CN116295074A - Device and method for monitoring deformation and failure of surrounding rock in coal mine roadway based on depth image - Google Patents

Abstract

A device and method for monitoring deformation and damage of surrounding rocks in coal mine roadways based on depth images. The wheeled vehicle is composed of an explosion-proof rubber-tyred vehicle body, a remote control module, a communication module, and a lithium battery; the mining intrinsically safe binocular camera module is composed of two sets of binocular cameras, and the two sets of binocular cameras are respectively installed on the explosion-proof rubber-tyred vehicle body. The front end and the rear end of the vehicle body; multiple sensing device modules are composed of gyroscopes, laser rangefinders and explosion-proof panoramic cameras, which are assembled on the explosion-proof rubber wheel body; method: arrange position monitoring points in the roadway, and measure the roadway circumference The initial state of rock deformation; use the explosion-proof rubber tire body to collect image data in the roadway; use the image data processing module to process the image data and output the results. The device and method can timely and accurately monitor the deformation of surrounding rock of the roadway in an unmanned manner.

Description

Device and method for monitoring deformation and failure of surrounding rock in coal mine roadway based on depth image

technical field

The invention belongs to the technical field of coal mine safety mining and roadway surrounding rock monitoring, and in particular relates to a depth image-based monitoring device and method for coal mine roadway surrounding rock deformation and damage.

Background technique

Coal mine roadway, as a channel for underground transportation, ventilation, pedestrians and other important functions, is the lifeline of coal mine safety production. Under complex geological conditions, when the static load caused by ground stress and the dynamic load induced by mine earthquakes are superimposed, the shape and size of the surrounding rock of the roadway will change under the stress. Slow roadway deformation will reduce the ventilation area and hinder transportation, while rapid deformation will cause damage to the roadway and mining space, which will seriously endanger the safety of coal mine workers. Therefore, monitoring the deformation and damage of surrounding rock in coal mine roadway is an important technical means to timely and effectively control the deformation of surrounding rock in roadway and promote the safe production of coal mine.

At present, front-line coal mine workers often use roadway roof dynamic instruments, convergence meters and other equipment to conduct manual measurements, and then evaluate the deformation of the roadway by counting the convergence of the two sides of the roadway and the sinking of the roof. However, there is a long working time during the measurement process. A series of problems, such as inaccurate measurement results and inability to measure in dangerous areas, seriously affect the timeliness and accuracy of the monitoring results of roadway surrounding rock deformation. At the same time, the measurement process often requires staff to carry a large number of equipment, which also restricts the construction of intelligent digital mines.

Contents of the invention

In view of the problems existing in the above-mentioned prior art, the present invention provides a depth image-based device and method for monitoring the deformation and damage of surrounding rocks in coal mine roadways. The accuracy and timeliness of the results, at the same time, can effectively ensure the personal safety of the staff through unmanned monitoring operations, which is conducive to promoting safe production operations in coal mines. This method can keep coal mine workers away from dangerous areas, and can timely and accurately monitor the deformation of the roadway surrounding rock in an unmanned manner, which can effectively ensure the safety of workers.

In order to achieve the above object, the present invention provides a depth image-based monitoring device for deformation and damage of coal mine roadway surrounding rock, including a roadway surrounding rock data acquisition device and an image data processing module;

The roadway surrounding rock data acquisition device is composed of a remote-controlled rubber-tyred vehicle, a mining intrinsically safe binocular camera module, and multiple sensing device modules;

The remote control rubber-tyred vehicle is composed of an explosion-proof rubber-tyred vehicle body, a remote control module, a communication module, and a lithium battery, and the remote control module, communication module and lithium battery are all assembled inside the explosion-proof rubber-tyred vehicle body; The interior of the explosion-proof rubber-wheeled vehicle is also equipped with a controller and a walking control module, and multiple rubber wheels are installed at the bottom;

The mine intrinsically safe binocular camera module is composed of two sets of binocular cameras, and the two sets of binocular cameras are respectively installed at the front end and the rear end of the explosion-proof rubber wheel body;

The multi-sensing device module is composed of a gyroscope, a laser rangefinder and an explosion-proof panoramic camera. The gyroscope is installed on one side of the top of the explosion-proof rubber wheel body, and the laser rangefinder is installed on the explosion-proof rubber wheel. On the front side of the top of the car body, the explosion-proof panoramic camera is installed at the center of the top of the explosion-proof rubber wheel car body, and its height is higher than that of the laser range finder and the gyroscope;

The binocular camera is connected with the controller for real-time collection of picture data of surrounding rocks of the roadway and sent to the controller;

The gyroscope is connected with the controller for real-time measurement of the pitch and tilt attitude data of the explosion-proof rubber-tyred vehicle body, and sends the data to the controller;

