CN117365417A - Visual synergistic laser three-dimensional directional induced drilling periphery fracturing anti-reflection method - Google Patents
Visual synergistic laser three-dimensional directional induced drilling periphery fracturing anti-reflection method Download PDFInfo
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Abstract
The invention discloses a visual collaborative laser three-dimensional directional induced drilling peripheral fracturing and anti-reflection method, and belongs to the technical field of coal seam pressure relief, anti-reflection and gas extraction promotion; the method comprises the following steps: after the underground drilling is finished, acquiring a coal bed image in the drilling through a laser beam induction head; carrying out gray treatment on the hole wall fracture rock mass image of the drill hole; analyzing coal-rock cracks according to the gray data of the drilling image and determining coal seam breakable points; acquiring depth data of coal and rock in the Z direction in the image by using a laser auxiliary camera to obtain a point cloud data value of a coal seam fragile point in a drill hole; and constructing a three-dimensional point cloud data model of the inner wall of the drill hole according to the three-dimensional coordinates of the coal seam fragile point in the drill hole, and analyzing the laser fracture point and the laser fracture amount under the three-dimensional state to perform three-dimensional directional quantitative fracturing. According to the method, the cooperation of visual scanning and a laser technology is utilized, so that the three-dimensional directional induced drilling peripheral fracturing is realized, the directional and quantitative fracturing of the coal bed is realized, and the pressure of the peripheral area is relieved, so that the purpose of antireflection is achieved.
Description
Technical Field
The invention belongs to the technical field of coal seam pressure relief, permeability increase and gas extraction promotion, and particularly relates to a visual collaborative laser three-dimensional directional induced drilling periphery fracturing and permeability increase method.
Background
Most of mines in China gradually enter a deep mining stage at the present stage, and in a deep region of the mine, more complicated geological conditions lead to the existence of larger hidden dangers of gas disasters, and the key of gas disaster management is to ensure efficient gas extraction.
The investigation and analysis show that the low-permeability geological condition of the coal seam is limited in gas extraction, but the conventional technology and equipment are still limited in that fracturing and permeability increase can not be quantitatively carried out based on the geological condition, and meanwhile, a large amount of manpower and material resources are required to be input in the implementation process, and the conventional equipment is large in size and large in operation difficulty in a limited space of a roadway; the existing hole collapse treatment technology and equipment are mostly characterized in that secondary hole repair is carried out after hole collapse, and the scheme is time-consuming and labor-consuming.
In addition, the current coal demand is huge, but the coal seam of a plurality of mines in China has low air permeability, so that gas extraction is difficult, and gas control is a necessary measure for reducing the gas content before coal seam exploitation. In the past, the water conservation measures are used for promoting the gas extraction, although the certain pressure relief of a coal seam can be improved, the effect is limited by geological conditions, the internal conditions of a drill hole are unknown, the crushing degree and whether the crushing is at the expected position are uncontrollable, and certain randomness and blindness exist, so that the orderly operation of gas extraction is greatly limited.
In order to solve the problem that fracturing and permeability increasing cannot be quantitatively performed due to geological conditions, various solutions are proposed in the prior art, but the following problems still exist: for example, the application publication number is CN115450646A, and the laser-assisted rock breaking equipment is aimed at different hardness characteristics of coal, and is characterized in that three-dimensional scanning coal hardness analysis is firstly carried out, then accurate breaking is carried out, laser breaking quantity is output according to the result of coal quality analysis, but aiming at the target of the laser-assisted rock breaking equipment, the target is rock with almost the same hardness, and the laser-assisted rock breaking equipment is not suitable for broken soft and easy-collapse coal seams around drilling holes. In addition, as the method for strengthening gas extraction by combining hydraulic fracturing and laser slotting thermal flooding is disclosed in the patent CN113464194A, the method cannot be used for directionally fracturing a coal seam, so that the method does not have a hole collapse protection function.
Therefore, in view of the above problems, it is desirable to design a method for fracturing and anti-reflection around a borehole, which can realize directional and quantitative fracturing of a coal seam.
Disclosure of Invention
The purpose of the invention is that: the method solves the problems that coal seam cracks cannot be quantitatively generated in the existing drilling holes and geological conditions in the drilling holes cannot be obtained, and the phenomenon that the drilling holes are collapsed in most mines seriously affects normal production of the mines, and provides a three-dimensional directional induced drilling hole periphery fracturing and permeability increasing method by visual collaborative laser.
