CN115728776A - Underground coal mine mobile measurement robot, safety evaluation method and system - Google Patents
Underground coal mine mobile measurement robot, safety evaluation method and system Download PDFInfo
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- CN115728776A CN115728776A CN202211090797.XA CN202211090797A CN115728776A CN 115728776 A CN115728776 A CN 115728776A CN 202211090797 A CN202211090797 A CN 202211090797A CN 115728776 A CN115728776 A CN 115728776A
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Abstract
The application provides a coal mine underground mobile measurement robot, a safety evaluation method and a system, wherein the mobile measurement robot comprises: the device comprises a mobile platform and mobile measuring equipment carried on the mobile platform, wherein the mobile measuring equipment comprises an SLAM scanning unit, an environmental gas detection sensing unit and a geological radar detection unit; the mobile platform is used for automatically walking in the roadway; the SLAM scanning unit is used for acquiring roadway space data; the geological radar detection unit is used for collecting data inside a geologic body; the environment gas detection sensing unit is used for acquiring harmful gas concentration index data; the SLAM scanning unit, the geological radar detection unit and the environmental gas detection sensing unit are all in communication connection with the management platform and upload collected data to the management platform. The method and the device improve the safety of underground coal mine monitoring and the accuracy of monitoring.
Description
Technical Field
The application relates to the technical field of intelligent detection, in particular to a coal mine underground mobile measurement robot, a safety evaluation method and a system.
Background
The underground geological environment of the coal mine is poor, the underground roadway is more complex along with the increase of the mining depth, the professional equipment for measuring the roadway space environment is less, the handheld and backpack laser radar measuring equipment is mainly used, the walking track is combined to further process the data, and the roadway space data are formed. For the heavy point areas such as a driving tunnel and the like, a conventional safety evaluation mode of portable detection equipment and naked eye experience judgment is generally adopted by a security officer. After the blasting operation is completed on the driving face, a safety worker generally enters the driving face to detect harmful gas in a blasting area by using a smoke sensor and the like, and the forming quality of a roadway after blasting is measured by using equipment such as a total station. The common detection equipment comprises a total station, a theodolite, a level gauge and a steel ruler, and the measurement result is compared with a design drawing so as to evaluate the safety condition of the tunneling roadway. The existing method for detecting by using the detection equipment by a security officer has inaccurate measurement and seriously threatens the personal safety of the security officer.
At present, the hand-held or backpack laser radar measuring equipment takes the position of a pedestrian as a reference, and the error of the reference position has great influence on the overall detection precision of a roadway and seriously influences the quality of a coal mine geographical three-dimensional space model; for the heavy point areas such as a driving tunnel and the like, the influence on the stability of the surrounding rock of the top plate of the ore removal access road is difficult to accurately evaluate in the traditional safety evaluation mode, and meanwhile, the top plate is unstable after driving, so that the personal safety of safety personnel is seriously threatened.
Therefore, it is desirable to provide a robot with high safety and high measurement accuracy and an evaluation method for improving safety evaluation accuracy.
Disclosure of Invention
The application aims to provide a mobile measurement robot in a coal mine, a safety evaluation method and a system, which are used for carrying out safety evaluation on the heavy spot areas such as a roadway space in the coal mine and a driving working face, assisting in analyzing the stability of surrounding rocks of a roadway, and improving the safety of underground monitoring of the coal mine, the accuracy of monitoring and the accuracy of safety evaluation.
In order to achieve the above object, the present application provides a colliery is removal measurement robot in pit, includes: the device comprises a mobile platform and mobile measurement equipment carried on the mobile platform, wherein the mobile measurement equipment comprises an SLAM scanning unit, an ambient gas detection sensing unit and a geological radar detection unit;
the mobile platform is used for autonomous walking in the roadway;
the SLAM scanning unit is used for acquiring roadway space data;
the geological radar detection unit is used for collecting data inside a geological body;
the environment gas detection sensing unit is used for acquiring harmful gas concentration index data;
the SLAM scanning unit, the geological radar detection unit and the environmental gas detection sensing unit are all in communication connection with a management platform, and upload collected data to the management platform.
The underground coal mine movement measurement robot further comprises an automatic recognition and avoidance system and a main control system, wherein the automatic recognition and avoidance system is in communication connection with the mobile platform; the automatic identification avoidance system and the mobile platform are in communication connection with the master control system;
after the automatic identification and avoidance system identifies the barrier, barrier warning information is sent to the main control system;
and after receiving the barrier warning information, the master control system controls the mobile platform to avoid the barrier to run.
The underground coal mine movement measuring robot is characterized in that the mobile platform is a crawler-type mobile platform.
The coal mine underground mobile measurement robot further comprises a three-dimensional mobile measurement system integrated with various sensors, and the three-dimensional mobile measurement system is used for positioning and attitude determination of the mobile measurement equipment.