The laser range finder is connected with the controller, and is used for real-time detection of the obstacle distance signal in front of the distance, and sends it to the controller;

The explosion-proof panoramic camera is connected with the controller for real-time collection of image data around the explosion-proof rubber-tyred vehicle body, and sends it to the controller;

The remote control module is respectively connected with the communication module and the walking control module inside the explosion-proof rubber tire body, and is used to control the walking control module to perform corresponding actions after receiving the walking control signal sent by the remote controller;

The communication module is connected to the controller for establishing a communication connection between the controller and external equipment, and for establishing a communication connection between the remote control module and the remote controller;

The controller is used to send the received picture data to the image data processing module on the ground through the communication module, and is used to calibrate and adjust the attitude of the explosion-proof rubber-tyred vehicle body according to the attitude data, and output the calibration adjustment signal to the walking control module , used to adjust the travel route of the explosion-proof rubber tire body according to the obstacle distance signal, and output the route adjustment signal to the travel control module; used to store and analyze the received surrounding image data, and when an obstacle is found to be normal When driving in an abnormal situation, it is determined that there is a self-test fault, and the self-test fault information is output to the external device through the communication module;

The walking control module is used to control the walking action of the explosion-proof rubber-tyred vehicle body;

The lithium battery is used to supply electric power to each electric component on the explosion-proof rubber-tyred vehicle body.

In order to effectively avoid the occurrence of excessive bumps during driving in uneven roadways and effectively ensure the clarity of the collected pictures, the rubber wheels are connected to the explosion-proof rubber wheel body through nitrogen springs.

As a preference, the controller is a PLC controller.

As a preference, the diameter of the rubber wheel is 20cm; the length, width and height of the explosion-proof rubber wheel body are 60cm*40cm*40cm.

In the present invention, by installing a binocular camera at the front end and rear end of the explosion-proof rubber-tyred vehicle body, image data can be collected effectively for the surrounding rocks of the roadway during the forward process or the backward process, and it can be beneficial to The obtained image data can be used to identify the position monitoring point and measure the distance of the position monitoring point, and can also facilitate the acquisition of the third-dimensional depth information of the pixel points of the two-dimensional image, so that it can help to obtain the deformation data of the roadway accurately and efficiently; By assembling the remote control module in the explosion-proof rubber-tyred vehicle body, the remote control of the explosion-proof rubber-tyred vehicle body can be easily realized. Through the setting of multiple sensing device modules, the remote control module can be assisted to realize the autonomous driving process of the explosion-proof rubber tire body, and then unmanned monitoring of the deformation and damage of the surrounding rock of the coal mine roadway can be realized. An explosion-proof panoramic camera is installed in the top center of the explosion-proof rubber-tyred vehicle body, which can collect environmental images around the explosion-proof rubber-tyred vehicle body in real time. Installing a laser rangefinder on the front side of the top of the explosion-proof rubber tire body can detect the distance signal of the obstacle in front in real time, so that the controller can adjust the driving route of the car body according to the distance signal; assemble a gyroscope on the explosion-proof rubber tire body, The attitude signal of the vehicle body can be collected in real time, so that the controller can adjust the attitude of the vehicle body according to the attitude signal. The device has a high degree of intelligence and can accurately monitor the surrounding rock of the roadway, which greatly improves the accuracy and timeliness of the monitoring results. At the same time, it can effectively ensure the personal safety of the staff through unmanned monitoring operations. It is conducive to promoting the safe production operation of coal mines.

The present invention also provides a method for monitoring deformation and damage of surrounding rocks in coal mine roadways based on depth images, which includes the following steps:

Step 1: Arrange position monitoring points in the roadway, and measure the initial state of the roadway surrounding rock deformation;

S11: According to the need to monitor the length of the roadway and the previous deformation, arrange multiple groups of position monitoring points in sequence along the length direction of the roadway, and make each group of position monitoring points arranged in a ring in the same roadway section; where the position monitoring points are set Plastic balls on the surface of the roadway, and the surface of the plastic balls is provided with a bullseye;

S12: Before formally monitoring the deformation and damage of the surrounding rock of the roadway, measure the initial state of the deformation of the surrounding rock of the roadway, and use the measured data as the initial value of the deformation of the surrounding rock of the roadway;

Step 2: Use the explosion-proof rubber tire body to collect image data in the roadway;

S21: Use the remote control module to control the explosion-proof rubber-tyred car body to travel along the roadway from the starting point to the end point, and then use the remote control module to control the explosion-proof rubber-tyred car body to drive back to the starting point along the same route, In this process, the driving route is saved through the remote control module,

S22: repeating S21 multiple times, so that the remote control module saves multiple sets of driving routes;

