Laser-based rock roof separation monitoring method, device and medium

Abstract

The present invention discloses a laser-based rock roof delamination monitoring method, device, electronic device, and storage medium. The method includes obtaining the first, second, and third emission point positions, the first initial incident point position, the second initial incident point position, and the third initial incident point position of three laser beams; and the first initial distance, the second initial distance, and the third initial distance between the first emission point position and the first initial incident point position, the second emission point position and the second initial incident point position, and the third emission point position and the third initial incident point position; then determining the real-time first distance, second distance, and third distance; determining the first distance change, the second distance change, and the third distance change; and determining the roof delamination state based on the equivalent relationship between the first distance change, the second distance change, and the third distance change. The present invention solves the technical problem of relying on reference objects to monitor roof delamination in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of mine construction, and in particular to a laser-based rock roof separation monitoring method, device, electronic equipment and storage medium. Background Art

[0002] The sinking and delamination of the tunnel are difficult to observe with the naked eye, and as mine production develops in depth, the risk of roof delamination is becoming increasingly serious. Mine roof disasters seriously threaten the lives of miners.

[0003] Traditional roof separation sensors use steel wire ropes as their monitoring carrier. These wire ropes are prone to tangling, making them difficult to install. During use, the wire ropes can also collide with each other, leading to inaccurate measurements and complex installation. Furthermore, they suffer from low accuracy and large errors. Existing roof separation sensors are divided into two categories: purely mechanical and electronic digital. Electronic digital sensors offer several advantages over purely mechanical sensors: they can monitor, store, and upload measured roof separation data online, facilitating analysis and comparison of roof separation conditions at monitoring stations above the mine, allowing for timely alarm generation. Therefore, they are highly popular and widely used among coal mine users. Existing electronic digital sensors typically have two measurement base points. They utilize a rotary potentiometer to convert roof separation displacement into a rotary potential signal, which is then transmitted via a cable to a surface monitoring station for data processing. However, existing electronic digital sensors have several drawbacks: Because the measurement base point is located within the immediate roof and the base roof, the depth of the base point is shallow, making it difficult to locate a fixed reference point. This makes it difficult to accurately reference roof separation movement and deformation. Summary of the Invention

[0004] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and provide a laser-based rock roof delamination monitoring method, device, electronic equipment and storage medium to solve the technical problem in the prior art of requiring a reference object when measuring roof delamination movement or deformation.

[0005] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0006] In a first aspect, the present invention provides a laser-based rock roof delamination monitoring method, comprising the following steps:

[0007] Establishing a three-dimensional spatial coordinate system, and obtaining the first emission point position, the second emission point position, and the third emission point position of the three parallel laser beams, as well as the first incident point initial position, the second incident point initial position, and the third incident point initial position on the top plate based on the three-dimensional spatial coordinate system;

[0008] Using a preset vector method, respectively determine a first initial distance between the first emission point position and the first initial incident point position, a second initial distance between the second emission point position and the second initial incident point position, and a third initial distance between the third emission point position and the third initial incident point position;

[0009] Timely acquire the real-time positions of the first incident point, the second incident point, and the third incident point when the three parallel laser beams are incident on the top plate, and respectively determine a first real-time distance between the first emission point position and the first incident point position, a second real-time distance between the second emission point position and the second incident point position, and a third real-time distance between the third emission point position and the third incident point position;

[0010] determining a first distance change according to a difference between the first initial distance and the first distance, determining a second distance change according to a difference between the second initial distance and the second distance, and determining a third distance change according to a difference between the third initial distance and the third distance;

[0011] The roof separation state is determined based on the equal relationship among the first distance change, the second distance change, and the third distance change.

[0012] In some embodiments, determining the first distance, the second distance, and the third distance includes:

[0013] Establishing a first incident point real-time position feature set, a second incident point real-time position feature set, and a third incident point real-time position feature set respectively based on the correlation between the first incident point real-time position, the second incident point real-time position, and the third incident point real-time position and time obtained at the timing;

[0014] Based on the first incident point real-time position feature set, the second incident point real-time position feature set and the third incident point real-time position feature set, respectively determining a first distance feature set between the first incident point initial position and the first incident point real-time position, a second distance feature set between the second incident point initial position and the second incident point real-time position, and a third distance feature set between the third incident point initial position and the third incident point real-time position;

[0015] Based on the first distance feature set, the second distance feature set and the third distance feature set, a first distance, a second distance and a third distance in a time state to be detected are acquired.

