e are provided on the transmitting unit body 111. More preferably, the 5 laser transmitters are distributed in an "X" shape on the transmitting unit body 111. If a drop is formed at two sides of the crack, the laser emitting unit 110 descends as a whole, and the laser emitting unit 120 ascends relatively, the laser emitter at the lower part of the laser emitting unit 110 may not receive echo information, but the ranges of the 2 laser emitters 112a and 112b at the top of the laser emitting unit 110 are relatively increased, and the laser emitters can collect the whole echo information of the laser reflecting unit 120 from the upper edge to the lower edge, and the ranges are also close to the height of the whole laser reflecting unit 120; on the contrary, if the laser reflection unit 120 relatively descends, the laser transmitters 112d and 112e of the laser transmission unit 110 may also acquire echo information in the whole range from the lower edge to the upper edge of the laser reflection unit 120, and even if the middle laser transmitter 112c does not receive the echo signal, the laser transmitters 112a and 112b or 112d and 112e at the upper and lower ends may also continue to acquire echo information. Similarly, if the laser emitting units 110 and the laser reflecting units 120 located at two sides of the crack are shifted in parallel along the crack in the horizontal direction (referred to as "horizontal shifting"), the laser emitters (112a, 112d or 112b, 112e) at the left and right sides thereof will correspondingly acquire the echo information from the laser reflecting unit 120 from left to right or from right to left. When the crack generates a large movement in three directions, i.e., the crack width, the vertical crack width, and the vertical direction, the laser transmitters 112a, 112b, and 112e may have no echo information, and the laser transmitter unit 110 may receive the echo information of the laser transmitters 112c and 112 d.
As shown in fig. 3, the laser reflection unit 120 of the monitoring unit 100 may include a reflection unit body 121 and a reflection plate 122 attached to the reflection unit body 121. Specifically, the reflection unit body 121 has a plate-shaped structure and has a size greater than or equal to that of the emission unit body 111 to ensure that at least one incident laser beam can be reflected. The reflection plate 122 may be attached to the reflection unit main body 121 by means of an adhesive or a bolt, or may be combined by other known combination means known to those skilled in the art, which is not limited herein.
The reflecting plate 122 provided in the present invention is used to receive and reflect a plurality of incident laser lights from the laser emitting unit 110. Specifically, the reflection plate 122 is formed by a plurality of eight connected templates 123 adjoining in a matrix form (in the embodiment shown in fig. 3, the matrix includes 9 eight connected templates 123), each eight connected template 123 is a square structure composed of 9 reflection units 123a, each reflection unit 123a is also configured as a square structure, and the 9 reflection units 123a have different reflectivities for laser light. A virtual coordinate system may be established on the reflection plate 122, in which each reflection unit 123a has a corresponding coordinate, as shown in fig. 5. The laser transmitter of the laser transmitter unit 110 can determine which reflectivity of the reflective unit 123a the reflected laser light is reflected from, and then determine the coordinates of the reflective point on the reflective plate 122.
It should be understood that another purpose of the laser emitting unit 110 employing a plurality of laser emitters is to avoid errors in information acquisition caused by the laser echo signal being blocked by an obstacle. Specifically, the laser transmitter combines the reflectivity information of the eight-connected template 123, only records the reflectivity measured value in a fixed interval in the data recording process, and when the reflectivity information has a large deviation with the reflectivity information of the existing 9 materials, the measured value is not recorded, and the value is recorded as null, so that the function can further ensure the accuracy and the validity of the measured data.
During the operation of the monitoring device, the laser emitter emits laser beams at appropriate frequency (time interval) on the reflective plate 122, so that, in order to monitor the movement of the crack more accurately, the side length of the reflective unit 123a can be configured to be greater than or equal to half of the distance of the mutual dislocation between two adjacent measurements according to experience and historical monitoring data, so that the distance and direction of the movement of the reflective point on the eight-connected template can be timely judged, and the movement of the crack can be more rapidly known.
It should be understood that the present invention provides for at least one monitoring unit 100 each having a corresponding unique identification code, proprietary data storage structure, and data processing algorithm principles. The proprietary data storage structure of the present invention, a single example data, is:
A001003 201808091308 120501 120603 120308 120607 120609
wherein a001003 is an identification code of the monitoring unit 100 for recording a position of the monitoring unit, 201808091308 identifies an acquisition date and time of monitoring data, 120501 identifies data of laser measurement, the first 4 bits represent a measurement distance in mm, and the last 2 bits represent a material of an incident position based on a reflectance.