S23: Control the explosion-proof rubber-tyred car body to walk autonomously in the roadway through the remote-controlled rubber-tyred vehicle, and realize the autonomous driving process by combining the auxiliary functions of multiple sensor device modules;

In the process of autonomous driving, use the binocular camera assembled on the explosion-proof rubber tire body to take pictures of the real scene picture data of the surrounding rock of the roadway and send it to the controller, and then send the received picture data to the ground through the communication module through the controller The image data processing module on

Step 3: Use the image data processing module to process the image data and output the result;

S31: comparing the picture data collected by the two cameras in the binocular camera, and deleting the noise data in the picture data;

S32: Use the depth information of the picture pixels to identify the position monitoring point, and then calculate the relative distance of the position monitoring point on the basis of the identified position monitoring point, and then obtain the position monitoring point according to the original coordinates and actual coordinates of the position monitoring point Then compare the displacement data of the position monitoring point with the initial value of the roadway surrounding rock deformation to obtain the deformation of the monitoring area. Finally, use the yolo algorithm to optimize and reconstruct the source data and establish a real 3D model to display the roadway deformation in real time; During this process, when the surface displacement of the roadway exceeds the displacement alarm threshold, an alarm message is sent to the external equipment so that the staff can find out in time and take pressure relief measures;

S33: Obtain the difference D by comparing the real-time deformation measurement data of the surrounding rock of the roadway with the initial deformation value of the surrounding rock of the roadway, and then draw the change of the surrounding rock of the roadway over time based on the functional relationship D=f(t) between the difference D and time t Graph;

并绘制巷道围岩实时形变速度曲线图；S34: Use the difference D between the deformation measurement data and the initial value to perform a derivative on the time t to obtain the change speed of the roadway surrounding rock over time

And draw the real-time deformation velocity curve of the roadway surrounding rock;

并绘制巷道围岩实时形变加速度曲线图。S35: Use the difference D between the deformation measurement data and the initial value to perform secondary derivation on the time t to obtain the acceleration of the roadway surrounding rock over time

And draw the real-time deformation acceleration curve of the roadway surrounding rock.

Further, in order to ensure that the autonomous driving process can be better realized, in S23 of step 2, the auxiliary functions of multiple sensing device modules realize the autonomous driving process as follows: use the gyroscope to measure the pitch and inclination of the explosion-proof rubber-tyred vehicle body in real time The attitude data is sent to the controller. The controller obtains the calibration adjustment signal according to the attitude data and sends it to the walking control module. The laser rangefinder is used to detect the obstacle distance signal in front in real time and sends it to the controller. The controller according to the obstacle distance The signal obtains the route adjustment signal and sends it to the walking control module. The explosion-proof panoramic camera is used to collect the image data around the explosion-proof rubber tire body in real time and send it to the controller. In case of self-diagnosis failure, output self-diagnosis failure information to external equipment through the communication module.

As a preference, in Step 3 S32, the displacement alarm threshold is 19-21 cm.

In this method, before starting the monitoring, the remote control module assembled on the car body is used to control the explosion-proof rubber wheel car body to carry out autonomous walking process in the roadway for many times, and the driving route is saved during the walking process, so that the time can be monitored. Use the remote control of the explosion-proof rubber-tyred vehicle body to realize unmanned monitoring operations. At the same time, the autonomous walking process can be assisted by the assembly of multiple sensing device modules, which can effectively ensure that the autonomous monitoring process can be carried out smoothly and reliably. The initial state of the deformation of the surrounding rock of the roadway is measured, and it is used as the initial value of the deformation of the surrounding rock of the roadway, and then the relative distance between the position monitoring points is obtained by using the depth image, and the measurement data of the real-time deformation of the surrounding rock of the roadway can be obtained by comparison In this way, the deformation of the roadway can be accurately obtained, and then based on the difference between the measured data and the initial value, the time-varying curve of the roadway surrounding rock, the real-time deformation velocity curve of the roadway surrounding rock, and the real-time deformation acceleration of the roadway surrounding rock can be obtained sequentially The curve graph can quantify the deformation characteristics of the surrounding rock of the roadway, so that the deformation of the surrounding rock of the roadway can be accurately monitored.

This method utilizes the mining intrinsically safe binocular camera module carried on the vehicle to effectively collect real-scene pictures of the surrounding rocks of the roadway, and uses the image data processing module to process the collected image data to obtain a three-dimensional cloud image of the surrounding rocks of the roadway, which can be beneficial The roadway area, deformation amount, deformation rate, etc. are displayed in real time in a visualized manner, thereby realizing accurate and reliable monitoring of the surrounding rock of the roadway. Using this method can keep the coal mine workers away from the dangerous area, and can monitor the deformation of the surrounding rock of the roadway in a timely and accurate manner in an unmanned manner, effectively reducing the possibility of danger in the surrounding rock of the roadway, and greatly The safety of the operators is guaranteed; in addition, the mining intrinsically safe binocular camera and the image data processing module are used to collect and analyze the image data, quantify the deformation characteristics of the surrounding rock of the roadway, and avoid errors caused by human measurement. It provides important guarantee measures for coal mine safety production.

