A top coal or roof three-dimensional migration trajectory monitoring system and method

Abstract

The present invention relates to a system and method for monitoring the three-dimensional migration trajectory of top coal or top plate, the method comprising: obtaining the angular velocity and acceleration data of the hole in the X, Y, and Z axis directions measured by the in-hole sensor module set in the hole pre-drilled in the top coal or top plate and the displacement data of the in-hole sensor module measured by the cable with a code disk; using the out-of-hole data processing module to solve the acquired data to determine the three-dimensional migration trajectory of the top coal or top plate; monitoring the top coal or top plate based on the determined three-dimensional migration trajectory of the top coal or top plate. The technical solution provided by the present invention can directly measure the migration trajectory of the top coal or top plate, and then grasp the top coal falling law and roof plate migration characteristics during the working face mining process, guide the determination of mining and placing process parameters, enhance the convenience of the analysis of the pressure characteristics of the overburden stratum of the working face, and provide data support for ensuring the safe and efficient mining of the working face.

Description

Technical Field

[0001] The present invention relates to the technical field of trajectory monitoring, and in particular to a system and method for monitoring the three-dimensional migration trajectory of top coal or roof. Background Art

[0002] With the development of society, coal resources have experienced a transition from extensive mining to safe, green, efficient and intelligent development. The understanding of top coal caving and migration and overburden collapse is also gradually deepening. It is generally believed in the industry that the top coal migration is ellipsoidal, and the roof breakage and migration are collapse zones, fracture zones and curved sinking zones. As a geological entity, it is difficult to monitor the top coal roof intuitively on site. Generally, numerical simulation and similarity simulation methods are used to present the migration process of the top coal roof, and theoretical analysis methods are combined to study the migration trajectory and spatiotemporal characteristics of the top coal roof. In the past, deep base displacement meters were used for direct measurement underground. The deep base displacement meters were anchored in the top coal roof with anchor claws. As the working face advanced, the displacement meter moved with the top coal roof, and the elongation of the wire rope was used to obtain the combined displacement of the top coal roof at the measuring point; microseismic monitoring systems were used for indirect measurement, and the energy level and frequency of microseismic events could reflect the roof break position and break length. With the rapid development of coal mining, the combined displacement measured by the deep base displacement meter and the overburden fracture information indirectly measured by the microseismic monitoring system can no longer meet the research needs to a certain extent. The characteristics of the fully mechanized mining face cannot be intuitively monitored and analyzed, resulting in relatively low efficiency and safety of fully mechanized mining work. Summary of the invention

[0003] The present application provides a top coal or roof three-dimensional migration trajectory monitoring system and method to at least solve the technical problem of relatively low comprehensive mining work efficiency and safety in related technologies.

[0004] The first embodiment of the present application provides a top coal or roof three-dimensional migration trajectory monitoring system, the system comprising: an in-hole sensor module, a cable with a code disk, an out-hole data processing module, a host computer module and a power supply module;

[0005] The in-hole sensor module is arranged in a hole pre-drilled in the top coal or roof, and is used to measure the angular velocity and acceleration data of the hole in the X, Y and Z axis directions;

[0006] The cable with the code disc is used to measure the displacement data of the in-hole sensor module;

[0007] The out-of-hole data processing module is used to collect the measured angular velocity and acceleration data of the hole in the X, Y, and Z axis directions and the measured displacement data of the in-hole sensor module, and determine the three-dimensional migration trajectory of the top coal or roof based on the collected data, and then send the three-dimensional migration trajectory of the top coal or roof to the upper computer module;

[0008] The host computer module is used to receive the three-dimensional migration trajectory of the top coal or roof sent by the out-of-hole data processing module;

[0009] The power module is used to provide power to the in-hole sensor module, the cable with the code disk, and the out-hole data processing module.

[0010] The second embodiment of the present application provides a method for monitoring the three-dimensional migration trajectory of top coal or roof, the method comprising:

[0011] Obtaining the angular velocity and acceleration data of the hole in the X, Y, and Z axis directions measured by the in-hole sensor module set in the hole pre-drilled in the top coal or roof, and the displacement data of the in-hole sensor module measured by the cable with the encoder;

[0012] The acquired data is solved by using an out-of-hole data processing module to determine the three-dimensional migration trajectory of the top coal or roof;

[0013] The top coal or the roof is detected based on the determined three-dimensional migration trajectory of the top coal or the roof.

[0014] The third aspect of the present application provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the prediction method of the second aspect of the present application is implemented.