Preferably, the laser emitting unit 110 may further include an emitting unit support 117 for supporting the emitting unit main body 111, and the laser reflecting unit 120 has a reflecting unit support 124 for supporting the reflecting unit main body 121, in this way, the laser emitting unit 110 and the laser reflecting unit 120 may be more conveniently disposed at both sides of the crack, while improving the stability of the monitoring unit.
Fig. 6 is a flow chart of a monitoring method 600 provided by the present invention. As shown in fig. 6, the monitoring method 600 includes the following steps:
s610, arranging the at least one monitoring unit on two sides of the mining crack, wherein each laser emitting unit and each laser reflecting unit are oppositely positioned on two sides of the mining crack in parallel;
s620, at the first moment, the at least one laser transmitter transmits laser to the reflecting plate and receives the reflected laser reflected by the reflecting plate;
s630, determining the coordinates of the reflection point at the first moment according to the reflected laser, and then sending first reflection information to the external computing unit;
s640, repeating S620 and S630 at a second moment, and sending second reflection information to the external computing unit; and
s650, determining the three-dimensional scale change of the mining fracture according to the first reflection information and the second reflection information.
Specifically, the laser transmitter receives the reflected laser beam from the reflection plate 122 and transmits the reflection information contained therein to the external calculation unit 200, wherein the reflection information includes the echo time t and the coordinates of the reflection point, and the external calculation unit 200 determines the width change Δ D, the height change Δ H, and the horizontal dislocation distance Δ L perpendicular to the width direction of the mining crack between two measurement times at the monitoring unit layout position according to the reflection information, as shown in fig. 4.
The width difference Δ D is calculated by the following formula:
wherein ,DiIs the distance between the laser emitting unit and the laser reflecting unit at the ith time, i is a positive integer, Δ D is the width difference between the ith time and the (i-1) th time, tiThe echo time at the i-th time and c is the speed of light.
The height difference delta H and the horizontal dislocation distance delta L perpendicular to the width direction are calculated by acquiring the measured laser reflectivity, combining the information of the eight-connected reflecting plate designed to judge the change of the positions of two measuring points and combining a displacement vector table (figure 5), thereby obtaining three-dimensional change information. For example, assuming that the original position is (x, y), the data after the movement is (x + a, y + b) by the incremental movement (a, b) according to the change of the incident positions twice before and after the movement, the height difference Δ H is | b | × the side length of the reflection element, and the horizontal dislocation distance Δ L is | a | × the side length of the reflection element. The monitoring result is mainly the central laser transmitter 112c, but the coordinate information of other laser transmitters is recorded at the same time, and in an extreme case, any measured value is selected as the monitoring result and is corrected by the monitoring data of the laser transmitter 112 c.
The monitoring device is adopted in the investigation of the mining cracks on the earth surface of the inner Mongolia certain mine, and the specific process is as follows:
after the laser emitting unit 110 and the laser reflecting unit 120 are processed, the laser emitting unit and the laser reflecting unit enter the field to be arranged. Selecting a crack development zone in a subsidence monitoring area, reasonably adjusting the supports 117 and 124, respectively arranging the laser emitting unit 110 and the laser reflecting unit 120 on two sides of the crack, ensuring that the laser emitting unit 110 is parallel to the laser reflecting unit 120 during arrangement, starting the monitoring device, and recording an identification code of the monitoring unit 100 and basic data of first measurement, including initial width, reflectivity information, first measurement distance and device coordinate position of the crack, namely completing the arrangement of one monitoring unit 100. After the arrangement of the plurality of monitoring units is completed, the wireless data transmission relay station 300 is arranged in the center of the monitoring area or in a place with better signals, the summary and remote transmission of the monitoring data are realized, finally, the transmission data are obtained indoors by using the external computing equipment 200 such as a computer, and the work of real-time data processing, expression and mapping is realized. Fig. 7 to 9 are graphs of the crack width, crack height difference, and horizontal dislocation distance of 3 cracks obtained through the above process as a function of time.