The underground coal mine movement measurement robot comprises a three-dimensional movement measurement system, a three-dimensional movement measurement system and a control network auxiliary module, wherein the three-dimensional movement measurement system comprises an inertial navigation module, a odometer sensor and a control network auxiliary module.
The application also provides a coal mine underground safety evaluation method, which comprises the following steps:
be applied to colliery underground movement measuring robot:
planning a traveling path according to the requirement of the inspection task;
advancing along an advancing path, and acquiring roadway surrounding rock data, harmful gas concentration index data of a working face and roadway panoramic scanning data in real time;
generating a roadway three-dimensional solid model according to the roadway panoramic scanning data;
and uploading the acquired roadway surrounding rock data, the harmful gas concentration index data of the working face and the roadway three-dimensional solid model to a management platform through a network, wherein the management platform is used for analyzing and processing the uploaded data and acquiring an underground coal mine safety evaluation result.
The method for evaluating the safety of the underground coal mine comprises the following steps:
acquiring first scanning data of a roadway after blasting operation of a driving face, and determining an abnormal area in a rock mass of the roadway according to the first scanning data;
acquiring second scanning data of different horizontal planes in the abnormal area to obtain horizontal measurement data of the abnormal area in the roadway rock mass;
acquiring third scanning data of different vertical planes in the abnormal area to obtain vertical measurement data of the abnormal area in the roadway rock mass;
and fitting the horizontal measurement data and the vertical measurement data of the abnormal area to the three-dimensional laser scanning data of the roadway, and judging the abnormal structure of the rock body in the roadway.
As above, the method for generating a three-dimensional entity model of a roadway according to panoramic scanning data of the roadway includes:
preprocessing a plurality of groups of roadway panoramic scanning data;
the preprocessed data are integrated together in a unified registration mode to obtain three-dimensional data of the whole space of the underground mine;
modeling the point cloud of the roadway on the basis of the three-dimensional data of the whole space of the underground mine, and automatically generating a roadway model;
and splicing the roadway models to form the updating and extending trend of the underground roadway model so as to obtain a three-dimensional entity model of the roadway.
As above, the method for acquiring the three-dimensional laser scanning data of the roadway includes: and in the roadway of the driving face, SLAM scanning is carried out along the development direction of the roadway to obtain three-dimensional laser scanning data of the roadway.
The application also provides a coal mine underground safety evaluation system which comprises a coal mine underground mobile measuring robot and a management platform; the underground coal mine mobile measurement robot acquires safety evaluation data in a roadway and uploads the acquired safety evaluation data to the management platform; and the management platform analyzes and processes the data acquired by the coal mine underground mobile measuring robot to acquire a coal mine underground safety evaluation result.
The beneficial effect that this application realized is as follows:
(1) The system is oriented to the roadway environment after blasting operation of a driving face, and a telescopic supporting mechanism designed based on a crawler-type mobile platform is used for carrying SLAM laser scanning, environmental gas detection and geological radar monitoring units to realize autonomous mobile measurement of sensing equipment;
(2) The robot scans the front end of the tunneling working face by carrying the geological radar and can identify the stability of the surrounding rocks of the top plate.
(3) This application is through underworkings panorama scanning back, handles the analysis to the scanning data of gathering, generates underworkings three-dimensional solid model in the pit, utilizes the three-dimensional solid model in tunnel and design construction drawing to contrast, accomplishes tunnel construction quality and checks and accepts work. And the stability of the surrounding rock of the roadway is analyzed in an auxiliary manner by comparing the change conditions of the entity models in a plurality of time periods.
(4) The robot is used for autonomous inspection, so that the safety and quality of the roadway at the initial blasting stage of the tunneling working face are rapidly evaluated, the number of operators in a dangerous environment is reduced, and the intelligent level of the tunneling working face is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a flowchart of a coal mine underground safety evaluation method according to an embodiment of the present application.
Fig. 2 is a flowchart of a method for judging an abnormality of a rock in a roadway by a management platform according to an embodiment of the present application.
Fig. 3 is a flowchart of a method for obtaining a roadway three-dimensional solid model according to an embodiment of the present application.
Fig. 4 is a schematic structural component view of a coal mine underground mobile measurement robot according to an embodiment of the present application.
Fig. 5 is a schematic structural diagram of a hardware system and a software system according to an embodiment of the present application.
FIG. 6 is a schematic diagram of a system positioning and attitude determination method according to an embodiment of the present application.
Fig. 7 is a communication connection diagram of a three-dimensional movement measurement system according to an embodiment of the present application.
Reference numerals: 10-a mobile platform; 20-SLAM scanning unit; 30-an ambient gas detection sensing unit; 40-a geological radar detection unit; 100-moving a measuring robot in a coal mine; 200-management platform.