[0015] The fourth aspect of the present application provides a non-temporary computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the prediction method of the second aspect of the present application is implemented.

[0016] The technical solution provided by the embodiments of the present application brings at least the following beneficial effects:

[0017] The present invention provides a system and method for monitoring the three-dimensional migration trajectory of top coal or top plate, the system comprising: an in-hole sensor module, a cable with a code disk, an out-of-hole data processing module, a host computer module and a power supply module; the in-hole sensor module is arranged in a hole pre-drilled in the top coal or top plate, and is used to measure the angular velocity and acceleration data of the hole in the X, Y and Z axis directions; the cable with the code disk is used to measure the displacement data of the in-hole sensor module; the out-of-hole data processing module is used to collect the measured angular velocity and acceleration data of the hole in the X, Y and Z axis directions and the measured displacement data of the in-hole sensor module, and determine the three-dimensional migration trajectory of the top coal or top plate based on the collected data, and then send the three-dimensional migration trajectory of the top coal or top plate to the host computer module; the host computer module is used to receive the three-dimensional migration trajectory of the top coal or top plate sent by the out-of-hole data processing module; the power supply module is used to provide electric energy to the in-hole sensor module, the cable with the code disk and the out-of-hole data processing module. The technical solution provided by the present invention can directly measure the migration trajectory of the top coal or roof, and then grasp the top coal falling law and roof migration characteristics during the working face mining process, guide the determination of mining and release process parameters, enhance the convenience of analyzing the pressure characteristics of the overburden strata of the working face, and at the same time provide data support for ensuring the safe and efficient mining of the working face.

[0018] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0020] Figure 1 It is a structural diagram of a top coal or roof three-dimensional migration trajectory monitoring system provided according to one embodiment of the present application;

[0021] Figure 2 It is a structural diagram of an out-of-hole data processing module in a top coal or roof three-dimensional migration trajectory monitoring system provided according to one embodiment of the present application;

[0022] Figure 3 This is a structural diagram of a power module in a top coal or roof three-dimensional migration trajectory monitoring system provided according to an embodiment of the present application;

[0023] Figure 4 It is a structural diagram of displacement data of a sensor module in a hole measured by a cable with a code disk in a top coal or roof three-dimensional migration trajectory monitoring system provided according to an embodiment of the present application;

[0024] Figure 5It is a physical structure diagram of a top coal or roof three-dimensional migration trajectory monitoring system provided according to an embodiment of the present application;

[0025] Figure 6 It is a flow chart of a method for monitoring the three-dimensional migration trajectory of top coal or roof provided according to one embodiment of the present application;

[0026] Description of the drawings: in-hole sensor module 1, cable with code disk 2, out-hole data processing module 3, host computer module 4, power module 5, main processing unit 3-1, wireless transmission unit 3-2, EMMC storage unit 3-3, polymer battery 5-1 and power management unit 5-2. DETAILED DESCRIPTION

[0027] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0028] The present application proposes a system and method for monitoring the three-dimensional migration trajectory of top coal or top plate, the system comprising: an in-hole sensor module 1, a cable with a code disk 2, an out-of-hole data processing module 3, a host computer module 4 and a power supply module 5; the in-hole sensor module is arranged in a pre-drilled hole in the top coal or top plate, and is used to measure the angular velocity and acceleration data of the hole in the X, Y and Z axis directions; the cable with the code disk is used to measure the displacement data of the in-hole sensor module; the out-of-hole data processing module is used to collect the measured angular velocity and acceleration data of the hole in the X, Y and Z axis directions and the measured displacement data of the in-hole sensor module, and determine the three-dimensional migration trajectory of the top coal or top plate based on the collected data, and then send the three-dimensional migration trajectory of the top coal or top plate to the host computer module; the host computer module is used to receive the three-dimensional migration trajectory of the top coal or top plate sent by the out-of-hole data processing module; the power supply module is used to provide electrical energy to the in-hole sensor module, the cable with the code disk and the out-of-hole data processing module. The technical solution provided by the present invention can directly measure the migration trajectory of the top coal or roof, and then grasp the top coal falling law and roof migration characteristics during the working face mining process, guide the determination of mining and release process parameters, enhance the convenience of analyzing the pressure characteristics of the overburden strata of the working face, and at the same time provide data support for ensuring the safe and efficient mining of the working face.

[0029] A top coal or roof three-dimensional migration trajectory monitoring system and method according to an embodiment of the present application will be described below with reference to the accompanying drawings.

