A filling body surface morphology measurement method based on infrared ranging

Abstract

The application discloses a kind of filling body surface morphology measurement methods based on infrared ranging, first in direct roof upper part arrangement monitoring hole;Then assemble and lay out infrared ranging module, infrared ranging module has gravity orientation and ranging function, can always measure height vertically downward, to ensure that infrared range finder coordinates minus its measured height is the point filling body surface coordinates, and infrared ranging matrix is formed in multiple monitoring holes;Stoping causes direct roof collapse, so that infrared ranging matrix is exposed and ranging, finally calculate survey point coordinates to obtain filling body surface morphology.The application can directly observe goaf filling body surface morphology by remote measurement means, can more accurately, directly monitor goaf filling body morphology.

Description

Technical Field

[0001] This invention belongs to the field of coal mine backfilling technology, and relates to a method for monitoring the surface morphology of backfill bodies in goaf areas. Background Technology

[0002] Ecological coal mining is a new trend in the development of the coal industry. Backfilling mining is a process in underground coal mining where backfilling materials are used to fill the goaf, fill the space created by coal mining, support the overlying strata, maintain the stability of the overlying strata, and prevent environmental and safety problems such as aquifer rupture, groundwater loss, and surface subsidence caused by the collapse of the overlying strata due to mining.

[0003] Ideally, the backfill material should completely fill the goaf without deformation, thus supporting the overlying strata. However, in practice, the backfill material cannot completely fill the goaf, and it will deform to some extent after being subjected to the pressure of the overlying strata. This greatly affects the reliability of backfill mining technology.

[0004] To improve the reliability of backfill mining technology, it is essential to observe the surface morphology of the backfill body in the goaf. This offers the following advantages: observing the morphology of the backfill body allows for targeted improvements to the backfilling technique, enhancing the backfilling effect; it enables prediction of its support effect on the roof and accurate forecasting of overburden movement patterns after backfill mining, providing accurate data for subsequent work such as coal mining and geological surveying; and it allows for accurate assessment of the stability of the backfill body by combining backfill material strength data, preventing safety accidents caused by backfill failure.

[0005] However, the filling material is located in the goaf, inaccessible to workers, and its morphology cannot be directly observed by the naked eye. Current research methods for the morphology of goaf filling materials mainly include theoretical analysis, numerical simulation, and similarity experiments. For example, Ma Fengshan et al.'s "Three-dimensional numerical simulation of deformation of large-volume filling materials in Jinchuan No. 2 mining area" published their prediction results of the filling material morphology using numerical simulation methods. Zhu Lei et al.'s "A similarity simulation device for the morphology of filling materials in high-level grouting filling goaf" describes a method for predicting the morphology of goaf filling materials using similarity simulation methods; Gao Shuai et al.'s "A monitoring device for laboratory simulation of filling material deformation under stress" describes a monitoring device for laboratory simulation of filling material deformation. It is evident that current methods for monitoring the morphology of goaf filling materials mostly employ indirect methods and cannot directly monitor the morphology of goaf filling materials. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the present invention aims to provide a method for measuring the surface morphology of filling bodies based on infrared ranging, thereby solving the problem that it is currently impossible to directly monitor the morphology of filling bodies in goaf areas.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0008] A method for measuring the surface morphology of infill bodies based on infrared ranging includes the following steps:

[0009] Step 1: Arrange monitoring holes. Set up monitoring holes in the immediate roof strata above the coal seam, and set up the monitoring holes along the direction of the working face; arrange multiple monitoring holes at intervals in the horizontal direction perpendicular to the direction of the working face.

[0010] Step 2: Assemble and deploy infrared ranging modules. After alternately connecting multiple infrared ranging modules with rigid rods, send them into the bottom of the monitoring hole. Multiple infrared rangefinders in each infrared ranging module form an infrared ranging matrix. The infrared ranging matrices corresponding to multiple infrared ranging modules in multiple monitoring holes can be spliced ​​together to form a large infrared ranging matrix.