By the mining crack monitoring device and method based on laser ranging, high-precision monitoring of large-size cracks is achieved by utilizing laser ranging and wireless transmission technologies, incomplete monitoring data caused by uncertainty of crack fall or movement is avoided, the requirements of stretching and compressing cracks, measurement, real-time full-automatic data acquisition and mapping are met, complex terrain can be adapted, reliability is good, and three-dimensional measurement can be carried out; in addition, the device does not need to manually read data, avoids errors caused by human factors, can visually display a crack development curve at a PC (personal computer) end in real time, and improves monitoring efficiency.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "bottom", "top", "front", "rear", "inner", "outer", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (13)
1. A mining crack monitoring device based on laser ranging, characterized by that, includes at least one monitoring unit and outside computational unit, monitoring unit includes:
a laser emitting unit including a plurality of laser emitters for emitting laser light and receiving reflected laser light; and
the laser reflection unit comprises a reflection plate, the reflection plate consists of at least one eight-communicated template, and in a use state, the laser reflection unit and the laser emission unit are oppositely arranged on two sides of the mining crack in parallel;
the external calculation unit is in communication connection with the laser reflection unit to receive data from the laser emission unit and perform calculation.
2. The mining crack monitoring device of claim 1, wherein the laser emitting unit further comprises an emitting unit body, a control main board, a data transmission antenna, and a power module, and the plurality of laser emitters, the control main board, the data transmission antenna, and the power module are all disposed on the emitting unit body.
3. The mining fracture monitoring device of claim 2, wherein the laser reflection unit comprises a reflection unit body, the reflection plate is fixedly arranged on the reflection unit body and is formed by at least one eight-connected template which is formed by abutting in a matrix form, the eight-connected template comprises 9 reflection blocks with different reflectivity, and the reflection unit can reflect laser from the laser reflection unit.
4. The mining fracture monitoring device of claim 3, wherein the reflector block is square, and a side length of the reflector block is greater than or equal to half of a dislocation distance between two adjacent measurement moments of the laser emitting unit and the laser reflecting unit.
5. The mining fracture monitoring device of any of claims 2 to 4, wherein the laser emitting unit comprises 5 laser emitters distributed in an "X" shape on the emitting unit body.
6. The mining fracture monitoring device of any of claims 1-4, further comprising a wireless data transmission relay station for communicatively connecting the at least one monitoring unit and the external computing unit.
7. The mining fracture monitoring device of claim 3 or 4, wherein the laser emitting unit further comprises an emitting unit support for supporting the emitting unit body, and the laser reflecting unit further comprises a reflecting unit support for supporting the reflecting unit body.
8. The mining crack monitoring device of any of claims 2 to 4, wherein the power module is a battery and/or a solar photovoltaic panel.
9. A method of monitoring a mining fracture using the mining fracture monitoring device of any of claims 1 to 8, comprising the steps of:
step 1, arranging at least one monitoring unit on two sides of a mining crack, wherein each laser emitting unit and each laser reflecting unit are oppositely positioned on two sides of the mining crack in parallel;
step 2, at a first moment, the at least one laser transmitter transmits laser to the reflecting plate and receives reflected laser reflected by the reflecting plate;
step 3, determining the coordinates of the reflection point at the first moment according to the reflected laser, and then sending first reflection information to the external computing unit;
step 4, repeating the steps 2 and 3 at a second moment, and sending second reflection information to the external computing unit; and
and 5, determining the three-dimensional scale change of the mining fracture according to the first reflection information and the second reflection information.
10. The method of claim 9, wherein the first reflection information or the second reflection information includes an echo time and a reflection point coordinate in the reflection plate.
11. The method of claim 10, wherein the three-dimensional changes include width differences, height differences, and horizontal dislocation distances perpendicular to the width direction.
12. The method of claim 11, wherein the width difference is calculated by the following equation:
wherein ,DiIs the distance between the laser emitting unit and the laser reflecting unit at the ith moment, i is a natural number, Delta D is the width difference between the ith moment and the (i-1) th moment, tiThe echo time at the i-th time and c is the speed of light.
13. The method according to claim 12, wherein the height difference is a product of a difference between ordinate values of coordinates of the reflection points at the second time and the first time and a side length of the reflection unit; the horizontal dislocation distance is the product of the difference between the abscissa values of the coordinates of the reflecting points at the second time and the first time and the side length of the reflecting unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010880575.2A CN114111583B (en) | 2020-08-27 | 2020-08-27 | Mining crack monitoring device and method based on laser ranging |
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| CN115125810A (en) * | 2022-08-12 | 2022-09-30 | 江苏中路工程技术研究院有限公司 | Pavement crack grouting flatness monitoring equipment and construction method |
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