Description of drawings

Fig. 1 is the circuit connection principle block diagram of roadway surrounding rock data acquisition device and image data processing module in the present invention;

Fig. 2 is a schematic block diagram of the connection principle of the control system circuit in the mining intrinsically safe binocular camera module, multi-sensor device integration module and remote control rubber-tyred vehicle in the present invention;

Fig. 3 is the flowchart of method among the present invention;

Fig. 4 is the structural representation of the remote control rubber-tyred vehicle in the present invention;

Fig. 5 is the back view of Fig. 4;

Fig. 6 is the schematic diagram of image data collection among the present invention;

Fig. 7 is a schematic diagram of the layout of the monitoring points of a roadway section in the present invention, wherein, Figure (a) is a schematic diagram of the layout of the monitoring points in the rectangular roadway of the present invention, and Figure (b) is the layout of the monitoring points in the arched roadway of the present invention Schematic diagram, figure (c) is a schematic diagram of monitoring point layout in trapezoidal roadway for the present invention;

Fig. 8 is a schematic diagram of the deformation of a certain monitoring point on the surface of the roadway in the present invention, wherein, figure (a) is a deformation figure of a certain monitoring point on the surface of the roadway in the present invention, and figure (b) is a certain monitoring point on the surface of the roadway in the present invention Point deformation speed figure, figure (c) is a certain monitoring point deformation acceleration figure for roadway surface of the present invention;

In the figure: 1. Roadway surrounding rock data acquisition device, 2. Image data processing module, 11. Remote control rubber-tyred vehicle, 12. Mining intrinsically safe binocular camera module, 13. Multiple sensor device integration module, 111, Explosion-proof rubber wheel vehicle body, 112, remote control module, 113, communication module, 114, lithium battery, 115, rubber wheel, 116, nitrogen gas spring, 121, binocular camera, 131, gyroscope, 132, laser range finder, 133. An explosion-proof panoramic camera.

Detailed ways

The present invention will be further described below.

As shown in Fig. 1 to Fig. 8, the present invention provides a coal mine roadway surrounding rock deformation and damage monitoring device based on depth images, including a roadway surrounding rock data acquisition device 1 and an image data processing module 2;

The roadway surrounding rock data acquisition device 1 is composed of a remote-controlled rubber-tyred vehicle 11, a mining intrinsically safe binocular camera module 12, and a plurality of sensing device modules 13;

The remote control rubber-wheeled vehicle 11 is composed of an explosion-proof rubber-wheeled vehicle body 111, a remote control module 112, a communication module 113, and a lithium battery 114. The remote control module 112, communication module 113 and lithium battery 114 are all assembled on the explosion-proof rubber wheel The inside of the vehicle body 111; the inside of the explosion-proof rubber-wheeled vehicle 111 is also equipped with a controller and a walking control module, and a plurality of rubber wheels 115 are installed at the bottom;

The mine intrinsically safe binocular camera module 12 is composed of two sets of binocular cameras 121, and the two sets of binocular cameras 121 are respectively installed on the front end and the rear end of the explosion-proof rubber wheel body 111;

Described multiple sensing device module 13 is made up of gyroscope 131, laser range finder 132 and explosion-proof panoramic camera 133, and described gyroscope 131 is installed on the side of explosion-proof rubber wheel vehicle body 111 vehicle body tops, and described laser rangefinder The instrument 132 is installed on the front side of the top of the explosion-proof rubber-tyred vehicle body 111, and the explosion-proof panoramic camera 133 is installed at the center of the top of the explosion-proof rubber-tyred vehicle body 111, and its height is higher than the laser range finder 132 and the gyroscope 131 the height of;

Described binocular camera 121 is connected with controller, is used for collecting the picture data of roadway surrounding rock in real time, and sends to controller;

The gyroscope 131 is connected with the controller for real-time measurement of the pitch and tilt attitude data of the explosion-proof rubber-tyred vehicle body 111, and sends it to the controller;

Described laser range finder 132 is connected with controller, is used for detecting the obstacle distance signal in front of the distance in real time, and sends to controller;

The explosion-proof panoramic camera 133 is connected with the controller, and is used to collect image data around the explosion-proof rubber tire body 111 in real time, and send it to the controller;

