Mine slope displacement monitoring device and monitoring method thereof

Abstract

The present invention relates to the technical field of displacement monitoring, and discloses a mine slope displacement monitoring device and a monitoring method thereof, comprising a supporting platform, a horizontal mechanism for adjusting level and displacement is installed on the supporting platform, a monitoring host is installed on the top of the horizontal mechanism through a lifting mechanism with multi-stage lifting, the monitoring host is built-in with a controller and a sensor for detecting its own height, levelness and horizontal position, the controller sends an execution instruction according to a sensor signal of the sensor to drive the horizontal mechanism and the lifting mechanism to act in real time so that the monitoring host is always dynamically suspended at a specified three-dimensional monitoring base point; after calibrating the monitoring host, the present invention dynamically adjusts the position of the monitoring host based on the sensor data of the monitoring host and the support and feedback of the horizontal mechanism and the lifting mechanism, so that the monitoring host is always at the specified three-dimensional monitoring base point, and the stability of the monitoring host is maintained.

Description

Technical Field

[0001] The invention relates to the technical field of displacement monitoring, and in particular to a mine slope displacement monitoring device and a monitoring method thereof. Background Art

[0002] Open-pit mining is a process of digging from the ground downward to form a mine pit with a trapezoidal mine slope. In order to ensure mining safety, it is necessary to monitor the slope in real time and take corresponding early warning measures according to the displacement of the slope. Therefore, it is necessary to set up a monitoring device above the mine pit to monitor the displacement of the slope.

[0003] As the depth of an open-pit mine decreases with the progress of mining, and the mining area also changes with the distribution of mineral deposits, in order to better monitor the displacement of the slope, the monitoring device needs to be adjusted regularly. Therefore, conventional slope monitoring devices usually adopt a convenient fixed and movable structure, that is, the monitoring device has a monitoring host and a fixed platform supporting the monitoring host, wherein the fixed platform is anchored to the edge of the mine pit by rods to maintain its level, and then raised to a suitable position to provide the monitoring host with a good monitoring field of view.

[0004] Although this type of monitoring device can conveniently monitor the slope in real time according to the progress of mining, in the actual monitoring process, in order to facilitate the installation and removal of the monitoring device, areas at the edge of the mine pit that are convenient for anchoring and pulling out of rods are usually selected. The geology of such areas is relatively soft, and it is easy to experience sudden mild irregular settlement due to mining blasting, rain erosion and other factors. Such sudden settlement will cause the monitoring device to monitor the slope data with sudden changes. The monitoring device achieves early warning by monitoring the sudden changes in the slope, which can easily lead to false alarms, affecting mining safety and mining progress.

[0005] Therefore, the existing slope monitoring device needs to be moved regularly and is fixed on relatively soft ground. However, its fixed platform is easily unable to stably monitor the main unit due to irregular ground settlement, which causes the monitoring device to mistakenly detect a large mutation and issue an alarm. Summary of the invention

[0006] The purpose of the present invention is to provide a mine slope displacement monitoring device and a monitoring method thereof, so as to solve the technical problem in the prior art that the monitoring device is difficult to maintain stability when irregular settlement occurs on the installation ground, resulting in large mutations in its posture and position, and thus easily misdetecting large mutations and causing an alarm.

[0007] In order to solve the above technical problems, the present invention specifically provides the following technical solutions:

[0008] A mine slope displacement monitoring device comprises a support platform arranged in an installation area, a horizontal mechanism for adjusting level and displacement is installed on the support platform, and a monitoring host is installed on the top of the horizontal mechanism through a lifting mechanism with multi-stage lifting;

[0009] The monitoring host is equipped with a controller and a sensor for detecting its own height, levelness and horizontal position. The controller sends an execution instruction according to the sensor signal of the sensor to drive the horizontal mechanism and the lifting mechanism to act in real time so that the monitoring host is always dynamically suspended at the designated three-dimensional monitoring base point;

[0010] Wherein, the horizontal mechanism comprises a horizontal regulator and a translation regulator, the horizontal regulator has a lower base and an upper carrier, the lower base is fixedly mounted on the support platform, the upper carrier is floatingly mounted on the lower base to adjust the horizontality, the translation regulator is rotatably mounted on the upper carrier to adjust the rotation angle, and adjusts the horizontal displacement by translation;

[0011] A multi-stage telescopic frame is sleeved on the outer side of the lifting mechanism, and the multi-stage telescopic frame is composed of a plurality of frame bodies of successively decreasing sizes. The frame body at the top layer is fixed on the top of the lifting mechanism and moves along with the lifting mechanism. When the frame body at the top layer is pushed upward by the lifting mechanism, the plurality of frame bodies in the middle are pulled out in sequence from top to bottom.

