Intelligent control system and method for real-time camera shooting of disturbed ore rocks in stope

Abstract

The invention discloses an intelligent control system and method for real-time camera shooting of stope disturbed ore rocks, and relates to the field of mine stope ore rock fracture monitoring, and the intelligent control system comprises a database, a controller, a depth meter, a pay-off device and a drilling camera shooting device; the pay-off device is connected with the drilling camera device through a transmission line, and the drilling camera device is controlled to move downwards in a drill hole. A vibration test module, a ranging laser radar module and a timer are arranged in the drilling camera device, and the vibration test module is used for monitoring rock blasting vibration in real time. Integrated monitoring and intelligent control of drilling camera shooting and blasting vibration are achieved, rock fracture information is automatically monitored based on blasting vibration and time, meanwhile, the vibration speed threshold value and the dormancy time can be dynamically adjusted, the device can be used for studying the influence of blasting disturbance and exposure time on stope rock mass, the timeliness of test data is guaranteed, and the working efficiency is improved. Meanwhile, the labor intensity is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of monitoring the fracture of ore and rock in a mine stope, and in particular to an intelligent control system and method for real-time photography of disturbed ore and rock in a stope. Background Art

[0002] Deep mining is one of the future development trends of the mining industry. The ore and rock in the mining area will be affected by three highs and one disturbance. The risk of geological disasters and mining costs are increasing. Intelligentization, informatization and digitization of mines are one of the ways to solve the above problems. Secondly, large-scale collapse often occurs in the mining area, affecting the safe production of mines. When the mining area structure parameters are determined, the stability of the mining area is significantly affected by the blasting disturbance. It is necessary to obtain the fracture characteristics of the surrounding rock mass after the blasting of the ore body in time; secondly, the stability of the mining area is also affected by the exposure time. It is also necessary to monitor the fracture laws of the ore and rock for a long time, and intuitively understand the development laws of the mining area ore and rock after blasting and long-term exposure, so as to provide basic data for the mining area structure parameters, blasting parameters and control measures.

[0003] Borehole photography can visually obtain rock information, including the distribution range of fractures, crack orientation and occurrence, etc., and is widely used in the field of geotechnical exploration. At present, the traditional manual operation methods used by practitioners are difficult to obtain ore and rock information after blasting in a timely manner. Secondly, underground mine operations and safety tasks are very heavy and inconvenient, and it is difficult to manually collect rock information underground for a long time without interruption. Moreover, the greater the degree of fracture, the weaker the rock's resistance to external forces. That is, rock masses in different fracture states are sensitive to blasting disturbances and exposure time to different degrees, and it is difficult to adapt to rock masses in different states for accurate data collection. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent control system and method for real-time video recording of disturbed ore and rock in a mining area, which can automatically wake up the drilling camera device according to the blasting vibration speed or the sleep time threshold, and dynamically adjust the threshold according to the collected data results, and use its own weight and servo motor to move forward and backward in the hole to perform mobile video recording and photography of the drilled ore and rock, so as to timely and long-term record the internal fracture information of the ore and rock in the mining area, replacing the frequent manual downhole testing on site.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solutions: an intelligent control system for real-time photography of disturbed ore and rock in a stope, comprising a database, a controller, a depth meter, a line-laying device and a drilling photography device; The wire-releasing device is connected to the drilling camera device via a transmission line to control the lowering movement of the drilling camera device in the borehole; The drilling camera device is provided with a vibration test module, a ranging laser radar module and a timer. The vibration test module is used to monitor the rock blasting vibration in real time, the timer is used to record the dormancy time of the camera device, and the ranging laser radar module is used to detect the distance between the drilling camera device and the bottom of the hole; The controller is used to receive monitoring data feedback in real time, and judge whether the drilling camera device starts working by comparing with the sleep time and vibration speed threshold by using the PID algorithm, and judge whether the drilling camera device reels in the line by comparing with the line-laying depth threshold or the hole bottom distance threshold by using the PID algorithm; The drilling camera device is used to receive control instructions from the controller and move to collect image information of the ore and rock in the borehole; The depth gauge is used to monitor the line-laying depth of the line-laying device; The database is preset in the controller, and stores a relationship table between the dormancy time, the vibration speed and the degree of rock fracture. The degree of rock fracture is characterized by the number of cracks, and the dormancy time and the vibration speed threshold are determined by the table.