In order to achieve the above purpose, the present invention adopts the following technical scheme: a visual synergistic laser three-dimensional directional induced drilling periphery fracturing anti-reflection method comprises the following steps:
s0, arranging a coal bed image acquisition device in the drill hole:
after the underground drilling is finished, a drill rod with a probe is sent into a drilling hole opening by using a drilling fracturing anti-reflection treatment device, wherein the drill rod with the probe consists of an inner rod of the drill rod, an outer wall of the drill rod, a cinder collecting funnel positioned at the front end of the drill rod and a laser beam induction head integrated with a laser, a spherical camera and a light supplementing instrument, and the laser beam induction head is respectively connected with a diaphragm of the light supplementing instrument, a laser beam port and a collecting probe of the spherical camera through a rotating area arranged on a pose rotating shaft connecting shaft;
s1, collecting a borehole wall fracture rock mass image and carrying out gray processing:
when a drill rod with a probe is sent into a drill hole, acquiring a high-resolution digital image of a fracture rock mass on the wall of the drill hole by a spherical camera acquisition probe in the travelling process, carrying out graying treatment on the image to acquire a 0-120-degree drill hole gray scale image, and fusing and splicing three images which are respectively overlapped by about 10 degrees to acquire a 360-degree coal rock inner wall image gray scale data image of the drill hole;
the position coordinates of the spherical camera acquisition probe in the drill hole are (X, Y, Z),
X＝X0+dcosθcosφ，Y＝Y0+dcosθsinφ，Z＝Z0+dsinθ，
wherein, (X0, Y0, Z0) represents the starting position of the drill hole, d represents the distance between the camera and the starting position, θ represents the pitching angle of the camera, and φ represents the horizontal direction angle of the camera;
s2, analyzing coal-rock cracks according to the gray data of the drilling image and determining coal seam breakable points:
carrying out Canny edge detection on the image subjected to gray processing in the step S1, carrying out primary morphological processing to connect adjacent cracks, finding out all connected areas on the image, deleting non-crack noise areas, carrying out skeleton extraction processing on each connected area part, obtaining length data and width data of each crack, finding out a central point of the crack by using the obtained length data and width data, expanding by taking a central line point as a marking point extending to the periphery, wherein the marking point and the central point are coal seam fragile points, and obtaining two-dimensional coordinates x and y values of the inner wall of the coal and rock in the process;
s3, acquiring depth data of the coal rock in the Z direction in the image through a laser auxiliary camera:
based on the coal and rock crack analysis in the step S2, a laser triangle method is adopted, a monocular camera and laser method is utilized for carrying out depth analysis, at the moment, an output beam of a laser beam port is line laser, a camera is arranged on the left side, a line laser is arranged on the right side, line laser is used for driving line structure light on a coal and rock wall, a spherical camera is used for collecting a picture of the line laser shot by a probe and calculating a depth value of a pixel point on the laser line, so that object depth information is obtained, and a point cloud data value of a coal seam fragile point in a drilled hole is obtained;
the three-dimensional coordinates of the coal seam breakable points in the drill hole are (X_m, Y_m, Z_m),
X_m＝X+mcos(θ_m)cos(φ_m)，Y_m＝Y+mcos(θ_m)sin(φ_m)，
Z_m＝Z+msin(θ_m)，
wherein (X, Y, Z) is the position coordinate of the spherical camera acquisition probe in the drill hole, m represents the distance between the fragile point and the camera, and theta_m and phi_m represent the pitching angle and the horizontal direction angle of the fragile point of the coal seam relative to the spherical camera acquisition probe;
s4, constructing a three-dimensional point cloud data model of the inner wall of the drill hole according to the three-dimensional coordinates of the fragile point of the coal bed in the drill hole;
storing the three-dimensional coordinates of the fragile points of the coal bed in the drill hole obtained in the step S3 by using a matplptlib library of python to generate a three-dimensional point cloud data model of the inner wall of the drill hole, wherein the three-dimensional point cloud data formula of the inner wall of the drill hole is as follows: pointCloud= { (X_m, Y_m, Z_m) };
s5, obtaining laser breaking points and laser breaking quantity based on the three-dimensional point cloud data model of the inner wall of the drill hole:
based on a discriminant model DCNN on a three-dimensional point cloud data model of the inner wall of a drill hole, carrying out triaxial analysis on low-level features, middle-level features and high-level features, identifying a crack boundary box, respectively dividing the three-dimensional point cloud of a structural surface, acquiring the tendency, inclination angle, opening, position, shape and size of a coal rock body, inputting the obtained geometric parameters into a small-scale crack network model, and analyzing laser breaking points and laser breaking quantity in a three-dimensional state to carry out three-dimensional directional quantitative fracturing.