[0011] Step 3: Monitoring the surface morphology of the filling body. As the working face is mined back, the direct roof collapses continuously, exposing the infrared ranging module in the monitoring hole. As the hydraulic support of the working face moves forward, the infrared ranging matrix is ​​gradually exposed in the goaf and begins to work. The coordinates measured by the infrared ranging module are combined with the trajectory coordinates of the monitoring hole to obtain the surface coordinates of the filling body. A curved surface is drawn based on the surface coordinates of the filling body to obtain the surface morphology of the filling body.

[0012] The present invention also includes the following technical features:

[0013] Optionally, the infrared ranging module includes two variable-diameter connecting sub-modules and a gravity-oriented ranging sub-module. The two variable-diameter connecting sub-modules are located at both ends of the gravity-oriented ranging sub-module. The gravity-oriented ranging sub-module uses gravity orientation to ensure that the infrared rangefinder probe inside is always vertically downward.

[0014] Optionally, the variable diameter connection module includes a threaded cylindrical shell and a central bearing. The cylindrical shell can be threadedly connected to a rigid rod, and the central bearing is connected to the gravity orientation ranging module so that the gravity orientation ranging module can rotate freely under the action of gravity to keep the infrared rangefinder vertically downward.

[0015] Optionally, the gravity orientation and ranging sub-module can realize gravity orientation and laser ranging, and includes a shell, a counterweight, and an infrared rangefinder assembly; the shell is a metal shell, the upper part of the shell is a cavity, in which an armored optical cable is laid axially; the lower part of the shell is equipped with an infrared rangefinder assembly.

[0016] Optionally, each infrared ranging module has three sets of infrared rangefinder components in its gravity orientation ranging sub-module. The three sets of infrared rangefinder components are evenly distributed along the axial direction of the housing, and the infrared ray angle between two adjacent sets of infrared rangefinder components is β.

[0017] Optionally, each infrared rangefinder assembly includes three infrared rangefinders and two counterweights. One counterweight, three infrared rangefinders, and another counterweight are arranged sequentially along the circumference of the housing, and the infrared ray angle between two adjacent infrared rangefinders is α.

[0018] Optionally, each infrared ranging module is equipped with nine infrared rangefinders, which form an infrared ranging matrix.

[0019] Optionally, in step 3, since the coordinates of the monitoring hole trajectory are known, the coordinates of the infrared rangefinder are the coordinates of the monitoring hole trajectory corresponding to the hole depth; since the infrared rangefinder always measures height vertically downwards, the coordinates of the infrared rangefinder minus its measured height are the coordinates of the filling body surface at that point.

[0020] Optionally, in step 3, if the coordinates of the monitoring hole trajectory corresponding to the hole depth of the infrared rangefinder located at the center of the infrared ranging module are (x, y, z), then the planar coordinates of the nine measuring points measured by the nine infrared rangefinders of the infrared ranging module are:

[0021] Measuring point No. 1 (x-L1sinβ, y-L1sinα, z-L1cosαcosβ);

[0022] Measurement point 2: (x-L2sinβ, y, z-L2cosβ);

[0023] Measuring point No. 3: (x-L3sinβ, y+L3sinα, z-L3cosαcosβ);

[0024] Measurement point 4: (x, y - L4sinα, z - L4cosα);

[0025] Measurement point 5: (x, y, z - L5);

[0026] Measurement point 6: (x, y + L6sinα, z - L6cosα);

[0027] Measurement point 7: (x-L7sinβ, y-L7sinα, z-L7cosαcosβ);

[0028] Measurement point 8: (x-L8sinβ, y, z-L8cosβ);

[0029] Measuring point No. 9: (x-L9sinβ, y+L9sinα, z-L9cosαcosβ);

[0030] Among the above measuring points, the infrared rangefinder corresponding to measuring point 5 is located at the center of the infrared ranging matrix. L1 to L9 are the ranging points of the nine measuring points respectively. The infrared ray angle between two adjacent groups of infrared rangefinder components in each infrared ranging module is β; the infrared ray angle between two adjacent infrared rangefinders in each group of infrared rangefinder components is α.

[0031] Optionally, in step 3, after obtaining the coordinate data of the large infrared ranging matrix spliced ​​together by the measurement of multiple infrared ranging modules, its three-dimensional coordinates are marked in the spatial coordinate system, and interpolation is performed using the Galerkin interpolation method to draw a three-dimensional curved surface, which is the surface morphology of the filling body.