[0030] Example 1

[0031] Figure 1A structural diagram of a top coal or roof three-dimensional migration trajectory monitoring system provided by an embodiment of the present disclosure, such as Figure 1 As shown, the system includes: an in-hole sensor module (AHRS) 1, a cable with a code disc 2, an out-of-hole data processing module 3, a host computer module 4 and a power supply module 5;

[0032] The in-hole sensor module 1 is arranged in a hole pre-drilled in the top coal or roof, and is used to measure the angular velocity and acceleration data of the hole in the X, Y, and Z axis directions;

[0033] The cable 2 with the code disc is used to measure the displacement data of the in-hole sensor module;

[0034] The out-of-hole data processing module 3 is used to collect the measured angular velocity and acceleration data of the hole in the X, Y, and Z axis directions and the measured displacement data of the in-hole sensor module, and determine the three-dimensional migration trajectory of the top coal or roof based on the collected data, and then send the three-dimensional migration trajectory of the top coal or roof to the upper computer module;

[0035] It should be noted that the three-dimensional migration trajectory of the top coal or roof is determined based on the collected data, including:

[0036] Calculate the collected angular velocity and acceleration data of the hole in the X, Y, and Z axis directions to obtain angle change data of the hole;

[0037] The angle change data and the collected displacement data of the in-hole sensor module are fitted to obtain a three-dimensional migration trajectory of the top coal or roof.

[0038] The host computer module 4 is used to receive the three-dimensional migration trajectory of the top coal or roof sent by the out-of-hole data processing module 3;

[0039] The power supply module 5 is used to provide power to the in-hole sensor module 1, the cable with the code disk 2, and the out-hole data processing module 3.

[0040] It should be pointed out that Figure 1 The system structure diagram shown is a system structure diagram of only one in-hole sensor module, a cable with a code disk 2, an out-hole data processing module 3, a host computer module 4 and a power supply module 5. Figure 1 This is only for illustration and is not intended to limit the embodiments of the present application.

[0041] In the disclosed embodiment, the in-hole sensor module includes: 1 three-axis MEMS accelerometer and 3 single-axis MEMS gyroscopes;

[0042] The three-axis MEMS accelerometer is used to measure the angular velocity and acceleration data of the hole in the X, Y, and Z axis directions;

[0043] The three single-axis MEMS gyroscopes are used to provide acceleration data to the system through the MEMS silicon capacitive principle.

[0044] In the embodiments of the present disclosure, Figure 2 As shown, the out-of-hole data processing module 3 includes: a main processing unit 3-1, a wireless transmission unit 3-2 and an EMMC storage unit 3-3;

[0045] The main processing unit 3-1 is used to collect the angular velocity and acceleration data of the hole in the X, Y, and Z axis directions obtained by the measurement, and perform calculation based on the collected data to obtain the angle change data of the hole, and is also used to collect the displacement data of the sensor module in the hole obtained by the measurement, and then fit the angle change data and the displacement data of the sensor module in the hole to obtain the three-dimensional migration trajectory of the top coal or the top plate, and then send the collected data, the calculated data, and the fitted three-dimensional migration trajectory of the top coal or the top plate to the EMMC storage unit 3-3 and the wireless transmission unit 3-2;

[0046] The wireless transmission unit 3-2 is used to transmit the data sent by the main processing unit 3-1 to the host computer module 4 by Wifi wireless transmission;

[0047] The EMMC storage unit 3-3 is used for offline storage of data sent by the main processing unit 3-1.

[0048] In the embodiments of the present disclosure, Figure 3 As shown, the power module 5 includes: a polymer battery 5-1 and a power management unit 5-2;

[0049] The power management unit 5-2 is used to manage the charging and discharging of the battery.

[0050] In the disclosed embodiment, the cable 2 with a code disc includes: a wire rope reel, a potentiometer, a reducer and a pulley;

[0051] Wherein, the reducer is a 1:10 worm gear reducer.

[0052] The wire rope reel is a wire rope reel capable of adjusting the damping of the wire reeling and releasing.

[0053] For example, Figure 4 As shown, the cable end of the cable with the code disk 2 is connected to the in-hole sensor module 1 to measure the displacement of the in-hole sensor module, thereby obtaining displacement data, and the code disk end of the cable with the code disk 2 is connected to the out-hole data processing module 3 and the power supply module 5 for data transmission and power supply.