[0012] When the frame body on the top layer follows the lifting mechanism to descend, the multiple frame bodies in the middle fall into the frame body on the bottom layer in sequence from bottom to top to maintain a low center of gravity.

[0013] Furthermore, the lower base and the upper carrier are connected by four telescopic members, and the four telescopic members are respectively arranged at four corners between the lower base and the upper carrier, and the upper end and the lower end of each telescopic member are rotatably mounted on the lower base and the upper carrier respectively;

[0014] Among them, the four telescopic parts can independently telescope linearly, and each of the telescopic parts is independently electrically connected to the controller to independently adjust the telescopic amount in real time according to the sensor signal, thereby adjusting the distance between the four corners of the upper layer and the lower layer to dynamically maintain the horizontality of the upper layer.

[0015] Further, the telescopic member includes a leveling rod and a driver, the upper and lower ends of the leveling rod are respectively mounted on the upper carrier layer and the lower base layer, and the leveling rod is rotatably connected to the lower base layer;

[0016] The driver is installed on the upper carrier layer, and the driver is connected to drive the leveling rod to telescope so as to change the distance between the four corners of the upper carrier layer and the lower base layer.

[0017] Further, the leveling rod comprises a single-head screw and a screw sleeve, wherein the screw head end of the single-head screw is rotatably mounted in the screw sleeve, so that when the screw sleeve is driven to rotate relative to the single-head screw, the single-head screw and the screw sleeve can telescope;

[0018] The lower end of the single-head screw is sleeved with a smooth ball head, the smooth ball head is rotatably embedded in the lower base, and the smooth ball head is partially exposed outside the lower base;

[0019] Wherein, the driver is a driving motor, the upper end of the screw sleeve is rotatably mounted on the upper carrier layer, and its upper end is placed above the upper carrier layer and is connected to the driver through a transmission gear.

[0020] Furthermore, the translation regulator comprises a linear track, the linear track is provided with a slide seat, and the lifting mechanism is mounted on the slide seat;

[0021] A turntable is provided at the bottom of the linear track and is centrally mounted on the upper layer of the level adjuster to drive the linear track to move the lifting mechanism in any direction, thereby meeting the requirement of adjusting the horizontal position of the monitoring host.

[0022] Furthermore, the linear track includes an outer rail and an inner rail, the slide is slidably arranged on the outer rail of the linear track, and a counterweight seat is slidably arranged on the inner rail of the linear track, and the counterweight seat slides synchronously and mirror-image with the slide to balance the load on both sides of the linear track.

[0023] Furthermore, the multi-stage telescopic frame is centrally mounted on the movable position of the translation adjuster, the multi-stage telescopic frame covers the lifting mechanism, and the upper end of the multi-stage telescopic frame is fixedly connected to the upper end of the lifting mechanism.

[0024] Furthermore, four arms are arranged on the side wall of the multi-stage telescopic frame and are distributed around it. A plurality of rollers are arranged at the far end of the arms in sequence. A steel cable is arranged on each of the rollers, and the ends of each of the steel cables are respectively fixed to the upper ends of each of the frame bodies.

[0025] The roller is controlled by a motor lock to rotate, lock and unlock, so that the oblique fixing can be completed when the frame body is raised to any height.

[0026] Furthermore, the arm is installed at the upper end of the frame body of the bottom layer, the far end of the arm is tilted downward, and a reinforcement frame is provided in the middle section of the arm, and the reinforcement frame is fixed on the side wall of the frame body of the bottom layer to cooperate with the arm to form a triangular fixation.

[0027] In addition, the present invention also provides a monitoring method based on the above-mentioned mine slope displacement monitoring device, comprising the following steps:

[0028] Step 100: Delimit the installation area according to the slope to be monitored and install the monitoring device, and calibrate the monitoring host after adjusting the levelness, horizontal position and height;

[0029] Step 200: After calibrating the monitoring host, the latitude and longitude coordinates and elevation are established based on the positioning system;

[0030] Step 300, start the monitoring host to scan and monitor the slope in real time;

[0031] Step 400, the monitoring host performs real-time self-checking and feeds back its own position information during scanning monitoring. The controller compares its own position information with the longitude and latitude coordinates and the elevation, and controls the horizontal mechanism and the lifting mechanism to correct in real time to dynamically maintain the monitoring host always suspended on the specified three-dimensional monitoring base point.