[0016] In some embodiments, determining the roof separation state according to the equal relationship among the first distance change, the second distance change, and the third distance change includes:

[0017] determining an equivalence relationship among the first distance change, the second distance change, and the third distance change;

[0018] If the first distance change, the second distance change, and the third distance change are all zero, it indicates that no settlement of the roof occurs in the monitoring area;

[0019] If the first distance change, the second distance change, and the third distance change are all equal and non-zero, it indicates that vertical settlement and separation of the roof in the monitoring area occurs;

[0020] If the first distance change, the second distance change, and the third distance change are not equal to each other, it indicates that the roof in the monitoring area has tilted and settled.

[0021] In some embodiments, after determining the roof delamination state, the method further includes determining the degree of delamination of the roof, specifically including:

[0022] When vertical settlement and separation of the roof occur in the monitoring area, determining, based on the spatial coordinate system, a first emission point coordinate value of the first emission point position along the laser emission direction, and a first incident point coordinate value of the first incident point real-time position along the laser emission direction;

[0023] determining a distance between the top plate and the layer according to a first absolute difference between the coordinate value of the first emission point and the coordinate value of the first incident point;

[0024] When the roof in the monitoring area tilts, sinks, and separates, based on the spatial coordinate system, the second emission point position, the third emission point position, the second incident point real-time position, and the third incident point real-time position are determined along the laser emission direction, respectively;

[0025] Obtaining a second absolute difference between the coordinates of the second emission point and the coordinates of the second incident point, and a third absolute difference between the coordinates of the third emission point and the coordinates of the third incident point;

[0026] The distance between the top plate and the layer is determined according to the magnitudes of the first absolute difference, the second absolute difference and the third absolute difference.

[0027] In some embodiments, determining the distance between the top plate and the layer according to the first absolute difference, the second absolute difference, and the third absolute difference includes:

[0028] Determining the magnitudes of the first absolute difference, the second absolute difference, and the third absolute difference;

[0029] If the first absolute difference is greater than the second absolute difference and the third absolute difference, the roof settlement distance from the layer is the first absolute difference.

[0030] In some embodiments, determining the degree of separation of the roof further includes determining the inclination of the roof separation, specifically including:

[0031] Obtaining an emission surface normal vector of a plane formed by the first emission point position, the second emission point position, and the third emission point position, and an incident surface normal vector of a plane formed by the first incident position, the second incident position, and the third incident position;

[0032] The inclination angle of the top plate separation layer is determined according to the angle relationship between the normal vector of the emitting surface and the normal vector of the incident surface.

[0033] In some embodiments, the first initial distance, the second initial distance, and the third initial distance can be expressed by the following formula:

[0034] a=AA'=(x A -x A ,y A -y A ,z A’ -z A )=(0,0,z A’ -z A )=(0,0,ct A / 2)

[0035] b=BB'=(x B -x B ,y B -y B ,z B’ -z B )=(0,0,z B’ -z B )=(0,0,ct B / 2)

[0036] c=CC'=(x C -x C ,y C -y C ,z C’ -z C )=(0,0,z C’ -z C )=(0,0,ct C / 2)

[0037] The first transmitting point position, the second transmitting point position and the third transmitting point position are A(x A ,y A ,z A ), B(x B ,y B ,z B ), C(x C ,yC ,z C ), the first initial incident point position, the second initial incident point position and the third initial incident point position are A'(x A ,y A ,z A’ ), B'(x B ,y B ,z B’ ), C'(x C ,y C ,z C’ ), a represents the first initial distance, b represents the second initial distance, c represents the third initial distance, c is the laser light speed, t A , t B and t C are the round trip times of the three laser beams.

[0038] In a second aspect, the present invention further provides a laser-based rock roof separation monitoring device, comprising:

[0039] an initial position determination module, configured to establish a three-dimensional spatial coordinate system, and to obtain, based on the three-dimensional spatial coordinate system, the first emission point position, the second emission point position, and the third emission point position of the three parallel laser beams, as well as the first initial incidence point position, the second initial incidence point position, and the third initial incidence point position of the three parallel laser beams incident on the top plate;

[0040] an initial distance determination module, configured to respectively determine, using a preset vector method, a first initial distance, a second initial distance, and a third initial distance between the first emission point position and the first initial incident point position, the second emission point position and the second initial incident point position, and the third emission point position and the third initial incident point position;

[0041] a real-time distance determination module, configured to periodically obtain a first incident position, a second incident position, and a third incident position of three parallel laser beams incident on the top plate, and respectively determine a first distance, a second distance, and a third distance between the first emission point position and the first incident position, the second emission point position and the second incident position, and the third emission point position and the third incident position;

[0042] a distance change determination module, configured to determine a first distance change, a second distance change, and a third distance change, respectively, based on a difference relationship between the first initial distance and the first distance, the second initial distance and the second distance, and the third initial distance and the third distance;

[0043] The separation state determining module determines the roof separation state according to the equal relationship among the first distance change, the second distance change and the third distance change.