[0032] Compared with the prior art, the present invention has the following technical effects:

[0033] This invention enables direct observation of the surface morphology of the goaf filling body through remote measurement, which is more accurate and direct than the traditional indirect method.

[0034] The backfill morphology monitoring method of the present invention is universal. Different infrared ranging matrix layout schemes can be designed for different backfill mining methods (such as borehole grouting backfilling, two-way grouting backfilling, surface grouting backfilling, etc.), and all of them can directly and accurately monitor the morphology of the backfill. Attached Figure Description

[0035] Figure 1 This is a flowchart of the method of the present invention;

[0036] Figure 2 This is a side view of the monitoring hole layout of the present invention;

[0037] Figure 3 This is a top view of the monitoring hole layout of the present invention;

[0038] Figure 4 This is a schematic diagram of the infrared ranging module of the present invention;

[0039] Figure 5 This is a schematic diagram of the infrared ray angle of the infrared rangefinder of the present invention;

[0040] Figure 6 This is a schematic diagram of the infrared ray angle of the infrared rangefinder of the present invention;

[0041] Figure 7 This is a top view of the infrared ranging matrix of the present invention;

[0042] Figure 8 This is a side view of the infrared ranging matrix of the present invention;

[0043] Figure 9 This is a schematic diagram of the infrared ranging matrix of the present invention being exposed;

[0044] Figure 10This is a schematic diagram of nine measuring points acquired by an infrared ranging module of the present invention;

[0045] Figure 11 This is a schematic diagram of multiple measurement points acquired by multiple infrared ranging modules of the present invention;

[0046] Figure 12 This is a three-dimensional coordinate diagram of multiple measuring points in a spatial coordinate system according to the present invention;

[0047] Figure 13 This is a schematic diagram of the surface morphology of the filling body obtained by the present invention;

[0048] Figure 14 This is a schematic diagram of the infrared ranging matrix for two-lane grouting and backfilling mining according to an embodiment of the present invention;

[0049] Figure 15 This is a schematic diagram of the infrared ranging matrix for roof drilling grouting and backfilling mining according to an embodiment of the present invention;

[0050] Figure 16 This is a schematic diagram of the monitoring hole opening location in the main roadway of the drilling site according to an embodiment of the present invention;

[0051] Figure 17 This is a schematic diagram of the monitoring hole opening positions arranged in the intake / return airway of the drilling site according to an embodiment of the present invention;

[0052] Figure 18 This is a schematic diagram of the infrared ranging matrix arrangement on the working surface in an embodiment of the present invention.

[0053] The meanings of the labels in the diagram are as follows:

[0054] 1. Main roof, 2. Immediate roof, 3. Coal seam, 4. Floor, 5. Goaf, 6. Hydraulic support, 7. Monitoring hole, 8. Main roadway, 9. Infrared ranging module, 10. Rigid rod, 11. Variable diameter connection module, 12. Gravity orientation ranging module, 13. Cylindrical shell, 14. Central bearing, 15. Shell, 16. Counterweight, 17. Armored optical cable, 18. Infrared rangefinder, 20. Infrared ranging matrix, 21. Working face, 22. Filling body, 23. Collapsed immediate roof, 24. Intake airway, 25. Grouting pipeline, 26. Return airway, 27. Grouting point. Detailed Implementation

[0055] This invention provides a method for measuring the surface morphology of infill bodies based on infrared ranging, such as... Figure 1 As shown, it includes the following steps:

[0056] Step 1: Install monitoring holes. Install monitoring holes in the immediate roof stratum above the coal seam, with the holes aligned with the strike of the working face. The monitoring holes should be positioned in the upper half of the immediate roof stratum. For example... Figure 2As shown, from top to bottom, the structure consists of the main roof 1, the immediate roof 2, the coal seam 3, and the floor 4. A hydraulic support 6 is installed in the goaf 5, and monitoring holes 7 are located in the immediate roof 2. Multiple monitoring holes are arranged at intervals in the horizontal direction. The spacing between the monitoring holes should be reasonably set to enable economical and effective observation of the morphology of the goaf filling body. Figure 3 As shown.