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

[0033] After calibrating the monitoring host, the present invention relies on the positioning system to determine the position of the monitoring host, and in subsequent continuous monitoring, based on the sensor data of the monitoring host, uses the support and feedback of the horizontal mechanism and the lifting mechanism to dynamically adjust the position of the monitoring host, so that the monitoring host is always at the designated three-dimensional monitoring base point. Even when affected by the external environment, it can respond quickly and automatically adjust its posture for dynamic repair. When performing dynamic repair, the center of gravity is adjusted to further maintain the stability of the monitoring host, thereby effectively reducing false alarms caused by changes in its own position. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0035] Figure 1 A schematic diagram of the structure of a monitoring device for mine slope displacement provided by an embodiment of the present invention;

[0036] Figure 2A schematic diagram of the structure of a lifting mechanism of a monitoring device for mine slope displacement provided by an embodiment of the present invention;

[0037] Figure 3 A schematic diagram of the structure of the arm frame portion of a monitoring device for mine slope displacement provided by an embodiment of the present invention;

[0038] Figure 4 A schematic diagram of the structure of the horizontal mechanism portion of a monitoring device for mine slope displacement provided by an embodiment of the present invention;

[0039] Figure 5 A schematic structural diagram of the linear track portion of a device for monitoring mine slope displacement provided in an embodiment of the present invention.

[0040] The numbers in the figure represent the following:

[0041] 1-support platform; 2-level adjuster; 3-translation adjuster; 4-lifting mechanism; 5-monitoring host; 6-multi-stage telescopic frame;

[0042] 21-lower base layer; 22-upper layer; 23-leveling rod; 24-driver;

[0043] 31- linear track; 32- turntable;

[0044] 61-frame body; 62-arm frame; 63-roller;

[0045] 231-single-head screw; 232-screw sleeve; 233-smooth ball head;

[0046] 311-sliding seat; 312-counterweight seat;

[0047] 621-Reinforcement frame; 631-Steel cable. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] like Figure 1 As shown, the present invention provides a mine slope displacement monitoring device, comprising a support platform 1 arranged in an installation area, a horizontal mechanism for adjusting the level and displacement is installed on the support platform 1, and a monitoring host 5 is installed on the top of the horizontal mechanism through a lifting mechanism 4 with multi-stage lifting;

[0050] Among them, the monitoring host 5 is equipped with a built-in controller and a sensor for detecting its own height, levelness and horizontal position. The controller sends an execution instruction based on the sensor signal of the sensor to drive the horizontal mechanism and the lifting mechanism 4 to operate in real time so that the monitoring host 5 is always dynamically suspended on the specified three-dimensional monitoring base point.

[0051] In the present invention, after the monitoring host is calibrated, the position of the monitoring host is determined by relying on the positioning system, and in the subsequent continuous monitoring, based on the sensor data of the monitoring host, the position of the monitoring host is dynamically adjusted by utilizing the support and feedback of the horizontal mechanism and the lifting mechanism, so that the monitoring host is always located at the designated three-dimensional monitoring base point, and can respond quickly and automatically adjust its posture to perform dynamic repair even when affected by the external environment, so as to maintain the stability of the monitoring host.

[0052] It should be noted that the fact that the monitoring host 5 is always dynamically suspended in the present invention does not mean that the monitoring host 5 is in an unsupported suspended state, but that its longitude and latitude coordinates and elevation are constant, that is, limited changes in the external environment will not cause the position (longitude and latitude coordinates and elevation) of the monitoring host 5 to change, thereby improving the stability of detection.

[0053] The aforementioned three-dimensional monitoring base point is an installation point with fixed longitude and latitude coordinates and elevation. This installation point does not use relative objects as references, but relies on the positioning system to use longitude and latitude coordinates and elevation for calibration, which can further improve its stability.

[0054] The horizontal mechanism includes a horizontal adjuster 2 and a translation adjuster 3. The horizontal adjuster 2 has two layers, the lower layer is horizontally fixed on the supporting platform 1, and the four corners of the upper layer can be independently raised or lowered relative to the lower layer to adjust the horizontal degree of the monitoring host 5 in any direction within the inherent range. The translation adjuster 3 is rotatably set on the upper layer of the horizontal adjuster 2 to translate and adjust the horizontal position of the monitoring host 5 to any rotation angle.

[0055] The lifting mechanism 4 can be specifically a multi-stage hydraulic cylinder, which is arranged on the movable position of the translation regulator 3, and the monitoring host 5 is installed on the upper end of the multi-stage hydraulic cylinder. The multi-stage hydraulic cylinder can independently lift and adjust the height of the monitoring host 5.

[0056] The monitoring host 5 is equipped with sensors for real-time detection of its height, horizontal position and levelness, so as to feed back the self-detected height, horizontal position and levelness data to its built-in controller in real time, and control the level adjuster 2, translation adjuster 3 and multi-stage hydraulic cylinder to make corrections in real time according to the feedback data, so as to dynamically maintain the height, horizontal position and levelness of the monitoring host 5.