[0044] In a third aspect, the present invention further provides an electronic device, comprising: a processor and a memory;

[0045] The memory stores a computer-readable program executable by the processor;

[0046] When the processor executes the computer-readable program, the steps in the laser-based rock roof delamination monitoring method as described above are implemented.

[0047] In a fourth aspect, the present invention also provides a computer-readable storage medium, which stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the laser-based rock roof delamination monitoring method as described above.

[0048] Compared with the prior art, the laser-based rock roof delamination monitoring method, device, electronic device and storage medium provided by the present invention first determine the first initial distance, second initial distance and third initial distance between the laser emission point and the roof by obtaining the first emission point position, second emission point position and third emission point position of three parallel laser beams and the first initial incident point position, second initial incident point position and third initial incident point position, then regularly obtain the first incident point position, second incident point position and third incident point position of the laser incident on the roof, and regularly obtain the first distance, second distance and third distance, and finally determine whether the roof delamination has settled by comparing the changes between the first distance and the first initial distance, the second distance and the second initial distance, and the third distance and the third initial distance. Based on the principle of three points determining a plane, the present invention uses three laser beams to monitor the distance between the roof and the laser source, and can obtain the absolute distance of the roof delamination deformation, solving the technical problem of the need for a reference object in monitoring roof settlement in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 This is a schematic diagram of the laser device for ranging in the laser-based rock roof delamination monitoring method provided by the present invention;

[0050] Figure 2 This is a flow chart of an embodiment of a laser-based rock roof separation monitoring method provided by the present invention;

[0051] Figure 3 This is a flow chart of an embodiment of step S303 in the laser-based rock roof delamination monitoring method provided by the present invention;

[0052] Figure 4 This is a flow chart of an embodiment of determining the distance from the rock roof to the separation layer in the laser-based rock roof separation monitoring method provided by the present invention;

[0053] Figure 5 1 is a schematic diagram of an embodiment of a laser-based rock roof separation monitoring device provided by the present invention;

[0054] Figure 6 It is a schematic diagram of the operating environment of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0056] An embodiment of the present invention provides a laser-based rock roof delamination monitoring method, device, electronic device and storage medium. Specifically, three high-precision laser ranging light sources are provided with a waterproof and dustproof outer box, and the laser of the laser ranging device can pass through the tubular fixing and connecting parts to regularly measure the change in the depth of the pre-drilled rock hole and the relative displacement of the roof. The three laser beams are emitted in parallel at the same time, and each emission can obtain a group (3 points) of data. The points in each group of data can be compared. The monitoring equipment can obtain several groups of data through regular measurements, thereby judging the changes in the rock formation. The collected data can be transmitted to the cloud platform for analysis through the data wireless transmission module.

[0057] The laser light source is installed in the detection area through a fixing device, wherein the fixing device includes a tubular fixing part with an internal thread, an anchor claw supported by a spring, and an iron hoop; the tubular part with an internal thread can be directly connected to the box through a thread and can be easily removed at any time for inspection or maintenance; the anchor claw is easier to install and has a better fixing effect through the spring; the iron hoop connects the tubular part with an internal thread and the anchor claw. Drill a hole in the area that needs to be monitored, and the diameter of the hole is slightly larger than the outer diameter of the tubular fixing part. After drilling, fix the monitoring device in the hole through the anchor claw to ensure that the spring connecting the anchor claw is deformed to fix the monitoring equipment. Then the laser ranging device regularly measures the depth and relative displacement of the rock hole drilled in advance. Specifically, the monitoring equipment emits three parallel laser beams and selects a plane at the emission point. Figure 1 As shown, three non-collinear points A, B, and C are selected on the plane, and the laser emission direction is defined as the Z-axis direction to obtain the positions of the laser emission point and the incident point.