[0057] Step 2: Assemble and deploy the infrared ranging modules. After alternately connecting multiple infrared ranging modules to the rigid rod, insert them into the bottom of the monitoring hole, such as... Figure 4 As shown; the infrared ranging modules in multiple monitoring holes form an infrared ranging matrix, such as... Figure 7 (Top view) Figure 8 (Side view) The infrared ranging module uses armored optical fiber to transmit signals to the borehole. Specifically, each infrared ranging module is sent into the bottom of the monitoring borehole through a rigid rod. The rigid rod includes, but is not limited to, oil pipe, drill pipe or other rigid rods. The infrared ranging module is connected to the rigid rod through a thread.

[0058] The infrared ranging module uses gravity orientation to ensure that the infrared rangefinder probe inside is always vertically downward. Its structural diagram is shown below. Figure 4 As shown, the infrared ranging module 9 is alternately connected to the rigid rod 10. The infrared ranging module 9 includes two variable diameter connecting sub-modules 11 and a gravity orientation ranging sub-module 12. The variable diameter connecting sub-module 11 includes a threaded cylindrical shell 13 and a central bearing 14. The gravity orientation ranging sub-module 12 includes a shell 15, a counterweight 16, and an infrared rangefinder assembly. The upper part of the shell 15 is a cavity, in which an armored optical cable 17 is laid axially. Each infrared rangefinder assembly includes three infrared rangefinders 18 and two counterweights 16.

[0059] More specifically, the infrared ranging module includes two variable-diameter connecting sub-modules and a gravity orientation ranging sub-module, wherein the two variable-diameter connecting sub-modules are clamped at both ends of the gravity orientation ranging sub-module.

[0060] The variable diameter connection module includes a threaded cylindrical shell and a central bearing. The cylindrical shell can be threadedly connected to a rigid rod, and the central bearing is connected to the gravity orientation ranging module so that the gravity orientation ranging module can rotate freely under the action of gravity, making the infrared rangefinder vertically downward.

[0061] The gravity orientation and ranging module enables gravity orientation and laser ranging. It includes a housing, counterweights, and infrared rangefinder components. The housing is a metal shell, with the upper half being a cavity containing an armored optical cable laid axially. The lower half of the housing houses three sets of infrared rangefinder components, evenly distributed along the housing's axial direction, with an infrared beam angle of β between adjacent sets. Each set includes three infrared rangefinders and two counterweights. One counterweight, three infrared rangefinders, and the other counterweight are arranged sequentially along the circumference of the housing, with an infrared beam angle of α between adjacent rangefinders. Figure 5 and Figure 6 As shown.

[0062] Each infrared ranging module contains nine infrared rangefinders. The positional relationship of the nine infrared rangefinders forming an infrared ranging matrix is ​​as follows: Figure 10 As shown.

[0063] Step 3: Monitoring the surface morphology of the backfill. As the working face is mined, the immediate roof continuously collapses, exposing the infrared rangefinders inside the monitoring holes. As the hydraulic supports of the working face move forward, the infrared ranging matrix is ​​gradually exposed in the goaf and begins to operate. Figure 9 As shown, the goaf area includes a collapsed immediate roof 23 and a backfill body 22.

[0064] Given the coordinates of the borehole opening location and the borehole trajectory, the coordinates of the infrared rangefinder are the coordinates of the borehole trajectory corresponding to the borehole depth. Since the infrared rangefinder always measures height vertically downwards, the coordinates of the infrared rangefinder minus its measured height are the coordinates of the filling body surface at that point. By plotting the coordinates measured by the infrared ranging matrix as a curved surface, the surface morphology of the filling body can be obtained.

[0065] The specific method is as follows:

[0066] Each infrared ranging module can acquire the planar coordinates of 9 measuring points, such as Figure 10 As shown.