[0057] The monitoring device of this embodiment mainly utilizes the function of the monitoring host 5 to detect the height, horizontal position and levelness of the main body. It monitors itself in real time while monitoring the slope in real time, so as to obtain the status data of the main body, including the height, horizontal position and levelness. The monitoring host 5 will obtain the difference based on the comparison between the monitoring data and the set initial data, and then control the horizontal mechanism composed of the horizontal regulator 2 and the translation regulator 3 to adjust according to the difference to maintain the horizontal position and levelness of the monitoring host 5. At the same time, the control lifting mechanism 4 can be adjusted according to the height difference to maintain the height of the monitoring host 5, so that the monitoring host 5 can dynamically maintain its own height, horizontal position and levelness in the process of monitoring the slope, thereby avoiding a large sudden change in its position, levelness or height due to ground subsidence.

[0058] Therefore, compared with the existing fixed platform monitoring device, the monitoring host 5 of the monitoring device of this embodiment can control the horizontal mechanism and the lifting mechanism 4 to correct in real time to stabilize the monitoring device according to the self-detected and fed back height, horizontal position and horizontality data, thereby effectively avoiding the situation where the monitoring host 5 has a sudden change in position or posture due to ground subsidence, causing a large sudden change in the monitoring data, and providing stability for the operation of the monitoring host 5.

[0059] Since the level adjuster 2 needs to be able to make real-time dynamic adjustments based on the levelness of the self-test feedback of the monitoring host 5 to maintain the stability of the monitoring host 5, based on this, the following preferred embodiments are provided to enable the level adjuster 2 to be able to make real-time corrections to maintain the stability of the monitoring host 5 when any irregular settlement occurs on the ground in the installation area.

[0060] like Figure 1 , Figure 4 As shown, the level adjuster 2 includes a lower base layer 21 and an upper carrier layer 22, four telescopic members are arranged between the lower base layer 21 and the upper carrier layer 22, and the four telescopic members are arranged at four corners between the lower base layer 21 and the upper carrier layer 22, and the upper and lower ends of each telescopic member are rotatably arranged on the lower base layer 21 and the upper carrier layer 22 respectively;

[0061] The four telescopic members can be controlled by the controller to linearly telescope, so as to independently adjust their telescopic amounts in real time according to feedback data, thereby adjusting the distances of the four corners of the upper layer 22 relative to the lower layer 21 to dynamically maintain the horizontality of the upper layer 22.

[0062] Specifically, the telescopic member can be controlled to extend and retract, so that the distance between the lower base layer 21 and the upper carrier layer 22 can be changed by relatively extending or shortening, and the telescopic member is rotatably arranged on the lower base layer 21 and the upper carrier layer 22, so when the distance between the lower base layer 21 and the upper carrier layer 22 is changed, it will not affect the telescopic member itself.

[0063] Based on the above, a preferred embodiment of a telescopic member is provided below.

[0064] like Figure 1 , Figure 4 As shown, the telescopic member includes a leveling rod 23 and a driver 24, the upper and lower ends of the leveling rod 23 are respectively mounted on the upper carrier layer 22 and the lower base layer 21, and the leveling rod 23 is rotatably connected to the lower base layer 21;

[0065] The driver 24 is installed on the upper layer 22 , and the driver 24 is connected to drive the leveling rod 23 to telescope so as to change the distance between the four corners of the upper layer 22 and the lower layer 21 .

[0066] Specifically, the leveling rod 23 is a telescopic rod that can be extended or shortened by the driver 24, and the driver 24 is installed on the upper layer 22, which can ensure that the driver 24 is always in a relatively horizontal area and ensure its working stability.

[0067] Based on this, the leveling rod 23 can be a hydraulic telescopic rod, etc., and the starter 64 can be a hydraulic pump matched therewith. In the adjustment process, it is necessary to ensure high response and high precision as much as possible, so as to reduce the sudden change. However, the cost required for the hydraulic parts to achieve high response and high precision characteristics is relatively high. Therefore, in order to reduce the cost, the following preferred embodiments are provided.

[0068] like Figure 1 , Figure 4 As shown, the leveling rod 23 includes a single-head screw 231 and a screw sleeve 232. The screw head end of the single-head screw 231 is rotatably installed in the screw sleeve 232, so that when the screw sleeve 232 is driven to rotate relative to the single-head screw 231, the single-head screw 231 and the screw sleeve 232 can move telescopically;

[0069] The lower end of the single-head screw 231 is sleeved with a smooth ball head 233, which is rotatably embedded in the lower base 21, and the smooth ball head 233 is partially exposed outside the lower base 21;

[0070] The driver 24 is a driving motor, the upper end of the screw sleeve 232 is rotatably mounted on the upper carrier layer 22, and the upper end thereof is placed above the upper carrier layer 22 and is connected to the driver 24 via a transmission gear.

[0071] Specifically, during the dynamic leveling process, the driver 24 drives the screw sleeve 232 to rotate through the transmission gear, and the single-head screw 231 is restricted from rotating by the smooth ball head 233, so that relative rotation occurs between the screw sleeve 232 and the single-head screw 231, and thus the leveling rod 23 is extended or shortened.