[0058] See also Figure 2 , Figure 2 The laser-based rock roof separation monitoring method provided in an embodiment of the present invention includes:

[0059] S201, establishing a three-dimensional spatial coordinate system, and obtaining, based on the three-dimensional spatial coordinate system, the first emission point position, the second emission point position, and the third emission point position of the three parallel laser beams, as well as the first incident point initial position, the second incident point initial position, and the third incident point initial position of the three parallel laser beams incident on the top plate;

[0060] S202: Using a preset vector method, determine a first initial distance between the first emission point position and the first initial incident point position, a second initial distance between the second emission point position and the second initial incident point position, and a third initial distance between the third emission point position and the third initial incident point position;

[0061] S203, regularly acquiring the real-time positions of the first incident point, the second incident point, and the third incident point of the three parallel laser beams incident on the top plate, and respectively determining a first real-time distance between the first emission point position and the first incident point position, a second real-time distance between the second emission point position and the second incident point position, and a third real-time distance between the third emission point position and the third incident point position;

[0062] S204: determining a first distance change based on a difference between the first initial distance and the first distance, determining a second distance change based on a difference between the second initial distance and the second distance, and determining a third distance change based on a difference between the third initial distance and the third distance;

[0063] S205: Determine the roof separation state according to the equivalent relationship among the first distance change, the second distance change, and the third distance change.

[0064] In this embodiment, the first initial distance, the second initial distance and the third initial distance between the laser emission point and the top plate are first determined by obtaining the first emission point position, the second emission point position and the third emission point position and the first initial incident point position, the second initial incident point position and the third initial incident point position of three parallel laser beams. Then, the first incident point position, the second incident point position and the third incident point position of the laser incident on the top plate are obtained at regular intervals, and the first distance, the second distance and the third distance are obtained at regular intervals. Finally, by comparing the changes between the first distance and the first initial distance, the second distance and the second initial distance, and the third distance and the third initial distance, it is determined whether the top plate has settled. The present invention is based on the principle of three points determining a plane, and uses three laser beams to monitor the distance between the top plate and the laser source, so as to obtain the absolute distance of the top plate deformation, thereby solving the technical problem of the need for a reference object in monitoring the settlement of the top plate in the prior art.

[0065] It should be noted that the first initial incident point position, the second initial incident point position and the third initial incident point position represent the positions at which the three laser beams are incident on the top plate when the top plate has not sunk; correspondingly, the first emission point position, the second emission point position and the third emission point position respectively represent the positions of the three laser emission points.

[0066] In some embodiments, see Figure 3 , the determining the first distance, the second distance, and the third distance includes:

[0067] S301, establishing a first incident point real-time position feature set, a second incident point real-time position feature set, and a third incident point real-time position feature set, respectively, based on the correlation between the first incident point real-time position, the second incident point real-time position, and the third incident point real-time position and time obtained at the timing;

[0068] S302, based on the first incident point real-time position feature set, the second incident point real-time position feature set, and the third incident point real-time position feature set, respectively determine a first distance feature set between the first incident point initial position and the first incident point real-time position, a second distance feature set between the second incident point initial position and the second incident point real-time position, and a third distance feature set between the third incident point initial position and the third incident point real-time position;

[0069] S303: Based on the first distance feature set, the second distance feature set, and the third distance feature set, obtain a first distance, a second distance, and a third distance in a time state to be detected.

[0070] In this embodiment, the position of the laser at the incident point is obtained at regular intervals, and the detachment state of the top plate is determined by the relationship between the distance difference between the incident point and the emission point and the initial distance; specifically, the working state of the top plate is obtained by continuously monitoring the top plate.

[0071] In some embodiments, determining the roof separation state according to the equal relationship among the first distance change, the second distance change, and the third distance change includes:

[0072] determining an equivalence relationship among the first distance change, the second distance change, and the third distance change;

[0073] If the first distance change, the second distance change, and the third distance change are all zero, it indicates that no settlement of the roof occurs in the monitoring area;

[0074] If the first distance change, the second distance change, and the third distance change are all equal and non-zero, it indicates that vertical settlement and separation of the roof in the monitoring area occurs;

[0075] If the first distance change, the second distance change, and the third distance change are not equal to each other, it indicates that the roof in the monitoring area has tilted and settled.

