Monitoring system, monitoring method and early warning method for coal mine tunnel surrounding rock disasters

Abstract

The invention discloses a monitoring system, monitoring method and early warning method for coal mine tunnel surrounding rock disasters. Under the condition of no influence to tunnel transportation and operation, an unmanned aerial vehicle carries a binocular camera to collect images of surrounding rock of the inner wall of a tunnel to obtain continuous section information of the roadway; based ona binocular vision three-dimensional reconstruction algorithm, three-dimensional coordinates of the point cloud of the tunnel surrounding rock are obtained; a live-action three-dimensional model of the surrounding rock in the tunnel section measured each time is restructed; and then, sequential splicing is carried out, so that a real-scene three-dimensional model of the whole to-be-detected tunnel is obtained. According to the method, the tunnel to be measured is measured for multiple times to obtain multiple times of measurement data, the tunnel surrounding rock position information obtainedthrough measurement for the first time is used as an initial value, the result obtained through measurement for each time is compared with the result obtained through measurement for the first time,so that the tunnel deformation is obtained through calculation, automatic real-time monitoring on tunnel deformation is achieved, and the automation degree is high. The safety threshold value of eachmonitoring index is set, once the safety threshold value exceeded by each monitoring index is detected, the alarm system is started, and early warning is carried out in time.

Description

technical field [0001] The invention relates to the technical field of underground roadway monitoring and early warning control, in particular to a monitoring system, a monitoring method and an early warning method for surrounding rock disasters in coal mine roadways. Background technique [0002] The coal mine roadway is responsible for underground transportation, ventilation, drainage and other tasks. According to the real-time measurement data, the coal mine roadway is reconstructed in 3D, and then the reconstructed 3D model of the roadway is compared with the original 3D model of the roadway, thus realizing real-time monitoring of roadway deformation , and the purpose of timely early warning, while monitoring roadway deformation and timely early warning provides an important guarantee for the realization of mine safety production and improvement of management efficiency, and is also an important link in the construction of digital mines. [0003] The data basis for the t...

AI Technical Summary

Problems solved by technology

This method can realize the digital imaging of the whole process and the whole section of the whole roadway, but the measuring device is installed at the end of the anchor cable of the roadway, and manual disassembly and assembly are required when moving the measuring station. serious threat

[0007] 3) The three-dimensional rapid reconstruction algorithm of irregular roadway section based on discrete points can visualize the roadway in the underground space in three dimensions, and obtain the data of the roadway section and calculate the volume of the roadway section through the laser measurement device during travel, but the measurement device needs to be installed on the roadway floor or track However, this method will affect roadway transportation when measuring

[0008] In addition, the above-mentioned methods first measure multiple discrete measurement points of the roadway in sequence, and then obtain the size of the roadway section through calculation. However, due to factors such as construction errors and roadway deformation, the roadway section is not an ideal geometric shape. There is inevitably a certain error between the roadway section data and the real size, and there are still problems such as insufficient automation of the measuring device, and the measurement process affects the roadway transportation.

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