[0072] During this process, since the smooth ball head 233 is rotatably embedded in the lower base layer 21 , when the lower base layer 21 tilts with the supporting platform 1 , it does not affect the level of the upper layer 22 supported by the smooth ball head 233 through the single-head screw 231 and the screw sleeve 232 .

[0073] The above is the structural composition of leveling, and the specific leveling method is:

[0074] When the lower base layer 21 tilts toward one side, the monitoring host 5 detects changes in the horizontal data itself, which is reflected in the fact that the height of the tilted side is lower than that of the opposite side. At this time, the leveling rod 23 on the tilted side is controlled to extend, and at the same time, the leveling rod 23 on the opposite side is controlled to shorten, so that the upper layer 22 can be quickly leveled.

[0075] This adjustment method has a faster response than adjusting the height of the inclined side only. However, due to the use of a opposite adjustment method, there is a problem of height drop after the adjustment is completed. Therefore, it is necessary to coordinate with the lifting mechanism 4 for synchronous adjustment to achieve fast and accurate dynamic adjustment.

[0076] Of course, after the lower base 21 and the supporting platform 1 are tilted, even if the upper layer 22 levels the monitoring host 5 through the leveling rod 23 and the driver 24, the horizontal position of the monitoring host 5 will still change due to the irregular characteristics of the settlement, so the translation regulator 3 is still needed to adjust the horizontal position of the monitoring host 5. Based on this, the following preferred embodiments are provided.

[0077] like Figure 1 As shown, the translation regulator 3 includes a linear track 31, the linear track 31 has a slide 311, and the lifting mechanism 4 is installed on the slide 311;

[0078] A turntable 32 is provided at the bottom of the linear track 31 , and the turntable 32 is centrally installed on the upper layer of the level adjuster 2 to drive the linear track 31 to move the lifting mechanism 4 in any direction, thereby meeting the requirement of adjusting the horizontal position of the monitoring host 5 .

[0079] Specifically, the linear track 31 controls the movement of the lifting mechanism 4 through the slide 311 , and the monitoring host 5 is installed at the top position of the lifting mechanism 4 , so the linear track 31 can control the horizontal translation amount of the monitoring host 5 .

[0080] Since a turntable 32 is set at the bottom of the linear track 31, the turntable 32 can rotate the linear track 31, thereby changing the direction of the horizontal translation of the linear track 31. Based on this, the horizontal position of the monitoring host 5 can be adjusted by adjusting the translation direction of the turntable 32 and adjusting the translation amount of the linear track 31.

[0081] When obvious partial settlement occurs or when the monitoring point needs to be fine-tuned during the installation and debugging of the monitoring host, the linear track 31 needs to provide a wider adjustment range. Based on this, the following preferred embodiments are provided.

[0082] like Figure 5 As shown, the length of the linear track 31 is greater than the diameter of the turntable 32 and greater than the side length of the level adjuster 2;

[0083] The linear track 31 includes an outer rail and an inner rail. The slide 311 is slidably set on the outer rail of the linear track 31, and a counterweight seat 312 is slidably set on the inner rail of the linear track 31. The counterweight seat 312 and the slide 311 slide synchronously and mirror-image to balance the load on both sides of the linear track 31. A counterweight block is installed on the counterweight seat 312.

[0084] Specifically, in order to increase the adjustable range of the linear rail 31, the length of the linear rail 31 is made greater than the diameter of the turntable 32 and the side length of the horizontal adjuster 2. However, after such a design, when the lifting mechanism 4 is moved toward the end of the linear rail 31, its leverage effect becomes more obvious, resulting in excessive unilateral tension on the fixing parts between the linear rail 31 and the turntable 32, affecting the life of stable operation.

[0085] Based on this, an inner rail and a counterweight seat 312 matching the inner rail are set inside the linear rail 31, and a counterweight object with the same weight as the lifting mechanism 4 and the monitoring host 5 is fixed on the counterweight seat 312. When the slide 311 moves, the counterweight seat 312 moves in a mirror image to form a balance between the counterweight seat 312 and the slide 311, thereby avoiding the fixing parts between the linear rail 31 and the turntable 32 from being subjected to a large pulling force, thereby improving their service life.

[0086] Of course, after the lower base layer 21 and the supporting platform 1 are tilted, even if the upper layer 22 levels the monitoring host 5 through the leveling rod 23 and the driver 24, since the leveling method is to adjust the lowering side and the raising side synchronously and relatively, the upper layer 22 after leveling will be lower than the original position, and the degree of settlement is also uncertain, the height position of the monitoring host 5 will still change. Therefore, a multi-stage hydraulic cylinder is required to adjust the height position of the monitoring host 5.