[0076] In this embodiment, the first emitting point position, the second emitting point position and the third emitting point position are respectively: A(x A ,y A ,z A ), B(x B ,y B ,z B ), C(x C ,y C ,z C ), since the laser beam is emitted in the direction perpendicular to the top plate, the X and Y axis coordinates do not need to be determined during the calculation process, and they will be offset in pairs later; A', B', C' are the first, second and third incident positions of the three laser beams hitting the monitoring area. Since the three laser beams are parallel, the X and Y axis coordinates of A', B', and C' are equal to those of A, B, and C, but the Z axis is not equal, and their coordinates are: A'(x A ,y A ,z A’ ), B'(x B ,y B ,z B’ ), C'(x C ,y C ,z C’ ), the monitoring equipment obtains the monitoring results by emitting three parallel laser beams. In order to explain the monitoring conditions of the three laser beams respectively, the vector in mathematics is used to represent them: a=AA'=(x A -x A ,y A -y A ,z A’ -z A )=(0,0,z A’ -z A )=(0,0,ct A / 2), c is the laser light speed, t A is the round trip time of the laser beam; b=BB'=(x B -x B ,y B -y B ,z B’ -z B )=(0,0,z B’ -z B )=(0,0,ct B / 2), t B is the round trip time of the laser beam; c=CC'=(xC -x C ,y C -y C ,z C’ -z C )=(0,0,z C’ -z C )=(0,0,ct C / 2), t C is the round trip time of the laser beam; (Note: Because the monitoring area may be tilted and subsided, t A , t B , t C The values ​​are not necessarily equal). Each time the laser ranging device measures, it records and stores the collected relative displacement value. Since the three points A', B', and C' are not collinear, a plane can also be determined based on these three points. The coordinates of A', B', and C' obtained by regular laser emission will also change (Z-axis coordinate change). The change amount of each three laser beam is defined as Δa, Δb, and Δc respectively. The monitoring status of the monitoring area can be obtained according to the following conditions:

[0077] (1) If Δa = Δb = Δc = 0, the monitoring area has not experienced any subsidence and is safe;

[0078] (2) If Δa=Δb=Δc≠0, vertical settlement and detachment occur in the monitoring area;

[0079] (3) If Δa, Δb, and Δc are not equal to each other, the monitoring area will experience tilt settlement.

[0080] In some embodiments, after determining the roof delamination state, the method further includes determining the degree of delamination of the roof, specifically including:

[0081] When vertical settlement and detachment of the roof in the monitoring area occur, determining, based on the spatial coordinate system, a first emission point coordinate value of the first emission point position along the laser emission direction and a first incident point coordinate value of the first incident position along the laser emission direction;

[0082] determining a distance between the top plate and the layer according to a first absolute difference between the coordinate value of the first emission point and the coordinate value of the first incident point;

[0083] When the roof in the monitoring area tilts, sinks, and separates, determining, based on the spatial coordinate system, the second emission point coordinates, the third emission point coordinates, the second incident point coordinates, and the third incident point coordinates of the second emission point position, the third emission point position, the second incident point coordinates, and the third incident point coordinates along the laser emission direction, respectively;

[0084] Obtaining a second absolute difference between the coordinates of the second emission point and the coordinates of the second incident point, and a third absolute difference between the coordinates of the third emission point and the coordinates of the third incident point;

[0085] The distance between the top plate and the layer is determined according to the magnitudes of the first absolute difference, the second absolute difference and the third absolute difference.

[0086] In this embodiment, when the top plate sinks vertically, the distance change caused by any laser beam along its emission direction is the distance the top plate sinks; when the top plate sinks obliquely, the sinking distance is based on the larger of the first absolute difference, the second absolute difference and the third absolute difference.

[0087] In some embodiments, see Figure 4 The step of determining the distance between the top plate and the layer according to the first absolute difference, the second absolute difference, and the third absolute difference includes:

[0088] S401, determining the magnitudes of the first absolute difference, the second absolute difference, and the third absolute difference;

[0089] S402: If the first absolute difference is greater than the second absolute difference and the third absolute difference, the roof settlement distance from the layer is the first absolute difference.

[0090] In this embodiment, if the first absolute difference is greater than the second absolute difference and the third absolute difference, it means that the change value of the first incident position is the largest.

[0091] In some embodiments, determining the degree of separation of the roof further includes determining the inclination of the roof separation, specifically including:

[0092] Obtaining an emission surface normal vector of a plane formed by the first emission point position, the second emission point position, and the third emission point position, and an incident surface normal vector of a plane formed by the first incident position, the second incident position, and the third incident position;

[0093] The inclination angle of the top plate separation layer is determined according to the angle relationship between the normal vector of the emitting surface and the normal vector of the incident surface.