[0067] Taking the plane coordinates of measuring point 5 at the center position as the standard point (0, 0), the coordinates of the other measuring points are represented as (dx, dy), where dx and dy are the x-axis and y-axis coordinate offsets of the measuring points relative to measuring point 5, respectively. The corrected coordinates of each measuring point are as follows:

[0068] Measurement point 1 (-dx, -dy)

[0069] Measurement point 2: (-dx, 0)

[0070] Measurement point 3: (-dx, dy)

[0071] Measurement point 4: (0, -dy)

[0072] Measuring point 5: (0, 0)

[0073] Measurement point 6: (0, dy)

[0074] Measurement point 7: (dx, -dy)

[0075] Measurement point 8: (dx, 0)

[0076] Measurement point 9: (dx, dy)

[0077] dx and dy are calculated by the following formulas:

[0078] dx=L n sinβ;dy=L n sinα

[0079] In the formula, L n is the distance measured at the measuring point, where n is the measuring point number; the infrared ray angle between two adjacent groups of infrared rangefinder components in each infrared ranging module is β; the infrared ray angle between two adjacent infrared rangefinders in each group of infrared rangefinder components is α.

[0080] This yields the plane coordinates of each point; then, the perpendicular distance to each measuring point is calculated:

[0081] D n =L n cosαcosβ

[0082] Let the coordinates of the monitoring borehole trajectory where the infrared ranging module is located be (x, y, z). Then the three-dimensional coordinates of the corresponding measuring point are shown in the table below:

[0083] Measurement point number X-axis coordinate Y-axis coordinate Z-axis coordinate 1 <![CDATA[x-L1sinβ]]> <![CDATA[y-L1sinα]]> <![CDATA[z-L1cosαcosβ]]> 2 <![CDATA[x-L2sinβ]]> y <![CDATA[z-L2cosβ]]> 3 <![CDATA[x-L3sinβ]]> <![CDATA[y+L3sinα]]> <![CDATA[z-L3cosαcosβ]]> 4 x <![CDATA[y-L4sinα]]> <![CDATA[z-L4cosα]]> 5 x y <![CDATA[z-L5]]> 6 x <![CDATA[y+L6sinα]]> <![CDATA[z-L6cosα]]> 7 <![CDATA[x-L7sinβ]]> <![CDATA[y-L7sinα]]> <![CDATA[z-L7cosαcosβ]]> 8 <![CDATA[x-L8sinβ]]> y <![CDATA[z-L8cosβ]]> 9 <![CDATA[x-L9sinβ]]> <![CDATA[y+L9sinα]]> <![CDATA[z-L9cosαcosβ]]>

[0084] By using multiple sets of infrared ranging modules and measurements from multiple monitoring boreholes, a large amount of coordinate data for a plane can be obtained, such as... Figure 11 As shown, after obtaining the coordinate data, its three-dimensional coordinates are plotted in the spatial coordinate system to form a three-dimensional coordinate point graph. Figure 12 As shown in the figure. Galerkin interpolation was used for interpolation, and a 3D surface was plotted, resulting in the 3D surface diagram shown below. Figure 13 The image shows the surface morphology of the filling material.

[0085] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments. All equivalent modifications made based on the technical solutions of this application fall within the protection scope of the present invention.

[0086] Example:

[0087] This embodiment proposes a method for measuring the surface morphology of filling bodies based on infrared ranging for a specific mine working face, including the following steps:

[0088] I. Arrangement of monitoring wells:

[0089] (1) Infrared ranging matrix location design: Typically, the surface morphology of the goaf filling body is a repetition or regular evolution of the morphology of a certain area's filling body. Therefore, it is not necessary to observe the surface morphology of the entire goaf filling body; only the surface morphology of a specific area needs to be observed. In conjunction with different filling methods, the infrared ranging matrix should be arranged according to the following principles: ① For working faces with two-way grouting and filling, the infrared ranging matrix should be arranged near the intake or return airway; ② For working faces with roof borehole grouting and filling, the infrared ranging matrix should be arranged in any area with grouting holes. The infrared ranging matrix should cover at least two boreholes in the dip direction and at least two grouting points in the strike direction; Figure 14 and Figure 15 As shown.