In the step S1, the specific process of image fusion and stitching includes:
sa1, performing pose rotation by 120 degrees, moving an original pose initial position to a pose adjustment of which the first tail end position reaches 120 degrees, performing secondary photographing to obtain a drilling image of surrounding coal and rock mass, and performing gray scale processing;
sa2, carrying out pose adjustment of 120 degrees again, carrying out three times of photographing to obtain a drilling image of surrounding coal and rock mass, and carrying out gray scale treatment;
sa3, the camera adopts the wide-angle camera to shoot the range and is greater than 120, three images have about 10 overlapping portions respectively, carry on the characteristic match analysis to three images after carrying on the graying treatment, calculate the transformation structure among the images, find out the internal mathematical law and realize the image mapping based on the mathematical relation, align the characteristic point under APAP algorithm with three images, carry on the image segmentation and cut the overlapping portion, then choose the splice seam, carry on the picture fusion splice based on multi-band and blank tactics finally, get 360 coal rock inner wall image gray data map of drilling.
In the step S2, the specific process of performing the gray processing analysis on the image includes:
sb1, selecting a pixel point as a central pixel, and selecting adjacent pixels in the peripheral range of the central pixel as neighborhood pixels;
sb2, comparing the gray value of each neighborhood pixel with the gray value of the center pixel according to the gray magnitude relation, and expressing the result as binary code;
sb3, connecting the binary codes in a clockwise or anticlockwise order to form a binary LBP code;
sb4, counting LBP codes of all pixel points in the whole image, calculating the occurrence frequencies of different LBP modes, and distinguishing different coal texture features according to the feature frequency.
In the step S3, when calculating object depth information, three coordinate systems of a world coordinate system, a pixel coordinate system and a coal rock coordinate system are required to be unified, the real world distance and the inclination angle of the laser and the spherical camera acquisition probe are measured according to the world coordinate system, and a relation equation is listed by combining the focal length f and the resolution of the spherical camera acquisition probe; the pixel coordinate system is the pixel value coordinate system of the drilling image, and the pixel difference value of the laser beam on the image is solved to obtain the real depth value of the coal rock.
In the step S5, the method for determining the laser breaking point and the laser breaking amount includes: when there is a planar fracture in the borehole, the trace shown on the image is elliptical in shape, and on the plane isThe sinusoidal morphology is expressed as y (x) =y 0 -Asin (2/D x +Θ), wherein D is the pore size of the borehole, y 0 The initial position of the sinusoidal curve, A is the amplitude, and Θ is the phase;
the conversion relationship between the inclination, the inclination angle and the opening degree is as follows, when the angle is 0 DEG<Θ<At 90 °, α=Θ+270°; when 90 DEG<Θ<At 360 °, α=Θ -90 °; d=k (i max -i min ) Cos beta, where, beta=arctan 2A/D, i min And i max Maximum and minimum offset positions of the sinusoidal center position on the fracture trace image;
and inputting the angle of the alpha breaking point and the depth of the d breaking point to a laser control part to realize three-dimensional directional quantitative fracturing of the inner wall of the coal rock.
In the step S0, the laser beam inducing head comprises a pose rotating shaft connecting shaft and a rotating area which is rotationally connected with the pose rotating shaft connecting shaft and is connected with an inner rod of the drill rod through the pose rotating shaft connecting shaft; the laser beam base is connected with the laser beam port through the laser beam telescopic rod, the light supplementing instrument base is connected with the light supplementing instrument aperture through the light supplementing instrument telescopic rod, the light supplementing instrument dust cover is arranged outside the light supplementing instrument aperture, and the spherical camera base sequentially passes through the spherical camera telescopic rod, the spherical camera protective shell and the spherical camera fixed thread to be connected with the spherical camera acquisition probe.
The beneficial effects of the invention are as follows:
1) According to the method, a three-dimensional model is built in the extraction drilling hole by utilizing a laser technology with strong cooperative destructive power of a machine vision technology, point cloud data of the periphery of the drilling hole are obtained, geological condition parameters are analyzed, three-dimensional fixed point damage is carried out on the drilling hole, three-dimensional stereotactic induced fracturing of the periphery of the drilling hole is carried out, and pressure relief of a surrounding area is achieved to achieve the aim of antireflection; the method realizes the purpose of analyzing geological parameters of the inner wall of the drill hole and directionally and quantitatively fracturing.
2) In the propelling process, the method can perform laser damage on the broken soft zone in advance, avoid subsequent hole collapse, realize the pre-hole collapse pressure relief of the broken zone, improve drilling conditions and perform extraction better.
3) The method designs the three-dimensional pose rotating shaft integrated with the laser, the spherical camera and the light supplementing instrument, and is suitable for analyzing various drilling conditions; the pose rotating shaft achieves the function of independent rotation of the pose rotating shaft in the rotating and pushing process of the drill rod, the camera and the light supplementing instrument are used for analyzing to find a first breaking point, pose adjusting lasers are used for breaking the first breaking point, at this time, the pose rotating shaft continuously rotates, the coal seam is broken by emitting point-to-line laser beams, the laser damage from line to surface is achieved by combining the traveling of the drill rod, the damage area is large, the pressure relief area is large, and gas extraction is greatly promoted.