The remote control module 112 is respectively connected with the communication module 113 and the walking control module inside the explosion-proof rubber tire body 111, and is used to control the walking control module to perform corresponding actions after receiving the walking control signal sent by the remote controller;

The communication module 113 is connected to the controller for establishing a communication connection between the controller and external equipment, and for establishing a communication connection between the remote control module 112 and the remote controller;

The controller is used to send the received picture data to the image data processing module 2 on the ground through the communication module 113, and is used to calibrate and adjust the attitude of the explosion-proof rubber-tyred vehicle body 111 according to the attitude data, and output a calibration adjustment signal to The walking control module is used to adjust the traveling route of the explosion-proof rubber-tyred vehicle body 111 according to the obstacle distance signal, and output the route adjustment signal to the walking control module; it is used to store and analyze the received surrounding image data, and When an abnormal situation that hinders normal driving is found, it is determined that there is a self-inspection failure, and the self-inspection failure information is output to the external device through the communication module (113);

The walking control module is used to control the walking action of the explosion-proof rubber-tyred vehicle body 111;

The lithium battery 114 is used for supplying electric power to each electric component on the explosion-proof rubber-tyred vehicle body 111 .

Further, in order to effectively avoid the occurrence of excessive bumps during driving in uneven roadways and effectively ensure the clarity of the collected pictures, the rubber wheels 115 are connected to the explosion-proof rubber wheel body 111 through nitrogen springs 116 .

As a preference, the controller is a PLC controller.

As a preference, the diameter of the rubber wheel 115 is 20cm; the length, width and height of the explosion-proof rubber wheel body 111 are 60cm*40cm*40cm.

In the present invention, by installing a binocular camera at the front end and rear end of the explosion-proof rubber-tyred vehicle body, image data can be collected effectively for the surrounding rocks of the roadway during the forward process or the backward process, and it can be beneficial to The obtained image data can be used to identify the position monitoring point and measure the distance of the position monitoring point, and can also facilitate the acquisition of the third-dimensional depth information of the pixel points of the two-dimensional image, so that it can help to obtain the deformation data of the roadway accurately and efficiently; By assembling the remote control module in the explosion-proof rubber-tyred vehicle body, the remote control of the explosion-proof rubber-tyred vehicle body can be easily realized. Through the setting of multiple sensing device modules, the remote control module can be assisted to realize the autonomous driving process of the explosion-proof rubber tire body, and then unmanned monitoring of the deformation and damage of the surrounding rock of the coal mine roadway can be realized. An explosion-proof panoramic camera is installed in the top center of the explosion-proof rubber-tyred vehicle body, which can collect environmental images around the explosion-proof rubber-tyred vehicle body in real time. Installing a laser rangefinder on the front side of the top of the explosion-proof rubber tire body can detect the distance signal of the obstacle in front in real time, so that the controller can adjust the driving route of the car body according to the distance signal; assemble a gyroscope on the explosion-proof rubber tire body, The attitude signal of the vehicle body can be collected in real time, so that the controller can adjust the attitude of the vehicle body according to the attitude signal. The device has a high degree of intelligence and can accurately monitor the surrounding rock of the roadway, which greatly improves the accuracy and timeliness of the monitoring results. At the same time, it can effectively ensure the personal safety of the staff through unmanned monitoring operations. It is conducive to promoting the safe production operation of coal mines.

The present invention also provides a method for monitoring deformation and damage of surrounding rocks in coal mine roadways based on depth images, which includes the following steps:

Step 1: Arrange position monitoring points in the roadway, and measure the initial state of the roadway surrounding rock deformation;

S11: According to the length and previous deformation of the roadway to be monitored, arrange multiple groups of position monitoring points in sequence along the length direction of the roadway, and make each group of position monitoring points arranged in a ring in the same roadway section; The distance between the adjacent position monitoring points in the section is 20cm; wherein, the position monitoring point is a plastic ball arranged on the surface of the roadway, and the surface of the plastic ball is provided with a bull's-eye. As a preference, the plastic ball is white, and the bull's-eye is Red, so that the binocular camera 121 can locate and collect data;

S12: Before formally monitoring the deformation and damage of the surrounding rock of the roadway, measure the initial state of the deformation of the surrounding rock of the roadway, and use the measured data as the initial value of the deformation of the surrounding rock of the roadway;

Step 2: using the explosion-proof rubber-tyred vehicle body 111 to collect image data in the roadway;

S21: Use the remote control module 112 to control the explosion-proof rubber-tyred vehicle body 111 to travel along the roadway from the starting point to the end point, and then control the explosion-proof rubber-tyred vehicle body 111 to drive back along the same route through the remote control module 112 To the starting point, in this process, the driving route is saved by the remote control module 112,