[0094] In this embodiment, when the top plate sinks vertically, the sinking direction is parallel to the drilling direction; when the top plate sinks obliquely, the sinking direction has an angle difference with the drilling direction;

[0095] Points A', B', and C' are not collinear. Based on the three known points, three vectors can be formed: vector A'B', vector A'C', and vector B'C'. We can obtain:

[0096] A'B'(x B' -x A' ,yB' -y A' ,z B' -z A' )

[0097] A'C'(x C' -x A' ,y C' -y A' ,z C' -Z A' )

[0098] B'C'(x C' -x B' ,y C' -y B' ,z C' -z B' )

[0099] Assume that the normal vector coordinates of the plane are n(x, y, z), then the equations defined by the normal vector are:

[0100] (x B' -x A' )*x+(y B' -y A' )*y+(z B' -z A' )*z=0

[0101] (x C' -x A' )*x+(y C' -y A' )*y+(z C' -z A' )*z=0

[0102] (x C' -x B' )*x+(y C' -y B' )*y+(z C' -z B' )*z=0

[0103] The solved x, y, z are the coordinates of the plane normal vector n(x, y, z), and the direction satisfies the right-hand screw rule. The plane normal vector of points A, B, and C is m(0, 0, 1). According to the normal vector, the angle difference between the settlement direction and the drilling direction can be calculated. According to the properties of the vector:

[0104]

[0105] The final angle difference is: cos(n,m)=z / (x 2 ,y 2 ,z 2 )0.5 .

[0106] Based on the above-mentioned laser-based rock roof separation monitoring method, the embodiment of the present invention also provides a laser-based rock roof separation monitoring device 500, please refer to Figure 5 The laser-based rock roof separation monitoring device 500 includes an initial position determination module 510, an initial distance determination module 520, a real-time distance determination module 530, a distance change determination module 540, and a separation state determination module 550;

[0107] An initial position determination module 510 is configured to establish a three-dimensional spatial coordinate system and obtain, based on the three-dimensional spatial coordinate system, the first emission point position, the second emission point position, and the third emission point position of the three parallel laser beams, as well as the first initial incidence point position, the second initial incidence point position, and the third initial incidence point position of the three parallel laser beams incident on the top plate;

[0108] an initial distance determination module 520 for determining, using a preset vector method, a first initial distance, a second initial distance, and a third initial distance between the first emission point position and the first initial incident point position, the second emission point position and the second initial incident point position, and the third emission point position and the third initial incident point position, respectively;

[0109] a real-time distance determination module 530 for periodically acquiring a first incident position, a second incident position, and a third incident position of three parallel laser beams incident on the top plate, and determining a first distance, a second distance, and a third distance between the first emission point position and the first incident position, the second emission point position and the second incident position, and the third emission point position and the third incident position, respectively;

[0110] a distance change determination module 540, configured to determine a first distance change, a second distance change, and a third distance change, respectively, based on a difference relationship between the first initial distance and the first distance, the second initial distance and the second distance, and the third initial distance and the third distance;

[0111] The separation state determining module 550 determines the roof separation state according to the equal relationship among the first distance change, the second distance change and the third distance change.

[0112] like Figure 6 As shown, based on the above laser-based rock roof delamination monitoring method, the present invention also provides an electronic device, which can be a computing device such as a mobile terminal, desktop computer, notebook, PDA, or server. The electronic device includes a processor 610, a memory 620, and a display 630. Figure 6Only some of the components of the electronic device are shown, but it should be understood that it is not required to implement all of the shown components, and more or fewer components may be implemented instead.

[0113] In some embodiments, the memory 620 may be an internal storage unit of the electronic device, such as a hard disk or memory of the electronic device. In other embodiments, the memory 620 may also be an external storage device of the electronic device, such as a plug-in hard disk equipped on the electronic device, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Furthermore, the memory 620 may also include both an internal storage unit of the electronic device and an external storage device. The memory 620 is used to store application software and various types of data installed in the electronic device, such as program codes installed in the electronic device. The memory 620 may also be used to temporarily store data that has been output or is about to be output. In one embodiment, the memory 620 stores a laser-based rock roof delamination monitoring program 640, which can be executed by the processor 610, thereby implementing the laser-based rock roof delamination monitoring method of each embodiment of the present application.