Detailed Description
The technical solutions in the embodiments of the present application are clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the prior art, after blasting operation is completed on a driving face, a safety worker generally enters the driving face to detect harmful gas in a blasting area by using a smoke sensor and the like, and to measure the forming quality of a roadway after blasting by using equipment such as a total station and the like. Above-mentioned work needs the security personnel to get into the tunnelling working face and uses detection device to detect, makes the security personnel have personal safety hidden danger. This application adopts mobile measurement robot aim at to replace the work of safer in the initial stage after the blasting operation, the mobile measurement robot that this application adopted possesses the ability at the autonomous walking of tunnelling working face, install the sensing unit who detects harmful gas and the scanning device who measures the tunnel additional simultaneously, because in mobile measurement robot mainly used accomplish the work of patrolling and examining after the work face blasting, gather this regional environmental data and upload to management platform, through the management platform analysis recovery working face safety, arrange out ore deposit personnel and equipment entering mine behind the assurance safety and carry out the ore removal operation.
Example one
As shown in fig. 4, the present application provides a coal mine downhole mobile measurement robot 100, comprising: the system comprises a mobile platform 10 and mobile measuring equipment carried on the mobile platform 10, wherein the mobile measuring equipment comprises an SLAM scanning unit 20, an environmental gas detection sensing unit 30 and a geological radar detection unit 40; the mobile platform 10 is used for autonomous walking in the roadway; the SLAM scanning unit 20 is used for acquiring roadway space data; the geological radar detection unit 40 is used for collecting data inside a geological body; the environmental gas detection sensing unit 30 is used for collecting harmful gas concentration index data; SLAM scanning unit 20, geological radar detection unit 40 and ambient gas detection sensing unit 30 all with management platform 200 communication connection to upload the data of gathering to management platform 200.
As a specific embodiment of the present invention, the mobile platform 10 has functions of spatial position information interaction, mobile detection cooperative control, coordinate transformation, kinematic analysis, autonomous walking, autonomous charging, and the like. The SLAM scanning unit 20 has the functions of tunnel forming size measurement, tunnel continuous measurement, moving body cooperative work, key area accurate measurement and the like, the SLAM scanning technology adopted by the SLAM scanning unit 20 can carry out map construction and three-dimensional reappearance on visual information and laser radar data, and the constructed map and three-dimensional model are used for tunnel safety or quality evaluation. The ambient gas detection sensing unit 30 has functions of ambient gas detection, dust concentration measurement, moving body cooperative work, accurate measurement of key areas, and the like. The geological radar detection unit 40 has the functions of roadway surrounding rock stability detection, multi-parameter detection coordination, moving body cooperative work, accurate measurement of key areas and the like.
As an embodiment of the present invention, the management platform 200 is disposed on the PC side or the mobile side. The management platform 200 provides applications such as quality assessment, three-dimensional visualization, aid in decision making, and mobile APP.
As a specific embodiment of the invention, the underground coal mine moving measurement robot also comprises an automatic identification and avoidance system and a main control system, wherein the automatic identification and avoidance system is in communication connection with the moving platform 10; the automatic identification avoidance system and the mobile platform 10 are in communication connection with the master control system; after the automatic identification and avoidance system identifies the barrier, barrier warning information is sent to the master control system; and after receiving the obstacle warning information, the main control system controls the mobile platform 10 to drive by avoiding the obstacle.
The mobile platform 10 is the vehicle of the robot motion. In the initial stage of the formation of a tunneling working surface, the flatness of the roadway ground is not high, and the wheel type mobile platform is difficult to meet the requirement of stable walking in the roadway, so that the mobile measuring robot selects the crawler type mobile platform as a motion carrier of the robot.
Preferably, the crawler-type moving platform is fixedly connected with a telescopic supporting mechanism, the telescopic supporting mechanism realizes stretching for the air cylinder, and the telescopic supporting mechanism carries on SLAM laser scanning, environmental gas detection and a geological radar monitoring unit to realize autonomous movement measurement of the sensing equipment.
As a specific embodiment of the present invention, the performance indexes of the mobile platform 10 include: minimum ground clearance 20cm; the load capacity is not less than 80kg; the working running speed is not less than 0.5m/s; the maximum running speed is 1.5m/s; the climbing angle is not less than 30 degrees; the obstacle crossing capability is 15cm, the height is 20cm and the width is wide; the continuous working time is more than 5h; wading depth is not less than 20cm; the battery is a 36V lithium battery; the communication mode is WiFi/4G/5G; the working environment temperature is 0-50 ℃; protective performance IP65.
Specifically, the SLAM scanning unit 20 is a SLAM scanning device mounted on the mobile platform 10, and by using the characteristics of light weight and small volume of the SLAM scanning device, the underground roadway is comprehensively and rapidly measured, and the underground three-dimensional space data of the mine is obtained through measurement and is used for roadway quality evaluation. The three-dimensional data acquisition of the roadway can be realized by opening the SLAM scanning device and enabling the SLAM scanning device to operate along the roadway, the SLAM technology is adopted in the SLAM scanning device in the acquisition process, the real-time automatic splicing and processing of data are realized, and the data processing flow of the later-stage management platform 200 is simplified.