[0054] Combined with the application of the above-mentioned top coal or roof three-dimensional migration trajectory monitoring system, an example is given to illustrate:

[0055] like Figure 5 As shown, a physical diagram of the top coal or roof three-dimensional migration trajectory monitoring system is provided, which includes an in-hole sensor module 1, a cable with a code disk 2, an out-of-hole data processing module 3, a host computer module 4 and a power module 5; first, a deep hole is drilled in the oblique working face of the leading section, and the in-hole sensor module 1 is fixedly installed in the deep hole, and is connected to the wireless transmission module 3-2 and the power module 5 fixed on the outside through a cable connection 2 to the code disk, and the out-of-hole processing module 3 obtains the displacement of the in-hole sensor module 1 by measuring the length of the cable 2 with the code disk. Then, the main processing unit 3-1 collects the measured angular velocity and acceleration data of the hole in the X, Y, and Z axis directions, and performs calculation based on the collected data to obtain the angle change data of the hole. It is also used to collect the measured displacement data of the sensor module in the hole, and then fit the angle change data and the displacement data of the sensor module in the hole to obtain the three-dimensional migration trajectory of the top coal or the top plate, and then send the collected data, the calculated data, and the fitted three-dimensional migration trajectory of the top coal or the top plate to the EMMC storage unit 3-3 and the wireless transmission unit 3-2; finally, the wireless transmission unit 3-2 transmits the data sent by the main processing unit 3-1 to the upper computer module 4 through Wifi wireless transmission to monitor the three-dimensional migration trajectory of the top coal or the top plate.

[0056] In summary, the present invention provides a three-dimensional migration trajectory monitoring system for top coal or top plate, comprising: an in-hole sensor module, a cable with a code disk, an out-of-hole data processing module, a host computer module and a power supply module; the in-hole sensor module is arranged in a hole pre-drilled in the top coal or top plate, and is used to measure the angular velocity and acceleration data of the hole in the X, Y and Z axis directions; the cable with the code disk is used to measure the displacement data of the in-hole sensor module; the out-of-hole data processing module is used to collect the measured angular velocity and acceleration data of the hole in the X, Y and Z axis directions and the measured displacement data of the in-hole sensor module, and determine the three-dimensional migration trajectory of the top coal or top plate based on the collected data, and then send the three-dimensional migration trajectory of the top coal or top plate to the host computer module; the host computer module is used to receive the three-dimensional migration trajectory of the top coal or top plate sent by the out-of-hole data processing module; the power supply module is used to provide electrical energy to the in-hole sensor module, the cable with the code disk and the out-of-hole data processing module. The technical solution provided by the present invention can directly measure the migration trajectory of the top coal or roof, and then grasp the top coal falling law and roof migration characteristics during the working face mining process, guide the determination of mining and release process parameters, enhance the convenience of analyzing the pressure characteristics of the overburden strata of the working face, and at the same time provide data support for ensuring the safe and efficient mining of the working face.

[0057] Example 2

[0058] Figure 6 A flowchart of a top coal or roof three-dimensional migration trajectory monitoring provided by an embodiment of the present disclosure, such as Figure 6 As shown, the method includes:

[0059] Step 1: Obtain the angular velocity and acceleration data of the hole in the X, Y, and Z axis directions measured by the in-hole sensor module set in the hole pre-drilled in the top coal or roof, and the displacement data of the in-hole sensor module measured by the cable with the encoder;

[0060] Step 2: using the out-of-hole data processing module to solve the acquired data to determine the three-dimensional migration trajectory of the top coal or roof;

[0061] Step 3: Detect the top coal or roof based on the determined three-dimensional migration trajectory of the top coal or roof.

[0062] In the disclosed embodiment, the method of using the out-of-hole data processing module to solve the acquired data to determine the three-dimensional migration trajectory of the top coal or roof includes:

[0063] Calculate the collected angular velocity and acceleration data of the hole in the X, Y, and Z axis directions to obtain angle change data of the hole;

[0064] The angle change data and the collected displacement data of the in-hole sensor module are fitted to obtain a three-dimensional migration trajectory of the top coal or roof.

[0065] In summary, the present invention provides a method for monitoring the three-dimensional migration trajectory of top coal or top plate, the method comprising: obtaining the angular velocity and acceleration data of the hole in the X, Y, and Z axis directions measured by the in-hole sensor module set in the hole pre-drilled in the top coal or top plate and the displacement data of the in-hole sensor module measured by the cable with the code disk; using the out-of-hole data processing module to solve the acquired data to determine the three-dimensional migration trajectory of the top coal or top plate; and detecting the top coal or top plate based on the determined three-dimensional migration trajectory of the top coal or top plate. The technical solution provided by the present invention can directly measure the migration trajectory of the top coal or top plate, and then grasp the top coal falling law and roof plate migration characteristics during the working face mining process, guide the determination of mining and release process parameters, enhance the convenience of the analysis of the pressure characteristics of the overburden strata of the working face, and provide data support for ensuring the safe and efficient mining of the working face.