[0114] In some embodiments, the processor 610 can be a central processing unit (CPU), a microprocessor, or other data processing chip, used to run program codes or process data stored in the memory 620, such as executing a laser-based rock roof delamination monitoring method.

[0115] In some embodiments, the display 630 can be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. The display 630 is used to display information on the laser-based rock roof separation monitoring device and to display a visual user interface. The electronic device components 610-630 communicate with each other via a system bus.

[0116] Of course, those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing related hardware (such as a processor, controller, etc.) through a computer program. The program can be stored in a computer-readable storage medium, and when executed, the program can include the processes in the above-described method embodiments. The storage medium can be a memory, a magnetic disk, an optical disk, etc.

[0117] The specific embodiments of the present invention described above do not limit the scope of protection of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A laser-based rock roof separation monitoring method, characterized in that: include: Establishing a three-dimensional spatial coordinate system, and obtaining the first emission point position, the second emission point position, and the third emission point position of the three parallel laser beams, as well as the first incident point initial position, the second incident point initial position, and the third incident point initial position on the top plate based on the three-dimensional spatial coordinate system; Using a preset vector method, respectively determine a first initial distance between the first emission point position and the first initial incident point position, a second initial distance between the second emission point position and the second initial incident point position, and a third initial distance between the third emission point position and the third initial incident point position; Timely acquire the real-time positions of the first incident point, the second incident point, and the third incident point when the three parallel laser beams are incident on the top plate, and respectively determine a first real-time distance between the first emission point position and the first incident point position, a second real-time distance between the second emission point position and the second incident point position, and a third real-time distance between the third emission point position and the third incident point position; determining a first distance change according to a difference between the first initial distance and the first distance, determining a second distance change according to a difference between the second initial distance and the second distance, and determining a third distance change according to a difference between the third initial distance and the third distance; determining a roof separation state according to an equal relationship among the first distance change, the second distance change, and the third distance change; After determining the roof separation state, the method further includes determining the degree of roof separation, specifically including: When vertical settlement and separation of the roof occur in the monitoring area, determining, based on the spatial coordinate system, a first emission point coordinate value of the first emission point position along the laser emission direction, and a first incident point coordinate value of the first incident point real-time position along the laser emission direction; determining a distance between the top plate and the layer according to a first absolute difference between the coordinate value of the first emission point and the coordinate value of the first incident point; When the roof in the monitoring area tilts, sinks, and separates, based on the spatial coordinate system, the second emission point position, the third emission point position, the second incident point real-time position, and the third incident point real-time position are determined along the laser emission direction, respectively; Obtaining a second absolute difference between the coordinates of the second emission point and the coordinates of the second incident point, and a third absolute difference between the coordinates of the third emission point and the coordinates of the third incident point; The distance between the top plate and the layer is determined according to the magnitudes of the first absolute difference, the second absolute difference and the third absolute difference.

2. The laser-based rock roof delamination monitoring method according to claim 1, characterized in that: The determining of the first distance, the second distance, and the third distance includes: Establishing a first incident point real-time position feature set, a second incident point real-time position feature set, and a third incident point real-time position feature set respectively based on the correlation between the first incident point real-time position, the second incident point real-time position, and the third incident point real-time position and time obtained at the timing; Based on the first incident point real-time position feature set, the second incident point real-time position feature set and the third incident point real-time position feature set, respectively determining a first distance feature set between the first incident point initial position and the first incident point real-time position, a second distance feature set between the second incident point initial position and the second incident point real-time position, and a third distance feature set between the third incident point initial position and the third incident point real-time position; Based on the first distance feature set, the second distance feature set and the third distance feature set, a first distance, a second distance and a third distance in a time state to be detected are acquired.

3. The laser-based rock roof delamination monitoring method according to claim 2, characterized in that: The determining of the roof separation state according to the equal relationship among the first distance change, the second distance change, and the third distance change includes: determining an equivalence relationship among the first distance change, the second distance change, and the third distance change; If the first distance change, the second distance change, and the third distance change are all zero, it indicates that no settlement of the roof occurs in the monitoring area; If the first distance change, the second distance change, and the third distance change are all equal and non-zero, it indicates that vertical settlement and separation of the roof in the monitoring area occurs; If the first distance change, the second distance change, and the third distance change are not equal to each other, it indicates that the roof in the monitoring area has tilted and settled.