As a specific embodiment of the present invention, the main technical indicators of the SLAM scanning device include: the maximum distance measurement is 30m; the data acquisition rate was 43200 points/sec; the resolution is horizontal 0.625 degrees and vertical 1.8 degrees; the field angle range is 0-270 degrees; the power supply voltage is 14.8V; the power supply current is 2.5A; the working temperature is 0-30 ℃; the default output file format is LAS/PLY/E57; the universality is as follows: compatible with mainstream CAD; the graphical user interface is compatible with a mainstream tablet or a mobile phone; the relative precision is +/-1 cm; absolute accuracy 3-30cm (10 minute scan); the laser safety level is first-grade safety laser of human eyes; the laser wavelength is 905nm; the scan line rate is 100Hz; the rotation rate was 0.5Hz.
As a specific embodiment of the present invention, the carrying carrier of the ambient gas detection sensing unit 30 is the mobile platform 10 of the mobile measurement robot. The power supply, data transmission and position updating of the ambient gas detection sensing unit 30 all depend on the mobile measuring robot, so that strict requirements are imposed on parameters such as power consumption and volume of the ambient gas detection sensing unit 30, the intelligent sensors with various parameters can adapt to the requirement of high integration level, the sensor slots can be combined at will, the sensors can be exchanged at will on site, and the detection flexibility is enhanced. The technical indexes met by the robot-mounted environmental gas detection sensing unit 30 comprise that the detection gas types are dust, CO, SO2, O2 and CO2; the alarm mode is sound alarm, red LED alarm lamp or vibration alarm; displaying as LCD graphical display; the backlight is manual or automatic when alarming; the working temperature is-20 to +50 ℃; working humidity 0% -95% RH (non-condensing); the direct reading comprises a measured value, battery power, data recording state and pump state; the sampling mode is a pumping type/diffusion type; the data is recorded as once collected at intervals of 1 minute and can be stored for 6 months; recording interval is 1-3600 seconds; the protection grade is IP65; the calibration equipment supports an automatic RAE Lite 2 automatic calibration platform; calibrating to be two-point calibration; the protection measure is that the limit values of calibration, alarm and the like are provided with password protection.
Specifically, the geological radar detection unit 40 employs a geological radar technology, which is a means for detecting an underground structure using a high-frequency electromagnetic wave technology, and can display an abnormal region according to on-site detection, thereby enhancing understanding of an internal structure and data grasping. The geological radar technology adopts a field imaging mode, can carry out field analysis on the internal structure of the roadway, has the detection depth of 6-8m, and can meet the requirements of the roadway quality and the hazard source evaluation in the initial stage after the blasting of the driving working face. The weight of the geological radar detection unit 40 is 4-5Kg, a robot is used as a carrier in the roadway detection process, the base coordinate of the mobile platform 10 is used as a reference coordinate system, the position of the probe, the detection position data and the position information of the mobile platform 10 are combined, and evaluation and positioning of a hazard source are enhanced.
In order to meet the requirement of rapidly acquiring roadway three-dimensional space data (roadway space data) in a coal mine working environment, the mobile measuring robot further comprises a three-dimensional mobile measuring system integrated with various sensors.
Specifically, the three-dimensional mobile measurement system adopts a multi-sensor real-time display and control technology, a space-time calibration technology, a high-speed data acquisition, storage and management technology, a mobile geographic coordinate frame, a system positioning and attitude determination technology, a multi-source data fusion technology, multi-source data application software and the like.
As shown in fig. 6, the three-dimensional mobile measurement system includes an inertial navigation and odometer sensor and a control network auxiliary module, and the inertial navigation and odometer sensor and the control network auxiliary module collect position and attitude information of the mobile measurement device after receiving satellite signals, and perform positioning and attitude determination on the mobile measurement device. Specifically, the control network auxiliary module consists of a control network and a three-dimensional bar code target; the inertial navigation and odometer sensor collects the position and attitude information of the mobile measuring equipment, and the position and attitude information of the mobile measuring equipment calibrated by the control network auxiliary module is combined to position and fix the attitude of the mobile measuring equipment, so that the effective precision control of the positioning and attitude fixing of the mobile measuring equipment is realized, and the integral reliability of the underground three-dimensional data quality of the coal mine is ensured.
As a specific embodiment of the present invention, the system positioning and attitude determination technology adopted by the three-dimensional movement measurement system is as follows:
in order to solve the problem that the underground space of the coal mine has no satellite signal for positioning, a control point group is distributed under the coal mine, and a special geographic coordinate frame conversion model is established; the method comprises the steps of selecting a specific three-dimensional bar code target, pasting the three-dimensional bar code target at a control point position, calibrating position information or posture information of the mobile measuring equipment, and positioning and posture positioning of the three-dimensional mobile measuring system in a motion state by utilizing a bar code identification technology and matching with position and posture information of sensors such as high-precision inertial navigation, a milemeter and the like. The three-dimensional bar code target can be a radio frequency identification tag, a two-dimensional code tag and the like, and the position information of the current control point can be obtained by identifying the three-dimensional bar code target.