[0087] However, after the multi-stage hydraulic cylinder is raised to a certain level, it is easy to be disturbed by external interference and shake at the top. The higher the height, the higher the center of gravity, the greater the amplitude of the shaking, and it is more likely that the position of the monitoring host 5 will change suddenly. Based on this, the following preferred embodiments are provided.

[0088] like Figure 1 , Figure 2 As shown, the multi-stage telescopic frame 6 is centrally installed on the movable position of the translation regulator 3, the multi-stage telescopic frame 6 covers the multi-stage hydraulic cylinder, and the upper end of the multi-stage telescopic frame 6 is fixedly connected to the upper end of the multi-stage hydraulic cylinder;

[0089] The multi-stage telescopic frame 6 is composed of a plurality of frame bodies 61 of successively decreasing sizes, and a limiting structure is provided between two adjacent frame bodies 61 to prevent separation. The frame body 61 on the top layer is fixed to the upper end of the multi-stage hydraulic cylinder and moves along with the multi-stage hydraulic cylinder.

[0090] Among them, after the frame body 61 of the top layer is pushed upward by the multi-stage hydraulic cylinder, the multiple frame bodies 61 in the middle are pulled out of the frame body 61 of the bottom layer in sequence from top to bottom, and when the frame body 61 of the top layer follows the multi-stage hydraulic cylinder to descend, the multiple frame bodies 61 in the middle fall into the frame body 61 of the bottom layer in sequence from bottom to top to maintain a low center of gravity.

[0091] Specifically, the multi-stage telescopic frame 6 composed of a plurality of frame bodies 61 is mounted on the outside of the multi-stage hydraulic cylinder, and the bottom of the multi-stage telescopic frame 6 is fixed on the translation regulator 3, and the upper end is fixedly connected to the top of the multi-stage hydraulic cylinder. The multi-stage telescopic frame 6 will extend and retract following the lifting and lowering of the multi-stage hydraulic cylinder, and the lateral supporting force of the frame body 61 of the multi-stage telescopic frame 6 is relatively strong, and is not easily affected by external forces (such as wind force) and shaken to a large extent, thereby reducing the sudden change of the monitoring host 5 after lifting due to the shaking of the lifting mechanism 4.

[0092] Of course, in order to improve the field of vision of the monitoring host 5, the lifting mechanism 4 can be designed to be able to lift the monitoring host 5 to a higher position, but the higher the position, the higher the center of gravity will be, and the greater the lever force on the connection between the frame body 61 at the lower position, which affects the stability of the support of the lifting mechanism 4. Therefore, in order to further improve its stability and obtain a wider height adjustment range, the following preferred embodiments are provided.

[0093] like Figure 2 As shown, four arms 62 are arranged on the side wall of the multi-stage telescopic frame 6, and a plurality of rollers 63 are arranged in sequence at the far end of the arms 62. A steel cable 631 is arranged on each roller 63, and the end of each steel cable 631 is fixed to the upper end of each frame body 61;

[0094] The roller 63 is controlled by a motor lock to rotate, lock and unlock, so that the oblique fixing can be completed when the frame body 61 rises to any height.

[0095] Specifically, an arm 62 is provided on the lowest frame body 61, and a plurality of rollers 63 at the far end of the arm 62 are arranged in sequence, and are connected in sequence to the top of each level of the upper frame body 61 through a steel cable 631, thereby obliquely pulling the upper end of the frame body 61 in all directions, and the lower end of the upper frame body 61 is fixed by the lower frame body 61, so that after the upper frame body 61 is subjected to force, most of the lateral force is shared by the steel cable 631 and the arm 62, thereby effectively improving the stability of the multi-stage telescopic frame 6.

[0096] The roller 63 is controlled by a motor lock to lock and unlock its rotation, that is, the motor is unlocked when it has an input signal, and the roller 63 can rotate. When the frame body 61 rises or falls, the motor controls the roller to rotate forward or reverse accordingly. When the adjustment is completed, the motor does not input a signal to limit the rotation, and the roller 63 cannot rotate and pulls the frame body 61.

[0097] Of course, when the roller 63 obliquely pulls the frame body 61, one of the components of the tension exerted on the far end of the arm 62 is upward, and the higher the height is lifted, the greater this component is. The tension exerted on multiple frame bodies 61 is provided by the arm 62. Therefore, in order to ensure the long-term and stable operation of the arm 62, the following preferred embodiments are provided.

[0098] like Figure 3 As shown, the arm 62 is installed at the upper end of the bottom frame body 61, the far end of the arm 62 is tilted downward, and a reinforcement frame 621 is provided in the middle section of the arm 62, and the reinforcement frame 621 is fixed on the side wall of the bottom frame body 61 to cooperate with the arm 62 to form a triangular fixation.