[0066] Example 3

[0067] In order to implement the above embodiments, the present disclosure also provides a computer device.

[0068] The computer device provided in this embodiment includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method in Embodiment 2 is implemented.

[0069] Example 4

[0070] In order to implement the above embodiments, the present disclosure also proposes a non-transitory computer-readable storage medium.

[0071] The computer device provided in this embodiment stores a computer program, and when the computer program is executed by a processor, the method in Embodiment 2 is implemented.

[0072] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0073] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0074] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A top coal or roof three-dimensional migration trajectory monitoring system, characterized in that: The system includes: an in-hole sensor module, a cable with a code disc, an out-hole data processing module, a host computer module and a power supply module; The in-hole sensor module is arranged in a hole pre-drilled in the top coal or roof, and is used to measure the angular velocity and acceleration data of the hole in the X, Y and Z axis directions; The in-hole sensor module includes: 1 three-axis MEMS accelerometer and 3 single-axis MEMS gyroscopes; The three-axis MEMS accelerometer is used to measure the angular velocity and acceleration data of the hole in the X, Y, and Z axis directions; The three single-axis MEMS gyroscopes are used to provide acceleration data to the system through the MEMS silicon capacitive principle; The cable with the code disc is used to measure the displacement data of the in-hole sensor module; The cable with a code disk includes: a wire rope reel, a potentiometer, a reducer and a pulley; Wherein, the reducer is a 1:10 worm gear reducer; The wire rope reel is a wire rope reel capable of adjusting the damping of the wire reeling and releasing; The out-of-hole data processing module is used to collect the measured angular velocity and acceleration data of the hole in the X, Y, and Z axis directions and the measured displacement data of the in-hole sensor module, and perform calculations based on the collected angular velocity and acceleration data of the hole in the X, Y, and Z axis directions to obtain the angle change data of the hole, fit the angle change data and the collected displacement data of the in-hole sensor module to obtain the three-dimensional migration trajectory of the top coal or the top plate, and then send the three-dimensional migration trajectory of the top coal or the top plate to the upper computer module; The out-of-hole data processing module includes: a main processing unit, a wireless transmission unit and an EMMC storage unit; The main processing unit is used to collect the angular velocity and acceleration data of the hole in the X, Y, and Z axis directions obtained by the measurement, and perform calculation based on the collected data to obtain the angle change data of the hole, and is also used to collect the displacement data of the sensor module in the hole obtained by the measurement, and then fit the angle change data and the displacement data of the sensor module in the hole to obtain the three-dimensional migration trajectory of the top coal or the top plate, and then send the collected data, the calculated data, and the fitted three-dimensional migration trajectory of the top coal or the top plate to the EMMC storage unit and the wireless transmission unit; The wireless transmission unit is used to transmit the data sent by the main processing unit to the host computer module by Wifi wireless transmission; The EMMC storage unit is used to store the data sent by the main processing unit offline; The host computer module is used to receive the three-dimensional migration trajectory of the top coal or roof sent by the out-of-hole data processing module; The power module is used to provide power to the in-hole sensor module, the cable with the code disk, and the out-hole data processing module.

2. The system according to claim 1, characterized in that The power module includes: a polymer battery and a power management unit; The power management unit is used to manage the charging and discharging of the battery.

3. A monitoring method based on the monitoring system according to any one of claims 1 to 2, characterized in that: The method comprises: Obtaining the angular velocity and acceleration data of the hole in the X, Y, and Z axis directions measured by the in-hole sensor module set in the hole pre-drilled in the top coal or roof, and the displacement data of the in-hole sensor module measured by the cable with the encoder; Based on the collected angular velocity and acceleration data of the hole in the X, Y, and Z axis directions, the angle change data of the hole is obtained, and the angle change data and the collected displacement data of the sensor module in the hole are fitted to obtain the three-dimensional migration trajectory of the top coal or roof; The top coal or the roof is detected based on the determined three-dimensional migration trajectory of the top coal or the roof.

4. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method as claimed in claim 3 is implemented.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method as claimed in claim 3 is implemented.

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