In order to ensure the fusion calculation prepared during the moving process of the mobile platform 10, the laser scanner and the industrial camera data are selected as a position and attitude measurement system by a high-precision inertial navigation system (inertial navigation).
As shown in fig. 7, the inertial navigation system is in communication connection with the master control system, the laser radar, the industrial camera and the mobile measurement device respectively. Because the underground space of the coal mine has no GNSS signal, the positioning and attitude-determining data of the mobile measuring equipment is provided by the inertial navigation system, the drift amount of the inertial navigation system is gradually increased along with the accumulation of time, the measurement error caused by the gradual increase of the drift amount is larger and larger, and the reliability of the measurement data is rapidly reduced. In order to keep the measurement precision at a higher index, a three-dimensional bar code target is introduced, which is equivalent to a control point group, the three-dimensional bar code target is arranged at a fixed position in a coal mine, and a control network constructed by a plurality of three-dimensional bar code targets assists sensors such as inertial navigation and a speedometer to position and fix the attitude of the mobile measurement equipment, so that the effective precision control of the positioning and attitude of the mobile measurement equipment is realized, the accuracy of the positioning and attitude of the mobile measurement equipment is improved, and the overall reliability of the quality of three-dimensional data in the coal mine is ensured.
As a specific embodiment of the invention, a control network is laid under a coal mine, and a special coordinate frame and a conversion model of the coordinate frame and a national geographic coordinate frame are established in the control network. The bar code identification technology is adopted, and a high-precision inertial navigation meter and a mileometer are matched to carry out positioning and attitude determination under the system motion state, wherein the bar code identification technology can be a radio frequency identification technology; the odometer and the three-dimensional bar code target data are fused for spatial matching, and positioning and attitude determination of the mobile measuring equipment are achieved.
Example two
As shown in fig. 1, the present application provides a method for evaluating coal mine underground safety, which includes:
the method is applied to the underground coal mine mobile measurement robot:
and S1, planning a traveling path according to the requirement of the inspection task.
Specifically, the position information to be detected is obtained according to the requirement of the inspection task, and the traveling path of the mobile measuring robot is planned according to the position information to be detected, so that the robot can detect the position to be detected according to the planned traveling path. Preferably, the mobile measurement robot is dispatched with the inspection task, and the mobile measurement robot autonomously plans the traveling path according to the requirement of the inspection task.
And S2, advancing along the advancing path, and acquiring roadway surrounding rock data, harmful gas concentration index data of a working face and roadway panoramic scanning data in real time.
The method for identifying the stability of the roof surrounding rock in the prior art is as follows: the method is characterized in that properties such as rock types and loose conditions and the top plate water outlet state are observed by an inspector through naked eyes, the stability of the surrounding rock of the roadway is analyzed in combination with experience and is used as a basis for which supporting mode is subsequently adopted, the mode needs the inspector to enter the underground of the coal mine, the inspector has potential safety hazards, and the manual judgment accuracy is low. Therefore, in order to solve the above problems, the present invention adopts the following technical means:
the mobile measuring robot of the invention advances along the advancing path, scans the end of the stoping route through a geological radar detection unit 40 carried by the mobile measuring robot, and collects the internal data of the geologic body. And the geologic body internal data is used for identifying the stability of the surrounding rock of the roadway. Therefore, the condition that the patrol personnel enter the underground coal mine to observe and analyze the stability of the surrounding rocks of the roadway is avoided, and the safety and the accuracy of the stability analysis of the surrounding rocks of the roadway are improved.
Preferably, the geological radar adopts a field imaging mode, the internal structure of the roadway can be analyzed on site, the stability of the surrounding rock of the roadway is identified, the detection depth of the geological radar detection unit 40 can reach 6m-8m, and the evaluation of the roadway quality and the hazard source in the initial stage of the tunneling working face can be met.
As a specific embodiment of the present invention, the acquiring harmful gas concentration index data of a working surface in real time includes: working flour dust concentration, CO gas concentration, SO2 gas concentration, O2 gas concentration and CO2 gas concentration data are collected in real time. After the blasting operation of the driving face, the dust concentration in the roadway is high, the types of harmful gas are more, the robot carries an environmental gas detection device to acquire the harmful gas concentration index data of the driving face, and the health influence of a manual detection mode on a safety worker can be effectively avoided.
As a specific embodiment of the present invention, a method for acquiring panoramic scan data of a roadway includes: and the mobile measuring robot carries out three-dimensional laser scanning on the constructed roadway to obtain panoramic scanning data of the roadway.