Drawings
FIG. 1 is a schematic diagram of laser beam directed induced cracking in the method of the present invention;
FIG. 2 is a schematic diagram of the laser beam guidance head of FIG. 1;
FIG. 3 is a schematic view of the structure of the slag discharging funnel and the probe in FIG. 1;
FIG. 4 is a block diagram of a borehole fracturing and anti-reflection treatment apparatus for propelling a drill pipe in the method of the present invention.
In the figure, 1-equipment support, 2-drill rod conveying pump, 3-conveying device control desk, 4-control rod, 5-drilling probe rod conveying port, 6-device outer wall, 7-drill rod with probe, 8-drill rod up-moving conveying platform, 9-drill rod number display platform, 10-probe analysis data display area, 11-connecting drill rod, 12-connecting drill rod conveying platform, 13-pose rotating shaft connecting shaft, 14-pose rotating shaft rotating area, 15-laser beam base, 16-light supplementing instrument base and 17-light supplementing instrument telescopic rod, 18-light filling instrument aperture, 19-light filling instrument dust cover, 20-laser beam telescopic link, 21-laser beam port, 22-spherical camera base, 23-spherical camera telescopic link, 24-spherical camera protective housing, 25-spherical camera fixed screw thread, 26-spherical camera acquisition probe, 27-inner rod, 28-outer wall of drill rod, 29-peripheral coal seam of drilling, 30-crack area after coal seam destruction, 31-cinder collection funnel, 32-pose rotation axis whole, 33-output laser beam, 34-falling cinder after destruction.
Detailed Description
The invention is further illustrated by the following description in conjunction with the accompanying drawings and specific embodiments.
Examples: as shown in fig. 1-4, the invention provides a three-dimensional directional induced drilling periphery fracturing and anti-reflection method of vision collaborative laser, which comprises the following steps:
s0, arranging a coal bed image acquisition device in the drill hole:
after the underground drilling is finished, the drill rod 7 with the probe is sent into a drilling hole opening by using a drilling fracturing and anti-reflection treatment device, wherein the drill rod 7 with the probe consists of a drill rod inner rod 27, a drill rod outer wall 28, a cinder collecting funnel 31 positioned at the front end of the drill rod and a laser beam induction head 32 integrating laser, a spherical camera and a light supplementing instrument, and the laser beam induction head 32 is respectively connected with a light supplementing instrument aperture 18, a laser beam port 21 and the spherical camera collecting probe 26 through a rotating area 14 arranged on a pose rotating shaft connecting shaft 13;
the laser beam guiding head 32 comprises a pose rotation shaft connecting shaft 13 and a rotation area 14 rotatably connected with the pose rotation shaft connecting shaft 13 and is connected with the inner rod 27 of the drill rod; the rotating area 14 is uniformly provided with a laser beam base 15, a light supplementing instrument base 16 and a spherical camera base 22 along the circumferential direction, the laser beam base 15 is connected with the laser beam port 21 through a laser beam telescopic rod 20, the light supplementing instrument base 16 is connected with a light supplementing instrument aperture 18 through a light supplementing instrument telescopic rod 17, a light supplementing instrument dust cover 19 is arranged outside the light supplementing instrument aperture 18, and the spherical camera base 22 is sequentially connected with a spherical camera acquisition probe 26 through a spherical camera telescopic rod 23, a spherical camera protective shell 24 and spherical camera fixing threads 25.
S1, collecting a borehole wall fracture rock mass image and carrying out gray processing:
when the drill rod 7 with the probe is sent into a drill hole, acquiring a high-resolution digital image of a fracture rock mass of the wall of the drill hole through the spherical camera acquisition probe 26 in the running process, carrying out graying treatment on the image to acquire a 0-120-degree drill hole gray scale image, and carrying out fusion and splicing on three images which are respectively overlapped by about 10 degrees in a rotation way to acquire a 360-degree coal rock inner wall image gray scale data image of the drill hole;
the spherical camera acquisition probe 26 has position coordinates (X, Y, Z) within the borehole,
X＝X0+dcosθcosφ，Y＝Y0+dcosθsinφ，Z＝Z0+dsinθ，
wherein, (X0, Y0, Z0) represents a start position of the borehole, d represents a distance between the camera and the start position, θ represents a pitch angle of the camera, and Φ represents a horizontal direction angle of the camera.
The specific process of image fusion and splicing comprises the following steps:
sa1, performing pose rotation by 120 degrees, moving an original pose initial position to a pose adjustment of which the first tail end position reaches 120 degrees, performing secondary photographing to obtain a drilling image of surrounding coal and rock mass, and performing gray scale processing;
sa2, carrying out pose adjustment of 120 degrees again, carrying out three times of photographing to obtain a drilling image of surrounding coal and rock mass, and carrying out gray scale treatment;
sa3, the camera adopts the wide-angle camera to shoot the range and is greater than 120, three images have about 10 overlapping portions respectively, carry on the characteristic match analysis to three images after carrying on the graying treatment, calculate the transformation structure among the images, find out the internal mathematical law and realize the image mapping based on the mathematical relation, align the characteristic point under APAP algorithm with three images, carry on the image segmentation and cut the overlapping portion, then choose the splice seam, carry on the picture fusion splice based on multi-band and blank tactics finally, get 360 coal rock inner wall image gray data map of drilling.