[0090] (2) Horizontal Hole Spacing Design: The horizontal hole spacing represents the diagonal spacing of the infrared ranging matrix, and its size affects the accuracy of the observation of the filling body morphology. Based on the filling mining method used in this coal mine working face and the required observation scale, the borehole spacing is rationally designed for underground drilling in the coal mine. Generally, the hole spacing should be set to 5-20m.

[0091] (3) Drilling Design and Construction: Drilling sites can be located in the main roadway or in the intake and return airways of the working face. The drilling layout methods for different drilling locations are as follows: Figure 16 and Figure 17 As shown. The opening height should be selected in the upper half of the immediate top, generally between 2-5m above the coal seam.

[0092] II. Assembling and Deploying the Infrared Ranging Module:

[0093] (1) Use a rigid rod to connect the infrared ranging module. The infrared ranging module and the rigid rod are arranged at intervals. The spacing between the ranging modules should be equal to or similar to the drilling spacing.

[0094] (2) Test whether the infrared ranging and gravity orientation functions are normal before inserting the infrared ranging module;

[0095] (3) Lower the series-connected infrared ranging module into the bottom of the hole to complete the assembly and insertion of the infrared ranging module into the hole.

[0096] III. Monitoring of Filler Morphology:

[0097] (1) After the infrared ranging module is installed, test whether the optical fiber is connected and whether the infrared rangefinder is working properly.

[0098] (2) As the working face is mined back, the direct roof collapses, the infrared ranging matrix is ​​gradually exposed and begins to work. During this process, the data measured by each infrared rangefinder is recorded.

[0099] (3) As the working face advances, the distance parameters measured by the infrared ranging matrix are obtained, and the software is used to draw them into a graph to complete the monitoring of the filling body morphology.

[0100] In this embodiment, when the infrared ranging matrix is ​​correctly arranged, the infrared ranging module can achieve vertical downward distance measurement. Simultaneously, by combining the borehole trajectory, the coordinates of the measuring point can be determined. Subtracting the measured distance from the ordinate of the ordinate gives the ordinate of the corresponding measuring point on the filling body. That is, assuming the borehole trajectory coordinates corresponding to a certain infrared ranging module are (x, y, z), and the distance h measured by the infrared ranging module to the surface of the filling body is , then the three-dimensional coordinates of the measuring point on the surface of the filling body are (x, y, z).

[0101] In another embodiment, a working face in a mine has a strike length of 2000m and a dip length of 300m. Roof drilling and grouting are used for filling, with grouting hole spacing of 50m and grouting point spacing of 50m. The infrared ranging matrix arrangement is as follows: Figure 18 As shown.

[0102] To ensure the accuracy of the surface morphology test of the filling body, 10-30 measuring points are arranged in both the direction and the dip of the infrared ranging matrix. In this embodiment, 20 measuring points are arranged. Therefore, the spacing between monitoring holes should be 6m, and the series interval of the infrared ranging modules should be 7.5m.

[0103] The thickness of the direct roof of the working face is 6m, so the borehole is arranged 5m above the top of the coal seam.

[0104] Drilling was carried out according to the above design parameters, and the series-connected infrared ranging modules were installed. After the working face was mined, the measured distance data was recorded, the coordinates of the measuring points on the surface of the filling body were calculated, and the software was used to draw the graph to complete the surface morphology monitoring of the filling body.