[0099] Specifically, the arm 62 is fixed obliquely upward on the frame body 61. When the frame body 61 is obliquely pulled, one component of the pulling force is perpendicular to the arm 62, and the other component is obliquely upward along the arm 62. After the arm 62 is tilted, the angle between the arm 62 and the steel cable 631 is smaller, so the component along the arm 62 is larger, and this component is applied to the frame body 61 to bear, while the component perpendicular to the arm 62 is smaller and is not easy to affect the arm 62.

[0100] The middle section of the arm 62 is also provided with a reinforcement frame 621, which is arranged in a triangle with the arm 62 and fixed on the frame body 61. The component force perpendicular to the arm 62 is shared by the reinforcement frame 621, and the direction of this component force is parallel to or close to the reinforcement frame 621, that is, the component force is basically borne by the frame body 61, thereby further improving the stability of the arm 62.

[0101] During the monitoring process, the monitoring host 5 needs to monitor both the slope and its main body status. Based on this, the monitoring host 5 is equipped with a monitoring radar, a locator and an inclination sensor. The monitoring radar is used for real-time scanning and monitoring of the slope, the locator is used to provide horizontal position data and height data to obtain the horizontal position offset and height offset, and the inclination sensor is used to provide horizontality data to obtain the horizontal inclination.

[0102] Based on the above monitoring device, a method for monitoring the displacement of a mine slope is provided, comprising the following steps:

[0103] Step 100: Delimit the installation area according to the slope to be monitored and install the monitoring device, and calibrate the monitoring host after adjusting the levelness, horizontal position and height;

[0104] Step 200: After calibrating the monitoring host, the latitude and longitude coordinates and elevation are established based on the positioning system;

[0105] Step 300, start the monitoring host to scan and monitor the slope in real time;

[0106] Step 400, the monitoring host performs real-time self-checking and feeds back its own position information during scanning monitoring. The controller compares its own position information with the longitude and latitude coordinates and the elevation, and controls the horizontal mechanism and the lifting mechanism to correct in real time to dynamically maintain the monitoring host always suspended on the specified three-dimensional monitoring base point.

[0107] The monitoring method of this embodiment adopts the above-mentioned monitoring device. During the real-time monitoring of the slope by the monitoring host 5, the monitoring host 5 monitors and feeds back the status data, and controls the horizontal mechanism and the lifting mechanism according to the feedback data, wherein the status data includes height, horizontal position and levelness. When the change amplitude of the status data of the monitoring host 5 is greater than the threshold value, the monitoring host 5 controls the horizontal mechanism to adjust in real time according to the horizontal position and levelness of the status data to maintain the stability of the horizontal position and levelness of the monitoring host, and controls the lifting mechanism to adjust in real time according to the height of the status data to maintain the height stability of the monitoring host.

[0108] The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application. The protection scope of the present application is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present application within the essence and protection scope of the present application, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present application.

Claims

1. A mine slope displacement monitoring device, characterized in that: It comprises a support platform (1) arranged in an installation area, a horizontal mechanism for adjusting the level and displacement is installed on the support platform (1), and a monitoring host (5) is installed on the top of the horizontal mechanism via a lifting mechanism (4) with multiple lifting levels; The monitoring host (5) is equipped with a controller and a sensor for detecting its own height, levelness and horizontal position. The controller issues an execution instruction according to the sensor signal of the sensor to drive the horizontal mechanism and the lifting mechanism (4) to operate in real time so that the monitoring host (5) is always dynamically suspended at a designated three-dimensional monitoring base point; The horizontal mechanism comprises a horizontal adjuster (2) and a translation adjuster (3), the horizontal adjuster (2) comprising a lower base layer (21) and an upper carrier layer (22), the lower base layer (21) being fixedly mounted on the support platform (1), the upper carrier layer (22) being floatingly mounted on the lower base layer (21) to adjust the horizontality, and the translation adjuster (3) being rotatably mounted on the upper carrier layer (22) to adjust the rotation angle and adjust the horizontal displacement by translation; A multi-stage telescopic frame (6) is sleeved on the outside of the lifting mechanism (4), and the multi-stage telescopic frame (6) is composed of a plurality of frame bodies (61) of successively smaller sizes. The frame body (61) located at the top layer is fixed to the top of the lifting mechanism (4) and moves along with the lifting mechanism. When the frame body (61) located at the top layer is pushed upward by the lifting mechanism (4), the plurality of frame bodies (61) in the middle are pulled out in sequence from top to bottom. When the frame body (61) located at the top layer descends along with the lifting mechanism (4), the plurality of frame bodies (61) in the middle fall into the frame body (61) at the bottom layer in sequence from bottom to top, so as to maintain a low center of gravity; The lower base layer (21) and the upper carrier layer (22) are connected via four telescopic parts, and the four telescopic parts are respectively arranged at four corners between the lower base layer (21) and the upper carrier layer (22), and the upper end and the lower end of each telescopic part are rotatably mounted on the lower base layer (21) and the upper carrier layer (22); The four telescopic parts are capable of independent linear telescoping, and each of the telescopic parts is independently electrically connected to the controller so as to independently adjust the telescoping amount in real time according to the sensor signal, thereby adjusting the distance between the four corners of the upper layer (22) and the lower layer (21) to dynamically maintain the horizontality of the upper layer (22).