S2, analyzing coal-rock cracks according to the gray data of the drilling image and determining coal seam breakable points:
carrying out Canny edge detection on the image subjected to gray processing in the step S1, carrying out primary morphological processing to connect adjacent cracks, finding out all connected areas on the image, deleting non-crack noise areas, carrying out skeleton extraction processing on each connected area part, obtaining length data and width data of each crack, finding out a central point of the crack by using the obtained length data and width data, expanding by taking a central line point as a marking point extending to the periphery, wherein the marking point and the central point are coal seam fragile points, and obtaining two-dimensional coordinates x and y values of the inner wall of the coal and rock in the process;
the specific process for carrying out gray processing analysis on the image comprises the following steps:
sb1, selecting a pixel point as a central pixel, and selecting adjacent pixels in the peripheral range of the central pixel as neighborhood pixels;
sb2, comparing the gray value of each neighborhood pixel with the gray value of the center pixel according to the gray magnitude relation, and expressing the result as binary code;
sb3, connecting the binary codes in a clockwise or anticlockwise order to form a binary LBP code;
sb4, counting LBP codes of all pixel points in the whole image, calculating the occurrence frequencies of different LBP modes, and distinguishing different coal texture features according to the feature frequency.
S3, acquiring depth data of the coal rock in the Z direction in the image through a laser auxiliary camera:
based on the analysis of the coal and rock cracks in the step S2, a laser triangle method is adopted, a monocular camera and laser method is used for carrying out depth analysis, at the moment, the output beam of the laser beam port 21 is line laser, the left side is a camera, the right side is a line laser, the line laser is used for driving line structure light on the coal and rock wall, a spherical camera collecting probe 26 is used for shooting the picture of the line laser and calculating the depth value of a pixel point on the laser line, so that object depth information is obtained, and the point cloud data value of the coal seam fragile point in the drilling hole is obtained;
the three-dimensional coordinates of the coal seam breakable points in the drill hole are (X_m, Y_m, Z_m),
X_m＝X+mcos(θ_m)cos(φ_m)，Y_m＝Y+mcos(θ_m)sin(φ_m)，
Z_m＝Z+msin(θ_m)，
where (X, Y, Z) is the position coordinates of the spherical camera acquisition probe 26 within the borehole, m represents the distance of the frangible point from the camera, and θ_m and φ_m represent the pitch angle and horizontal angle of the frangible point of the coal seam relative to the spherical camera acquisition probe 26.
When calculating and solving the depth information of an object, three coordinate systems of a world coordinate system, a pixel coordinate system and a coal rock coordinate system are required to be unified, the real world distance and the inclination angle of the laser and the spherical camera acquisition probe 26 are measured according to the world coordinate system, and a relation equation is listed by combining the focal length f and the resolution of the spherical camera acquisition probe 26; the pixel coordinate system is the pixel value coordinate system of the drilling image, and the pixel difference value of the laser beam on the image is solved to obtain the real depth value of the coal rock.
S4, constructing a three-dimensional point cloud data model of the inner wall of the drill hole according to the three-dimensional coordinates of the fragile point of the coal bed in the drill hole;
storing the three-dimensional coordinates of the fragile points of the coal bed in the drill hole obtained in the step S3 by using a matplptlib library of python to generate a three-dimensional point cloud data model of the inner wall of the drill hole, wherein the three-dimensional point cloud data formula of the inner wall of the drill hole is as follows: pointCloud= { (X_m, Y_m, Z_m) }.
S5, obtaining laser breaking points and laser breaking quantity based on the three-dimensional point cloud data model of the inner wall of the drill hole:
based on a discriminant model DCNN on a three-dimensional point cloud data model of the inner wall of a drill hole, carrying out triaxial analysis on low-level features, middle-level features and high-level features, identifying a crack boundary box, respectively dividing the three-dimensional point cloud of a structural surface, acquiring the tendency, inclination angle, opening, position, shape and size of a coal rock body, inputting the obtained geometric parameters into a small-scale crack network model, and analyzing laser breaking points and laser breaking quantity in a three-dimensional state to carry out three-dimensional directional quantitative fracturing.