S22: Repeat S21 multiple times, so that the remote control module 112 saves multiple sets of driving routes;

S23: Control the explosion-proof rubber-tyred vehicle body 111 to walk autonomously in the roadway through the remote-controlled rubber-tyred vehicle 11, and realize the autonomous driving process in combination with the auxiliary functions of multiple sensing device modules 13;

During the autonomous driving process, the binocular camera 121 mounted on the explosion-proof rubber tire body 111 is used to cyclely take pictures of the real scene picture data of the roadway surrounding rocks and send them to the controller, and then the received picture data is sent to the controller through the communication module 113 Send to the image data processing module 2 on the ground;

Step 3: use the image data processing module 2 to process the image data;

S31: comparing the picture data collected by the two cameras in the binocular camera 121, and deleting the noise data in the picture data;

S32: Use the depth information of the picture pixels to identify the position monitoring point, and then calculate the relative distance of the position monitoring point on the basis of the identified position monitoring point, and then obtain the position monitoring point according to the original coordinates and actual coordinates of the position monitoring point Then compare the displacement data of the position monitoring point with the initial value of the roadway surrounding rock deformation to obtain the deformation of the monitoring area. Finally, use the yolo algorithm to optimize and reconstruct the source data and establish a real 3D model to display the roadway deformation in real time; During this process, when the surface displacement of the roadway exceeds the displacement alarm threshold, an alarm message is sent to the external equipment so that the staff can find out in time and take pressure relief measures;

S33: Obtain the difference D by comparing the real-time deformation measurement data of the surrounding rock of the roadway with the initial deformation value of the surrounding rock of the roadway, and then draw the change of the surrounding rock of the roadway over time based on the functional relationship D=f(t) between the difference D and time t Graph;

并绘制巷道围岩实时形变速度曲线图；S34: Use the difference D between the deformation measurement data and the initial value to perform a derivative on the time t to obtain the change speed of the roadway surrounding rock over time

And draw the real-time deformation velocity curve of the roadway surrounding rock;

并绘制巷道围岩实时形变加速度曲线图。S35: Use the difference D between the deformation measurement data and the initial value to perform secondary derivation on the time t to obtain the acceleration of the roadway surrounding rock over time

And draw the real-time deformation acceleration curve of the roadway surrounding rock.

In order to ensure that the autonomous driving process can be better realized, in S23 of step 2, the auxiliary functions of the multi-sensor device module 13 realize the autonomous driving process method as follows: use the gyroscope 131 to measure in real time the pitch and Tilt the attitude data and send it to the controller. The controller obtains the calibration adjustment signal according to the attitude data and sends it to the walking control module. The laser rangefinder 132 is used to detect the obstacle distance signal in front in real time and send it to the controller. The object distance signal obtains the route adjustment signal and sends it to the walking control module, and uses the explosion-proof panoramic camera 133 to collect the image data around the explosion-proof rubber-tyred vehicle body 111 in real time and sends it to the controller. The controller judges whether there is a self-inspection fault based on the image data around it , and output self-test fault information to external devices through the communication module 113 when there is a self-test fault.

As a preference, in Step 3 S32, the displacement alarm threshold is 19-21 cm.

In this method, before starting the monitoring, the remote control module assembled on the car body is used to control the explosion-proof rubber wheel car body to carry out autonomous walking process in the roadway for many times, and the driving route is saved during the walking process, so that the time can be monitored. Use the remote control of the explosion-proof rubber-tyred vehicle body to realize unmanned monitoring operations. At the same time, the autonomous walking process can be assisted by the assembly of multiple sensing device modules, which can effectively ensure that the autonomous monitoring process can be carried out smoothly and reliably. The initial state of the deformation of the surrounding rock of the roadway is measured, and it is used as the initial value of the deformation of the surrounding rock of the roadway, and then the relative distance between the position monitoring points is obtained by using the depth image, and the measurement data of the real-time deformation of the surrounding rock of the roadway can be obtained by comparison In this way, the deformation of the roadway can be accurately obtained, and then based on the difference between the measured data and the initial value, the time-varying curve of the roadway surrounding rock, the real-time deformation velocity curve of the roadway surrounding rock, and the real-time deformation acceleration of the roadway surrounding rock can be obtained sequentially The curve graph can quantify the deformation characteristics of the surrounding rock of the roadway, so that the deformation of the surrounding rock of the roadway can be accurately monitored.