And S3, generating a roadway three-dimensional solid model according to the roadway panoramic scanning data.
As shown in fig. 3, step S3 includes the following sub-steps:
and step S310, preprocessing multiple groups of roadway panoramic scanning data.
Wherein each group of roadway panoramic scanning data is an accurate description of the roadway size. The pretreatment comprises treatments such as thinning, noise reduction, shearing, flat cutting and the like. The thinning process is one method of reducing the amount of point cloud by reducing the number of points (e.g., deleting every n points). This is done to speed up the processing time of large-scale data. Shearing and flat sectioning are also methods of reducing the size of the point cloud. The noise reduction is to reduce interference and reduce interference data.
And S320, uniformly registering and integrating the preprocessed data to obtain the three-dimensional data of the whole space of the underground mine.
And S330, modeling the point cloud of the roadway on the basis of the three-dimensional data of the whole space of the underground mine, and automatically generating a roadway model.
Specifically, a point cloud modeling technology is adopted to model the point cloud of the roadway and automatically generate a roadway model. And respectively generating a tunnel model by using the point cloud data obtained by scanning for multiple times.
It can be understood that the point cloud is a data point set which is obtained by processing signals received by the laser transmitter and expresses the three-dimensional form, the dispersion and the non-uniform density of the roadway, and can reflect the real situation of the roadway with higher precision, such as the reflection characteristics, the size, the height and the relative distance relationship between objects in the roadway.
And step S340, splicing the generated roadway models to form updating and extending trends of the underground roadway model, and further obtaining a roadway three-dimensional entity model.
Specifically, a point cloud splicing method is utilized to splice and synthesize a plurality of generated roadway models into a whole to form a roadway three-dimensional entity model.
As a specific embodiment of the invention, a major equipment model arranged in a roadway and operation data are combined, so that the digital twin of the underground production condition of a mine is realized, and a model foundation and a data basis are provided for intelligent construction of the mine.
As shown in fig. 5, a hardware system and a software system are provided for the construction of the three-dimensional solid model of the roadway.
Specifically, the hardware system includes: the laser scanner, the combined navigation system and the control system are arranged together to realize integrated mechanical design; and the coal safety explosion-proof device and the wireless charging equipment are integrated, and then the system is calibrated and checked (including multi-sensor time synchronization calibration, external orientation sensor calibration and integrated system check). The software system includes: an inertial navigation system, a bar code (namely a three-dimensional bar code target) and a control system are used for positioning and attitude determination (acquiring position and attitude information) of the mobile measuring equipment; collecting a display control system; after a code control network is constructed, space time integration, attitude position resolving and multi-source data fusion are carried out; after space time integration, point cloud data analysis and fusion and point cloud data management and analysis are carried out; after the attitude position is resolved, point cloud data is displayed and edited; and filtering and exporting the point cloud data after the multi-source data are fused.
As a specific embodiment of the present invention, for the highlight, the position of the target (e.g., the highlight region, the abnormal region, etc.) is extracted using a crop box tool. The roadway data of the multi-period tunneling working face are compared, the deformation of the roadway is analyzed, potential safety hazards can be accurately determined, relevant departments of a mine are assisted to make judgment, and the related disasters are effectively avoided by carrying out treatment in the aspect of supporting.
The invention can provide accurate data support for roadway measurement and GIS application by utilizing three-dimensional reconstruction and map construction of SLAM scanning, and compared with the traditional roadway measurement, the SLAM scanning has the following characteristics:
1. the working intensity of field measurement of a security officer is reduced, and the time for processing data into a map is shortened;
2. the scanning data can clearly reflect the site, is clear at a glance, and can more reasonably arrange major equipment for production and the like according to the site condition;
3. the plane position and elevation position precision can reach centimeter level;
4. and the safety risk is effectively avoided when the blasting initial stage enters an area with uncertain potential safety hazards.
5. The data acquisition speed is high, the robot can automatically complete the automatic composition, and the roadway three-dimensional model can be quickly constructed.
And S4, uploading the acquired surrounding rock data of the roadway, the harmful gas concentration index data of the working face and the three-dimensional entity model of the roadway to a management platform through a network.
And S5, analyzing and processing the uploaded data by the management platform to obtain a coal mine underground safety evaluation result.
As shown in fig. 2, the method for the management platform to obtain the coal mine underground safety evaluation result includes the steps of distinguishing the abnormal structure of the rock mass in the roadway, and the method for the management platform to distinguish the abnormal structure of the rock mass in the roadway includes the following steps:
and T1, acquiring first scanning data of the roadway after blasting operation of the tunneling working face, and determining an abnormal area in the rock mass of the roadway according to the first scanning data.
Specifically, in a roadway of a driving face, geological radar scanning is carried out along the roadway development direction, internal data of a roadway geologic body are obtained, namely first scanning data are obtained, and an abnormal area inside the roadway rock body is determined according to the internal data of the roadway geologic body.