The method for determining the laser breaking point and the laser breaking amount comprises the following steps: when there is a planar fracture in the borehole, the trace shown on the image is elliptical in shape and the sinusoidal in shape on the plane is expressed as y (x) =y 0 -Asin (2/D x +Θ), wherein D is the pore size of the borehole, y 0 The initial position of the sinusoidal curve, A is the amplitude, and Θ is the phase;
the conversion relationship between the inclination, the inclination angle and the opening degree is as follows, when the angle is 0 DEG<Θ<At 90 °, α=Θ+270°; when 90 DEG<Θ<At 360 °, α=Θ -90 °; d=k (i max -i min ) Cos beta, where, beta=arctan 2A/D, i min And i max Maximum and minimum offset positions of the sinusoidal center position on the fracture trace image;
and inputting the angle of the alpha breaking point and the depth of the d breaking point to a laser control part to realize three-dimensional directional quantitative fracturing of the inner wall of the coal rock.
The working process of fracturing and permeability increasing in the drill hole by using the method comprises the following steps:
1) After the underground hole is completed, the drilling fracturing and anti-reflection treatment device is moved to the vicinity of the hole, a fixed firm equipment support 1 starts a machine, a drill rod number display table 9 and a probe analysis data display area 10 display real-time probe rod and drill rod data, a starting control table simultaneously controls and operates a conveying device control table 3 and a control rod 4, and a probe rod 7 with a probe is conveyed into the hole;
when a connecting rod is needed, controlling the drill rod upward-moving conveying table 8 to convey the connecting drill rod 11 to the region part of the drill rod 7 with the probe rod and connecting the connecting drill rod; when the remaining drill rod of the connecting drill rod 11 is insufficient, the connecting drill rod conveying table 12 is opened, and the spare drill rod is fed into the connecting drill rod 11 region by the drill rod conveying pump 2.
2) When the drill rod 7 with the probe enters a drill hole, the induction head starts to work, the spherical camera acquisition probe 26 stretches out through the spherical camera telescopic rod 23 under the support of the spherical camera base 22 in the process of traveling, the spherical camera acquisition probe 26 can be adjusted at any time to ensure 360-degree dead angle free by rotating the spherical camera fixing screw thread 25, the telescopic length is adjusted through the spherical camera telescopic rod 23, the image in the hole is acquired in real time, a picture and a video are generated, and meanwhile, the picture and the video are transmitted to the display of the device console;
during traveling, the spherical camera acquisition probe 26 can be suitable for complex and changeable conditions due to the protection of the spherical camera protective shell 24.
3) In the advancing process of the drill rod 7 with the probe, once the suspected fragile area is scanned, warning information is transmitted to a display to prompt the suspected fragile area, a console issues a command to start a light supplementing device, a light supplementing instrument aperture 18 starts auxiliary light rays, the telescopic height of the light supplementing instrument aperture 18 is adjusted by adjusting a telescopic rod 17 of the light supplementing instrument to adjust illumination so as to adjust the brightness of a picture, and after confirmation, the part determined to be the fragile area is processed and broken by laser induction;
wherein light filling appearance dust cover 19 is used for preventing the dust in the drilling from blockking the light ring illumination, and light filling appearance base 16 is used for supporting the light filling appearance, functions as the support.
4) The part determined to be the fragile area is marked by the visual feedback of the spherical camera acquisition probe 26, induced laser is started, the laser beam port 21 is telescopic and aligned with the assistance of the laser beam telescopic rod 20, and after the laser beam port 21 is supported by the laser beam base 15 to emit laser to the fragile area after the laser beam port 21 is aligned to the fragile area, and damage treatment is carried out on the fragile area.
5) After the drill rod 7 with the probe advances to a cave making place, under the support of the spherical camera base 22, the spherical camera acquisition probe 26 extends out through the spherical camera telescopic rod 23, rotates the spherical camera fixing screw thread 25, observes the cave situation, and transmits the generated visual image information to the console display; and then the laser induction device is started, and the laser beam port 21 emits induction laser to impact the working place so as to realize hole making.
6) In the travelling process, the induction device part can realize angle conversion by adjusting the pose rotating shaft connecting shaft 13 and the pose rotating shaft rotating zone 14; after the fragile area and the cave-building place are treated, the broken falling coal cinder 34 generated by the treatment of the output laser beam 33 is collected by the coal cinder collecting hopper 31, is discharged out of the drill rod through the gap between the outer wall 28 of the drill rod and the inner wall 27 of the drill rod, forms a broken fracture area 30 after the coal layer is broken by laser induction, and after a series of works are completed, the drill rod rotates the drill rod and the integral pose rotating shaft 32 slowly moves out of the drilled hole.
According to the invention, the three-dimensional model is built in the drilling hole by utilizing visual scanning, so that the condition in the drilling hole is known quantitatively, and then the purpose of uniformly releasing pressure in the extraction area is realized by making holes by utilizing a laser technology with strong destructive power and controllable energy.