4. The laser-based rock roof separation monitoring method according to claim 1, characterized in that: Determining the distance between the top plate and the layer according to the first absolute difference, the second absolute difference, and the third absolute difference includes: Determining the magnitudes of the first absolute difference, the second absolute difference, and the third absolute difference; If the first absolute difference is greater than the second absolute difference and the third absolute difference, the roof settlement distance from the layer is the first absolute difference.

5. The laser-based rock roof separation monitoring method according to claim 3, characterized in that: The step of determining the degree of separation of the roof plate further includes determining the degree of inclination of the roof plate separation, specifically including: Obtaining an emission surface normal vector of a plane formed by the first emission point position, the second emission point position, and the third emission point position, and an incident surface normal vector of a plane formed by the first incident point initial position, the second incident point initial position, and the third incident point initial position; The inclination angle of the top plate separation layer is determined according to the angle relationship between the normal vector of the emitting surface and the normal vector of the incident surface.

6. The laser-based rock roof delamination monitoring method according to claim 1, characterized in that: The first initial distance, the second initial distance, and the third initial distance can be expressed by the following formula: a =AA’=( x A - x A , y A - y A , z A’ - z A ) =(0,0, z A’ - z A ) =(0,0, ct A / 2) b =BB’ =( x B - x B , y B - y B , z B’ - z B )=(0,0, z B’ - z B ) =(0,0, ct B / 2) c =CC’ =( x C - x C , y C - y C , z C’ - z C )=(0,0, z C’ - z C ) =(0,0, ct C / 2) The first transmitting point position, the second transmitting point position and the third transmitting point position are A ( x A , y A , z A ), B( x B , y B , z B ), C ( x C , y C , z C ), the first initial incident point position, the second initial incident point position and the third initial incident point position are A'( x A , y A , z A’ ), B' ( x B , y B , z B’ ), C' ( x C , y C , z C’ ), a The first initial distance, b represents the second initial distance, c represents the third initial distance, c is the speed of laser light, t A 、 t B and t C are the round trip times of the three laser beams.

7. A laser-based rock roof separation monitoring device, characterized in that: include: an initial position determination module, configured to establish a three-dimensional spatial coordinate system, and obtain, based on the three-dimensional spatial coordinate system, the first emission point position, the second emission point position, and the third emission point position of the three parallel laser beams, as well as the first incident point initial position, the second incident point initial position, and the third incident point initial position on the top plate; an initial distance determination module, configured to determine, using a preset vector method, a first initial distance between the first emission point position and the first initial incident point position, a second initial distance between the second emission point position and the second initial incident point position, and a third initial distance between the third emission point position and the third initial incident point position; a real-time distance determination module, configured to periodically obtain the real-time positions of the first incident point, the second incident point, and the third incident point when three parallel laser beams are incident on the top plate, and respectively determine a first real-time distance between the first emission point position and the first incident point position, a second real-time distance between the second emission point position and the second incident point position, and a third real-time distance between the third emission point position and the third incident point position; a distance change determination module, configured to determine a first distance change based on a difference between the first initial distance and the first distance, determine a second distance change based on a difference between the second initial distance and the second distance, and determine a third distance change based on a difference between the third initial distance and the third distance; a separation state determining module, configured to determine a roof separation state based on an equal relationship among the first distance change, the second distance change, and the third distance change; After determining the roof separation state, the method further includes determining the degree of roof separation, specifically including: When vertical settlement and separation of the roof occur in the monitoring area, determining, based on the spatial coordinate system, a first emission point coordinate value of the first emission point position along the laser emission direction, and a first incident point coordinate value of the first incident point real-time position along the laser emission direction; determining a distance between the top plate and the layer according to a first absolute difference between the coordinate value of the first emission point and the coordinate value of the first incident point; When the roof in the monitoring area tilts, sinks, and separates, based on the spatial coordinate system, the second emission point position, the third emission point position, the second incident point real-time position, and the third incident point real-time position are determined along the laser emission direction, respectively; Obtaining a second absolute difference between the coordinates of the second emission point and the coordinates of the second incident point, and a third absolute difference between the coordinates of the third emission point and the coordinates of the third incident point; The distance between the top plate and the layer is determined according to the magnitudes of the first absolute difference, the second absolute difference and the third absolute difference.

8. An electronic device, characterized in that: include: processor and memory; The memory stores a computer-readable program executable by the processor; When the processor executes the computer-readable program, the steps of the laser-based rock roof delamination monitoring method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the laser-based rock roof separation monitoring method according to any one of claims 1 to 6.

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