And T2, acquiring second scanning data of different horizontal planes in the abnormal area, and acquiring horizontal measurement data (horizontal direction cross-sectional view) of the abnormal area in the roadway rock mass.
Specifically, geological radar scanning is respectively carried out on different horizontal planes entering the abnormal region, and then second scanning data (namely data inside the roadway geologic body) of the different horizontal planes in the abnormal region are obtained, so that a horizontal cross section of the abnormal region inside the roadway rock body is obtained.
And T3, acquiring third scanning data of different vertical planes in the abnormal area to obtain vertical measurement data (vertical direction cross section) of the abnormal area in the roadway rock mass.
Specifically, geological radar scanning is carried out on different vertical planes of the abnormal region, third scanning data (namely data inside the roadway geologic body) of different vertical planes in the abnormal region are obtained, and vertical measurement data of the abnormal region inside the roadway rock body are obtained.
And T4, fitting the horizontal measurement data and the vertical measurement data of the abnormal area to the three-dimensional laser scanning data of the roadway, and judging the abnormal structure of the rock body in the roadway.
The method for acquiring the three-dimensional laser scanning data of the roadway comprises the following steps: and performing SLAM scanning in the roadway of the driving face along the roadway development direction to acquire roadway space data, namely roadway three-dimensional laser scanning data.
It will be appreciated that through the above series of scans, the measurement data of the abnormal spatial region within the rock mass and the detailed information (e.g. position information, area size, etc.) of the abnormal region can be quickly determined on site. Fitting the obtained data map to roadway three-dimensional laser scanning data, judging and identifying the abnormal structure of the rock mass in the roadway, and further realizing the evaluation of the roadway blasting quality.
The management platform also executes the following evaluation method:
and the management platform is used for comparing the three-dimensional entity model of the roadway with the design construction drawing to obtain an evaluation result of the construction quality of the roadway. And measuring and obtaining a difference value of the quality evaluation indexes of the roadway three-dimensional solid model and the design construction drawing, judging whether the difference value is within a qualified threshold range, if so, indicating that the roadway construction quality is qualified, and otherwise, indicating that the roadway construction quality is unqualified. The quality assessment index may be length, width, depth, defect, or the like. The method can be understood that the three-dimensional entity model of the roadway is used for comparing with a design construction drawing, evaluating the completion condition of the construction quality of the roadway and further completing the acceptance work of the construction quality of the roadway; and simultaneously comparing the change conditions of the roadway three-dimensional solid models in a plurality of time periods to assist in analyzing the stability of the roadway surrounding rock.
And the management platform identifies the stability of the surrounding rock of the roadway according to the data of the surrounding rock of the roadway. Wherein, tunnel country rock data include the inside data of geologic body.
EXAMPLE III
As shown in fig. 4, the present application provides a coal mine underground safety evaluation system, which includes:
the system comprises a coal mine underground mobile measurement robot 100 and a management platform 200;
the underground coal mine mobile measurement robot 100 acquires safety evaluation data in a roadway and uploads the acquired safety evaluation data to the management platform 200;
the management platform 200 analyzes and processes data collected by the coal mine underground mobile measurement robot 100 to obtain a coal mine underground safety evaluation result.
The beneficial effect that this application realized is as follows:
(1) The system is oriented to the roadway environment after blasting operation of a driving face, and a telescopic supporting mechanism designed based on a crawler-type mobile platform is used for carrying SLAM laser scanning, environmental gas detection and geological radar monitoring units to realize autonomous mobile measurement of sensing equipment;
(2) The robot scans the front end of the tunneling working face by carrying the geological radar and can identify the stability of the surrounding rocks of the top plate.
(3) This application is through underworkings panorama scanning back, handles the analysis to the scanning data of gathering, generates underworkings three-dimensional solid model in the pit, utilizes the three-dimensional solid model in tunnel and design construction drawing to contrast, accomplishes tunnel construction quality and checks and accepts work. And the stability of the surrounding rock of the roadway is analyzed in an auxiliary manner by comparing the change conditions of the entity models in a plurality of time periods.
(4) The robot is used for autonomous inspection, so that the safety and quality of the roadway at the initial blasting stage of the tunneling working face are rapidly evaluated, the number of operating personnel in a dangerous environment is reduced, and the intelligent level of the tunneling working face is improved.
The above description is only an embodiment of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (10)
1. A colliery is removal measurement robot in pit which characterized in that includes: the device comprises a mobile platform and mobile measuring equipment carried on the mobile platform, wherein the mobile measuring equipment comprises an SLAM scanning unit, an environmental gas detection sensing unit and a geological radar detection unit;
the mobile platform is used for autonomous walking in the roadway;
the SLAM scanning unit is used for acquiring roadway space data;
the geological radar detection unit is used for collecting data inside a geological body;
the environment gas detection sensing unit is used for acquiring harmful gas concentration index data;
the SLAM scanning unit, the geological radar detection unit and the environmental gas detection sensing unit are all in communication connection with a management platform, and upload collected data to the management platform.