The above description is only for the purpose of illustrating the technical solution of the present invention and not for the purpose of limiting the same, and other modifications and equivalents thereof by those skilled in the art should be included in the scope of the claims of the present invention without departing from the spirit and scope of the technical solution of the present invention.
Claims (6)
1. A visual synergistic laser three-dimensional directional induced drilling periphery fracturing anti-reflection method is characterized in that: the method comprises the following steps:
s0, arranging a coal bed image acquisition device in the drill hole:
after the underground drilling is finished, a drill rod with a probe is sent into a drilling hole opening by using a drilling fracturing anti-reflection treatment device, wherein the drill rod with the probe consists of an inner rod of the drill rod, an outer wall of the drill rod, a cinder collecting funnel positioned at the front end of the drill rod and a laser beam induction head integrated with a laser, a spherical camera and a light supplementing instrument, and the laser beam induction head is respectively connected with a diaphragm of the light supplementing instrument, a laser beam port and a collecting probe of the spherical camera through a rotating area arranged on a pose rotating shaft connecting shaft;
s1, collecting a borehole wall fracture rock mass image and carrying out gray processing:
when a drill rod with a probe is sent into a drill hole, acquiring a high-resolution digital image of a fracture rock mass on the wall of the drill hole by a spherical camera acquisition probe in the travelling process, carrying out graying treatment on the image to acquire a 0-120-degree drill hole gray scale image, and fusing and splicing three images which are respectively overlapped by about 10 degrees to acquire a 360-degree coal rock inner wall image gray scale data image of the drill hole;
the position coordinates of the spherical camera acquisition probe in the drill hole are (X, Y, Z),
X＝X0+dcosθcosφ，Y＝Y0+dcosθsinφ，Z＝Z0+dsinθ，
wherein, (X0, Y0, Z0) represents the starting position of the drill hole, d represents the distance between the camera and the starting position, θ represents the pitching angle of the camera, and φ represents the horizontal direction angle of the camera;
s2, analyzing coal-rock cracks according to the gray data of the drilling image and determining coal seam breakable points:
carrying out Canny edge detection on the image subjected to gray processing in the step S1, carrying out primary morphological processing to connect adjacent cracks, finding out all connected areas on the image, deleting non-crack noise areas, carrying out skeleton extraction processing on each connected area part, obtaining length data and width data of each crack, finding out a central point of the crack by using the obtained length data and width data, expanding by taking a central line point as a marking point extending to the periphery, wherein the marking point and the central point are coal seam fragile points, and obtaining two-dimensional coordinates x and y values of the inner wall of the coal and rock in the process;
s3, acquiring depth data of the coal rock in the Z direction in the image through a laser auxiliary camera:
based on the coal and rock crack analysis in the step S2, a laser triangle method is adopted, a monocular camera and laser method is utilized for carrying out depth analysis, at the moment, an output beam of a laser beam port is line laser, a camera is arranged on the left side, a line laser is arranged on the right side, line laser is used for driving line structure light on a coal and rock wall, a spherical camera is used for collecting a picture of the line laser shot by a probe and calculating a depth value of a pixel point on the laser line, so that object depth information is obtained, and a point cloud data value of a coal seam fragile point in a drilled hole is obtained;
the three-dimensional coordinates of the coal seam breakable points in the drill hole are (X_m, Y_m, Z_m),
X_m＝X+mcos(θ_m)cos(φ_m)，Y_m＝Y+mcos(θ_m)sin(φ_m)，
Z_m＝Z+msin(θ_m)，
wherein (X, Y, Z) is the position coordinate of the spherical camera acquisition probe in the drill hole, m represents the distance between the fragile point and the camera, and theta_m and phi_m represent the pitching angle and the horizontal direction angle of the fragile point of the coal seam relative to the spherical camera acquisition probe;
s4, constructing a three-dimensional point cloud data model of the inner wall of the drill hole according to the three-dimensional coordinates of the fragile point of the coal bed in the drill hole;
storing the three-dimensional coordinates of the fragile points of the coal bed in the drill hole obtained in the step S3 by using a matplptlib library of python to generate a three-dimensional point cloud data model of the inner wall of the drill hole, wherein the three-dimensional point cloud data formula of the inner wall of the drill hole is as follows: pointCloud= { (X_m, Y_m, Z_m) };
s5, obtaining laser breaking points and laser breaking quantity based on the three-dimensional point cloud data model of the inner wall of the drill hole:
based on a discriminant model DCNN on a three-dimensional point cloud data model of the inner wall of a drill hole, carrying out triaxial analysis on low-level features, middle-level features and high-level features, identifying a crack boundary box, respectively dividing the three-dimensional point cloud of a structural surface, acquiring the tendency, inclination angle, opening, position, shape and size of a coal rock body, inputting the obtained geometric parameters into a small-scale crack network model, and analyzing laser breaking points and laser breaking quantity in a three-dimensional state to carry out three-dimensional directional quantitative fracturing.