This method utilizes the mining intrinsically safe binocular camera module carried on the vehicle to effectively collect real-scene pictures of the surrounding rocks of the roadway, and uses the image data processing module to process the collected image data to obtain a three-dimensional cloud image of the surrounding rocks of the roadway, which can be beneficial The roadway area, deformation amount, deformation rate, etc. are displayed in real time in a visualized manner, thereby realizing accurate and reliable monitoring of the surrounding rock of the roadway. Using this method can keep the coal mine workers away from the dangerous area, and can monitor the deformation of the surrounding rock of the roadway in a timely and accurate manner in an unmanned manner, effectively reducing the possibility of danger in the surrounding rock of the roadway, and greatly The safety of the operators is guaranteed; in addition, the mining intrinsically safe binocular camera and the image data processing module are used to collect and analyze the image data, quantify the deformation characteristics of the surrounding rock of the roadway, and avoid errors caused by human measurement. It provides important guarantee measures for coal mine safety production.

Claims (7)

1. The coal mine roadway surrounding rock deformation damage monitoring device based on the depth image comprises a roadway surrounding rock data acquisition device (1) and an image data processing module (2); the method is characterized in that;

the roadway surrounding rock data acquisition device (1) consists of a remote control rubber-tyred vehicle (11), a mining intrinsic safety binocular camera module (12) and a plurality of sensing device modules (13);

the remote control rubber-tyred vehicle (11) consists of an anti-explosion rubber-tyred vehicle body (111), a remote control module (112), a communication module (113) and a lithium battery (114), wherein the remote control module (112), the communication module (113) and the lithium battery (114) are assembled in the anti-explosion rubber-tyred vehicle body (111); the inside of the explosion-proof rubber-tyred vehicle (111) is also provided with a controller and a walking control module, and the bottom of the explosion-proof rubber-tyred vehicle is provided with a plurality of rubber wheels (115);

the mining intrinsic safety binocular camera module (12) consists of two sets of binocular cameras (121), and the two sets of binocular cameras (121) are respectively arranged at the front end and the rear end of the anti-explosion rubber wheel car body (111);

the multi-item sensing device module (13) consists of a gyroscope (131), a laser range finder (132) and an explosion-proof panoramic camera (133), wherein the gyroscope (131) is arranged on one side of the top end of the explosion-proof rubber-tyred car body (111), the laser range finder (132) is arranged on the front side of the top end of the explosion-proof rubber-tyred car body (111), and the explosion-proof panoramic camera (133) is arranged in the center of the top end of the explosion-proof rubber-tyred car body (111) and is higher than the laser range finder (132) and the gyroscope (131);

the binocular camera (121) is connected with the controller and used for collecting picture data of surrounding rocks of a roadway in real time and sending the picture data to the controller;

the gyroscope (131) is connected with the controller and used for measuring pitching and tilting attitude data of the explosion-proof rubber wheel vehicle body (111) in real time and sending the pitching and tilting attitude data to the controller;

the laser range finder (132) is connected with the controller and used for detecting obstacle distance signals in front of the distance in real time and sending the obstacle distance signals to the controller;

the explosion-proof panoramic camera (133) is connected with the controller and used for collecting image data around the explosion-proof rubber wheel vehicle body (111) in real time and sending the image data to the controller;

the remote control module (112) is respectively connected with the communication module (113) and the walking control module inside the anti-explosion rubber wheel vehicle body (111) and is used for controlling the walking control module to execute corresponding actions after receiving the walking control signal sent by the remote controller;

the communication module (113) is connected with the controller and used for establishing communication connection between the controller and external equipment and communication connection between the remote control module (112) and the remote controller;

the controller is used for sending the received picture data to an image data processing module (2) on the ground through a communication module (113), carrying out calibration adjustment on the posture of the anti-explosion rubber wheel vehicle body (111) according to the posture data, outputting a calibration adjustment signal to the walking control module, adjusting the travelling route of the anti-explosion rubber wheel vehicle body (111) according to the obstacle distance signal, and outputting a route adjustment signal to the walking control module; the system is used for storing and analyzing the received four-periphery image data, judging that a self-checking fault exists when an abnormal situation which hinders normal running is found, and outputting self-checking fault information to external equipment through a communication module (113);

the walking control module is used for controlling the walking action of the anti-explosion rubber wheel vehicle body (111);

the lithium battery (114) is used for supplying power to all power utilization components on the explosion-proof rubber tyre body (111).

2. The depth image-based coal mine roadway surrounding rock deformation damage monitoring device according to claim 1, wherein the rubber wheel (115) is connected with the explosion-proof rubber wheel vehicle body (111) through a nitrogen spring (116).

3. The depth image-based coal mine roadway surrounding rock deformation damage monitoring device according to claim 1 or 2, wherein the controller is a PLC.

4. A depth image based coal mine roadway surrounding rock deformation damage monitoring device as claimed in claim 3, wherein the diameter of the rubber wheel (115) is 20cm; the length, width and height dimensions of the explosion-proof rubber wheel vehicle body (111) are 60 cm-40 cm.