2. The coal mine underground movement measurement robot as claimed in claim 1, further comprising an automatic identification and avoidance system and a main control system, wherein the automatic identification and avoidance system is in communication connection with the mobile platform; the automatic identification avoidance system and the mobile platform are in communication connection with the master control system;
after the automatic identification and avoidance system identifies the barrier, barrier warning information is sent to the main control system;
and after receiving the barrier warning information, the master control system controls the mobile platform to avoid the barrier to run.
3. The coal mine underground movement measurement robot of claim 1, wherein the mobile platform is a crawler-type mobile platform.
4. The coal mine underground mobile measurement robot of claim 1, further comprising a three-dimensional mobile measurement system integrated with a plurality of sensors, wherein the three-dimensional mobile measurement system is used for positioning and attitude determination of the mobile measurement equipment.
5. The coal mine downhole movement measurement robot of claim 4, wherein the three-dimensional movement measurement system comprises inertial navigation, odometer sensors and control net assistance modules.
6. A coal mine underground safety evaluation method is characterized by comprising the following steps:
the underground coal mine mobile measurement robot applied to one of the claims 1 to 5 is as follows:
planning a traveling path according to the requirement of the inspection task;
advancing along an advancing path, and acquiring surrounding rock data of a roadway, harmful gas concentration index data of a working face and panoramic scanning data of the roadway in real time;
generating a roadway three-dimensional solid model according to the roadway panoramic scanning data;
and uploading the acquired surrounding rock data of the roadway, harmful gas concentration index data of the working face and the three-dimensional entity model of the roadway to a management platform through a network, wherein the management platform is used for analyzing and processing the uploaded data and acquiring an underground coal mine safety evaluation result.
7. The underground coal mine safety evaluation method according to claim 6, wherein the method for obtaining the underground coal mine safety evaluation result by the management platform comprises the following steps:
acquiring first scanning data of a roadway after blasting operation of a driving face, and determining an abnormal area in a rock mass of the roadway according to the first scanning data;
acquiring second scanning data of different horizontal planes in the abnormal area to obtain horizontal measurement data of the abnormal area in the roadway rock mass;
acquiring third scanning data of different vertical planes in the abnormal area to obtain vertical measurement data of the abnormal area in the roadway rock mass;
and fitting the horizontal measurement data and the vertical measurement data of the abnormal area into the three-dimensional laser scanning data of the roadway, and judging the abnormal structure of the rock mass in the roadway.
8. The coal mine underground safety evaluation method according to claim 6, wherein the method for generating the roadway three-dimensional solid model according to the roadway panoramic scanning data comprises the following steps:
preprocessing a plurality of groups of roadway panoramic scanning data;
the preprocessed data are integrated together in a unified registration mode to obtain three-dimensional data of the whole space of the underground mine;
modeling the point cloud of the roadway on the basis of the three-dimensional data of the whole space of the underground mine, and automatically generating a roadway model;
and splicing the roadway models to form the updating and extending trend of the underground roadway model so as to obtain the three-dimensional entity model of the roadway.
9. The coal mine underground safety evaluation method according to claim 7, characterized in that the acquisition method of roadway three-dimensional laser scanning data is as follows: and in the roadway of the driving face, SLAM scanning is carried out along the development direction of the roadway to obtain three-dimensional laser scanning data of the roadway.
10. A coal mine underground safety evaluation system is characterized by comprising the coal mine underground mobile measurement robot as claimed in any one of claims 1 to 5 and a management platform;
the underground coal mine mobile measurement robot acquires safety evaluation data in a roadway and uploads the acquired safety evaluation data to the management platform;
and the management platform analyzes and processes the data acquired by the coal mine underground mobile measurement robot to acquire a coal mine underground safety evaluation result.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116988837A (en) * | 2023-09-25 | 2023-11-03 | 太原科技大学 | Underground autonomous inspection system and method for coal mine |
| CN117367413A (en) * | 2023-12-08 | 2024-01-09 | 山东新云鹏电气有限公司 | Mine personnel and mobile terminal equipment accurate positioning system and positioning method |
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2022
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116988837A (en) * | 2023-09-25 | 2023-11-03 | 太原科技大学 | Underground autonomous inspection system and method for coal mine |
| CN116988837B (en) * | 2023-09-25 | 2024-04-05 | 太原科技大学 | Underground autonomous inspection system and method for coal mine |
| CN117367413A (en) * | 2023-12-08 | 2024-01-09 | 山东新云鹏电气有限公司 | Mine personnel and mobile terminal equipment accurate positioning system and positioning method |
| CN117367413B (en) * | 2023-12-08 | 2024-02-09 | 山东新云鹏电气有限公司 | Mine personnel and mobile terminal equipment accurate positioning system and positioning method |
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