2. A mine slope displacement monitoring device according to claim 1, characterized in that: The telescopic member comprises a leveling rod (23) and a driver (24); the upper and lower ends of the leveling rod (23) are respectively mounted on the upper carrier layer (22) and the lower base layer (21), and the leveling rod (23) is rotatably connected to the lower base layer (21); The driver (24) is installed on the upper carrier layer (22), and the driver (24) is connected to drive the leveling rod (23) to telescope so as to change the distance between the four corners of the upper carrier layer (22) and the lower base layer (21).

3. A mine slope displacement monitoring device according to claim 2, characterized in that: The leveling rod (23) comprises a single-head screw (231) and a screw sleeve (232), wherein the screw head end of the single-head screw (231) is rotatably mounted in the screw sleeve (232), so that when the screw sleeve (232) is driven to rotate relative to the single-head screw (231), the single-head screw (231) and the screw sleeve (232) can telescope; The lower end of the single-head screw (231) is sleeved with a smooth ball head (233), the smooth ball head (233) is rotatably embedded in the lower base (21), and the smooth ball head (233) is partially exposed outside the lower base (21); The driver (24) is a driving motor, the upper end of the screw sleeve (232) is rotatably mounted on the upper carrier layer (22), and the upper end is placed above the upper carrier layer (22) and is connected to the driver (24) via a transmission gear.

4. A mine slope displacement monitoring device according to claim 1, characterized in that: The translation regulator (3) comprises a linear track (31), the linear track (31) is provided with a slide seat (311), and the lifting mechanism (4) is mounted on the slide seat (311); A turntable (32) is provided at the bottom of the linear track (31), and the turntable (32) is centrally mounted on the upper layer of the level adjuster (2) to drive the linear track (31) to move the lifting mechanism (4) in any direction, thereby meeting the requirement of adjusting the horizontal position of the monitoring host (5).

5. A mine slope displacement monitoring device according to claim 4, characterized in that: The linear track (31) comprises an outer track and an inner track, the slide seat (311) is slidably arranged on the outer track of the linear track (31), and a counterweight seat (312) is slidably arranged on the inner track of the linear track (31), and the counterweight seat (312) and the slide seat (311) slide synchronously and in a mirror image to balance the load on both sides of the linear track (31).

6. A mine slope displacement monitoring device according to claim 1, characterized in that: The multi-stage telescopic frame (6) is centrally mounted on the movable loading position of the translation adjuster (3), the multi-stage telescopic frame (6) covers the lifting mechanism (4), and the upper end of the multi-stage telescopic frame (6) is fixedly connected to the upper end of the lifting mechanism (4).

7. A mine slope displacement monitoring device according to claim 6, characterized in that: Four arm frames (62) are arranged on the side wall of the multi-stage telescopic frame (6) and are distributed in a circumferential manner. A plurality of rollers (63) are sequentially arranged at the far end of the arm frames (62). A steel cable (631) is arranged on each of the rollers (63), and an end of each of the steel cables (631) is respectively fixed to the upper end of each of the frame bodies (61); The winding roller (63) is controlled by a motor lock to be rotated, locked and unlocked, so that the obliquely pulled fixation can be completed when the frame body (61) is raised to any height.

8. A mine slope displacement monitoring device according to claim 7, characterized in that: The arm bracket (62) is mounted on the upper end of the frame body (61) at the bottom layer, the distal end of the arm bracket (62) is tilted downward, and a reinforcement frame (621) is provided in the middle section of the arm bracket (62), the reinforcement frame (621) being fixed to the side wall of the frame body (61) at the bottom layer to cooperate with the arm bracket (62) to form a triangular fixation.

9. A monitoring method based on the mine slope displacement monitoring device according to any one of claims 1 to 8, characterized in that: The steps include: Step 100: Delimit the installation area according to the slope to be monitored and install the monitoring device, and calibrate the monitoring host after adjusting the levelness, horizontal position and height; Step 200: After calibrating the monitoring host, the latitude and longitude coordinates and elevation are established based on the positioning system; Step 300, start the monitoring host to scan and monitor the slope in real time; Step 400, the monitoring host performs real-time self-checking and feeds back its own position information during scanning monitoring. The controller compares its own position information with the longitude and latitude coordinates and the elevation, and controls the horizontal mechanism and the lifting mechanism to correct in real time to dynamically maintain the monitoring host always suspended on the specified three-dimensional monitoring base point.

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