Claims

1. An infrared distance measurement-based method of measuring a surface morphology of a filling body, characterized by, Includes the following steps: Step 1: Arrange monitoring holes. Set up monitoring holes in the immediate roof strata above the coal seam, and set up the monitoring holes along the direction of the working face; arrange multiple monitoring holes at intervals in the horizontal direction perpendicular to the direction of the working face. Step 2: Assemble and deploy infrared ranging modules. After alternately connecting multiple infrared ranging modules with rigid rods, send them into the bottom of the monitoring hole. Multiple infrared rangefinders in each infrared ranging module form an infrared ranging matrix. The infrared ranging matrices corresponding to multiple infrared ranging modules in multiple monitoring holes can be spliced ​​together to form a large infrared ranging matrix. Step 3, monitoring the surface morphology of the filling body. As the working face is mined back, the direct roof collapses continuously, exposing the infrared ranging module in the monitoring hole. As the hydraulic support of the working face moves forward, the infrared ranging matrix is ​​gradually exposed in the goaf and begins to work. The distance measured by the infrared ranging module is combined with the trajectory coordinates of the monitoring hole to obtain the surface coordinates of the filling body. A curved surface is drawn based on the surface coordinates of the filling body to obtain the surface morphology of the filling body. In step 3, the coordinates of the monitoring hole trajectory are known, and the coordinates of the infrared rangefinder are the coordinates of the monitoring hole trajectory where the corresponding hole depth is located. The infrared rangefinder always measures the height vertically downward, so the coordinates of the infrared rangefinder minus its measured height is the coordinates of the filling body surface at that point. The infrared ranging module includes two variable-diameter connecting sub-modules and a gravity-oriented ranging sub-module. The two variable-diameter connecting sub-modules are located at both ends of the gravity-oriented ranging sub-module. The gravity-oriented ranging sub-module uses gravity orientation to ensure that the infrared rangefinder probe inside is always vertically downward.

2. The filling body surface morphology measurement method based on infrared distance measurement according to claim 1, wherein, The variable diameter connection module includes a threaded cylindrical shell and a central bearing. The cylindrical shell can be threadedly connected to a rigid rod, and the central bearing is connected to the gravity orientation ranging module so that the gravity orientation ranging module can rotate freely under the action of gravity to keep the infrared rangefinder vertically downward.

3. The method of claim 2, wherein the infrared distance measurement is performed by a laser distance sensor. The gravity orientation and ranging sub-module can realize gravity orientation and ranging, and includes a shell, a counterweight, and an infrared rangefinder assembly; the shell is a metal shell, the upper part of the shell is a cavity, in which an armored optical cable is laid axially; the lower part of the shell contains the infrared rangefinder assembly.

4. The filling body surface morphology measurement method based on infrared distance measurement according to claim 3, wherein, Each infrared ranging module has three sets of infrared rangefinder components in its gravity orientation ranging sub-module. The three sets of infrared rangefinder components are evenly distributed along the axial direction of the housing, and the infrared ray angle between two adjacent sets of infrared rangefinder components is β.

5. The filling body surface morphology measurement method based on infrared distance measurement according to claim 4, wherein Each infrared rangefinder assembly includes three infrared rangefinders and two counterweights. One counterweight, three infrared rangefinders, and another counterweight are arranged sequentially along the circumference of the housing. The infrared beam angle between two adjacent infrared rangefinders is α.

6. The filling body surface morphology measurement method based on infrared distance measurement according to claim 5, wherein, Each infrared ranging module contains nine infrared rangefinders, which form an infrared ranging matrix.

7. The filling surface morphology measurement method based on infrared distance measurement according to claim 6, wherein, In step 3, let the coordinates of the monitoring hole trajectory corresponding to the hole depth of the infrared rangefinder located at the center of the infrared ranging module be (x, y, z). Then the planar coordinates of the nine measuring points measured by the nine infrared rangefinders of the infrared ranging module are: 1st measurement point (P1) , , ) Measurement point No. 2: ( , , ); 3rd measurement point: (0, 0, 0.5) , , ) Measurement point No. 4: ( , , ); Measurement point No. 5: ( , , ); Measurement point No. 6: ( , , ); Measurement point No. 7: ( , , ); Measurement point No. 8: ( , , ); Measurement point No. 9: ( , , ); Of the above measuring points, the infrared rangefinder corresponding to measuring point 5 is located at the center of the infrared ranging matrix. ~ The ranging is performed at 9 measuring points. The infrared ray angle between two adjacent groups of infrared rangefinder components in each infrared ranging module is β; the infrared ray angle between two adjacent infrared rangefinders in each group of infrared rangefinder components is α.

8. The filling body surface morphology measurement method based on infrared distance measurement according to claim 7, wherein, In step 3, the coordinate data of the large infrared ranging matrix after mutual splicing is obtained by measurement of the plurality of infrared ranging modules, three-dimensional coordinates are marked in the spatial coordinate system, and the Galerkin interpolation method is used for interpolation to draw a three-dimensional curved surface, which is the surface morphology of the filling body.

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