5. The method for monitoring deformation and damage of surrounding rock of coal mine roadway based on depth image is characterized by comprising the following steps:

step one: position monitoring points are arranged in the roadway, and the initial state of deformation of surrounding rock of the roadway is measured;

s11: according to the length of the roadway and the previous deformation condition, sequentially arranging a plurality of groups of position monitoring points along the length direction of the roadway, and enabling each group of position monitoring points to be annularly arranged in the section of the same roadway; the position monitoring points are plastic pellets arranged on the surface of the roadway, and the surfaces of the plastic pellets are provided with bulls centers;

s12: before formally monitoring deformation damage of surrounding rocks of a roadway, measuring the initial state of deformation of the surrounding rocks of the roadway, and taking data obtained by measurement as the initial value of deformation of the surrounding rocks of the roadway;

step two: acquiring image data in a roadway by using an explosion-proof rubber wheel vehicle body (111);

s21: the remote control module (112) is used for controlling the anti-explosion rubber wheel vehicle body (111) to walk so as to drive the anti-explosion rubber wheel vehicle body from a starting point to a finishing point along the roadway trend, then the remote control module (112) is used for controlling the anti-explosion rubber wheel vehicle body (111) to drive back to the starting point according to the same route, in the process, the remote control module (112) is used for storing the driving route,

s22: repeating S21 for a plurality of times, so that the remote control module (112) stores a plurality of groups of driving routes;

s23: the anti-explosion rubber wheel vehicle body (111) is controlled to automatically walk in a roadway through the remote control rubber wheel vehicle (11), and an automatic traveling process is realized by combining auxiliary functions of the plurality of sensing device modules (13);

in the autonomous driving process, real-scene picture data of surrounding rock of a roadway are circularly shot by using a binocular camera (121) assembled on an anti-explosion rubber wheel vehicle body (111) and are sent to a controller, and then the received picture data are sent to an image data processing module (2) on the ground through a communication module (113) by the controller;

step three: processing the picture data by using an image data processing module (2);

s31: comparing the image data acquired by the two cameras in the binocular camera (121), and deleting noise data in the image data;

s32: identifying position monitoring points by using depth information of picture pixels, calculating relative distances of the position monitoring points on the basis that the position monitoring points are identified, obtaining displacement data of the position monitoring points according to original coordinates and actual coordinates of the position monitoring points, comparing the displacement data of the position monitoring points with initial values of roadway surrounding rock deformation to obtain deformation amounts of a monitoring area, and finally optimizing reconstruction source data by using yolo algorithm and establishing a real-scene three-dimensional model to display roadway deformation conditions in real time; in the process, when the surface displacement of the roadway exceeds a displacement alarm threshold, alarm information is sent to external equipment so that workers can find out in time and take pressure relief measures;

s33: obtaining a difference value D by comparing the real-time deformation measurement data of the surrounding rock of the roadway with the initial value of deformation of the surrounding rock of the roadway, and then drawing a change curve graph of the surrounding rock of the roadway along with time based on a function relation D=f (t) of the difference value D and the time t;

s34: the time t is obtained by once deriving the difference D between the deformation measurement data and the initial value to obtain the change speed of the roadway surrounding rock along with the time

Drawing a real-time deformation speed curve graph of the surrounding rock of the roadway;

s35: the time t is subjected to secondary derivation by utilizing the difference D between the deformation measurement data and the initial value to obtain the change acceleration of the roadway surrounding rock along with the time

And drawing a real-time deformation acceleration curve graph of the roadway surrounding rock.

6. The method for monitoring deformation and destruction of surrounding rock of coal mine tunnel based on depth image according to claim 5, wherein in step S23, the method for realizing autonomous driving by auxiliary functions of the multiple sensor modules (13) is as follows: the method comprises the steps that pitching and tilting attitude data of an explosion-proof rubber wheel vehicle body (111) are measured in real time by using a gyroscope (131) and sent to a controller, the controller obtains a calibration adjustment signal according to the attitude data and sends the calibration adjustment signal to a walking control module, a laser range finder (132) is used for detecting obstacle distance signals in front of the distance in real time and sending the obstacle distance signals to the controller, the controller obtains route adjustment signals according to the obstacle distance signals and sends the route adjustment signals to the walking control module, an explosion-proof panoramic camera (133) is used for collecting image data around the explosion-proof rubber wheel vehicle body (111) in real time and sending the image data to the controller, and the controller judges whether self-checking faults exist according to the image data around and outputs self-checking fault information to external equipment through a communication module (113) when the self-checking faults exist.

7. The depth image-based coal mine roadway surrounding rock deformation damage monitoring method is characterized in that in S32 of the third step, a displacement alarm threshold value is 19-21 cm.

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