2. The visual synergistic laser three-dimensional directional induced fracture anti-reflection method for the periphery of a drill hole according to claim 1, wherein the method comprises the following steps of: in the step S1, the specific process of image fusion and stitching includes:
sa1, performing pose rotation by 120 degrees, moving an original pose initial position to a pose adjustment of which the first tail end position reaches 120 degrees, performing secondary photographing to obtain a drilling image of surrounding coal and rock mass, and performing gray scale processing;
sa2, carrying out pose adjustment of 120 degrees again, carrying out three times of photographing to obtain a drilling image of surrounding coal and rock mass, and carrying out gray scale treatment;
sa3, the camera adopts the wide-angle camera to shoot the range and is greater than 120, three images have about 10 overlapping portions respectively, carry on the characteristic match analysis to three images after carrying on the graying treatment, calculate the transformation structure among the images, find out the internal mathematical law and realize the image mapping based on the mathematical relation, align the characteristic point under APAP algorithm with three images, carry on the image segmentation and cut the overlapping portion, then choose the splice seam, carry on the picture fusion splice based on multi-band and blank tactics finally, get 360 coal rock inner wall image gray data map of drilling.
3. The visual synergistic laser three-dimensional directional induced fracture anti-reflection method for the periphery of a drill hole according to claim 1, wherein the method comprises the following steps of: in the step S2, the specific process of performing the gray processing analysis on the image includes:
sb1, selecting a pixel point as a central pixel, and selecting adjacent pixels in the peripheral range of the central pixel as neighborhood pixels;
sb2, comparing the gray value of each neighborhood pixel with the gray value of the center pixel according to the gray magnitude relation, and expressing the result as binary code;
sb3, connecting the binary codes in a clockwise or anticlockwise order to form a binary LBP code;
sb4, counting LBP codes of all pixel points in the whole image, calculating the occurrence frequencies of different LBP modes, and distinguishing different coal texture features according to the feature frequency.
4. The visual synergistic laser three-dimensional directional induced fracture anti-reflection method for the periphery of a drill hole according to claim 1, wherein the method comprises the following steps of: in the step S3, when calculating object depth information, three coordinate systems of a world coordinate system, a pixel coordinate system and a coal rock coordinate system are required to be unified, the real world distance and the inclination angle of the laser and the spherical camera acquisition probe are measured according to the world coordinate system, and a relation equation is listed by combining the focal length f and the resolution of the spherical camera acquisition probe; the pixel coordinate system is the pixel value coordinate system of the drilling image, and the pixel difference value of the laser beam on the image is solved to obtain the real depth value of the coal rock.
5. The visual synergistic laser three-dimensional directional induced fracture anti-reflection method for the periphery of a drill hole according to claim 1, wherein the method comprises the following steps of: in the step S5, the method for determining the laser breaking point and the laser breaking amount includes: when there is a planar fracture in the borehole, the trace shown on the image is elliptical in shape and the sinusoidal in shape on the plane is expressed as y (x) =y 0 -Asin (2/D x +Θ), wherein D is the pore size of the borehole, y 0 The initial position of the sinusoidal curve, A is the amplitude, and Θ is the phase;
the conversion relationship between the inclination, the inclination angle and the opening degree is as follows, when the angle is 0 DEG<Θ<At 90 °, α=Θ+270°; when 90 DEG<Θ<At 360 °, α=Θ -90 °; d=k (i max -i min ) Cos beta, where, beta=arctan 2A/D, i min And i max Maximum and minimum on fracture trace image for sinusoidal center positionOffset position;
and inputting the angle of the alpha breaking point and the depth of the d breaking point to a laser control part to realize three-dimensional directional quantitative fracturing of the inner wall of the coal rock.
6. The visual synergistic laser three-dimensional directional induced fracture anti-reflection method for the periphery of a drill hole according to claim 1, wherein the method comprises the following steps of: in the step S0, the laser beam inducing head comprises a pose rotating shaft connecting shaft and a rotating area which is rotationally connected with the pose rotating shaft connecting shaft and is connected with an inner rod of the drill rod through the pose rotating shaft connecting shaft; the laser beam base is connected with the laser beam port through the laser beam telescopic rod, the light supplementing instrument base is connected with the light supplementing instrument aperture through the light supplementing instrument telescopic rod, the light supplementing instrument dust cover is arranged outside the light supplementing instrument aperture, and the spherical camera base sequentially passes through the spherical camera telescopic rod, the spherical camera protective shell and the spherical camera fixed thread to be connected with the spherical camera acquisition probe.
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| CN117760332B (en) * | 2024-02-22 | 2024-05-07 | 南京派光智慧感知信息技术有限公司 | Method, medium and equipment for monitoring tunnel deformation |
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