[0006] Preferably, the drilling camera device includes an upper outer shell, one end of the upper outer shell is fixedly connected to the middle outer shell, one end of the middle outer shell is fixedly connected to a glass cover, one end of the outer wall of the glass cover is sleeved with a protective cover, the outer wall of the protective cover is fixedly connected to a ranging laser radar module, the outer walls of the middle outer shell and the protective cover are both fixedly connected to an arc-shaped pad, the outer wall of the arc-shaped pad is penetrated with a mounting hole, the center of the outer wall of the other end of the upper outer shell is penetrated with a data cable plug, and an electronic compass is installed at one end of the upper outer shell.

[0007] Preferably, mounting plate one, mounting plate two and mounting plate three are provided inside the middle outer shell, and the mounting plate one, mounting plate two and mounting plate three are all fixedly connected to the inner wall of the middle outer shell, a circuit board is installed on one side outer wall of the mounting plate one, a vibration test module is installed on one side outer wall of the mounting plate two, a camera bracket is installed on one side outer wall of the mounting plate three, a camera is installed in the middle of the camera bracket, an LED light is provided on the outside of the camera, and the LED light is installed on the outer wall of the camera bracket.

[0008] Preferably, the pay-off device comprises a servo motor, a controller and a frame, the controller is mounted on the outer wall of the servo motor, and the servo motor is mounted on the inner wall of the frame.

[0009] Preferably, the inner wall of the depth gauge is rotatably connected to a depth pulley, the transmission line is arranged through the inner wall of the depth gauge, one end of the depth gauge is rotatably connected to a front guide wheel, and the other end of the depth gauge is rotatably connected to a rear guide wheel.

[0010] Preferably, a positioning plate is provided on one side of the depth gauge, an upper fixing bracket is connected between the top end of the positioning plate and the depth gauge, and a lower fixing bracket is connected between the bottom end of the positioning plate and the depth gauge.

[0011] An intelligent control method for real-time video recording of disturbed ore and rock in a mining area comprises the following steps: S1. Determine the drilling position: arrange it above the unmined ore body and it is a blind hole. If it is in the rock mass above the goaf, the bottom of the drilling hole is 5-10m away from the goaf; S2. Drilling: Drill vertical or inclined holes in the communication tunnel or rock drilling chamber above the ore body with a sampling geological drill to ensure that the camera device can slide by gravity and the hole wall is smooth and avoids bending; S3. Clean the borehole: clean the borehole wall with water to keep it clean and free of rock debris and drain the water. When the water is turbid, use alum to precipitate the suspended particles to ensure the water is clear. S4. Bracket installation: Ensure that the center of the positioning plate is aligned with the axis of the drilling hole, fix it with expansion screws, install the depth gauge and ensure that the positioning plate is firm to prevent the depth gauge from shaking; S5. Assemble the drilling camera device: install the arc-shaped spacer according to the diameter of the drill hole, so that its diameter is slightly smaller than the diameter of the drill hole, let the glass cover of the camera device hang in the air and fix it, the transmission line is led out from the servo motor and wound around the pulley and connected to the plug, the camera system is powered by the power cord, and the depth gauge and the wire-releasing device are connected to the computer; S6. Connect to ground communication: Use the underground network to connect the acquisition computer to the ground terminal to achieve underground monitoring and ground communication, and at the same time view the equipment status and process data in real time through the ground terminal; S7. Preliminary test: Send commands through the control software to perform manual camera monitoring 3-5 times, then perform automatic monitoring test, set low vibration threshold or sleep time, hammer the rock to test the automatic camera performance, and the installation is completed after 3-5 successes; S8. Preliminary parameter setting: set the thresholds of dormancy time, vibration speed, laying depth and distance from the bottom of the hole respectively. The dormancy time threshold is determined according to the quality of the ore and the initial stress around it. A sudden increase in its value indicates that the rock mass at the bottom of the hole has collapsed and the blind hole has evolved into a through hole. S9, data storage and processing: After a single information collection, the data is stored in the computer and transmitted to the ground terminal. The post-processing software is used to extract the number of cracks and send it back to the controller. The controller is a PLC control using PID algorithm, and the pre-data, i.e., the sleep time and vibration speed sensitivity threshold under different cracking degrees, are imported; S10. Equipment dismantling and recycling: After the filling of the mining area and the empty area is completed, the rock mass monitoring of the mining area is completed and the equipment is dismantled and recycled.

[0012] Preferably, in step S8, the dormancy time threshold is set to 5-7 days, the vibration speed threshold is 15-30 cm / s, the line-laying depth threshold is 5-10 cm less than the drilling depth, and the distance threshold from the bottom of the hole is about 5-10 cm.

[0013] Preferably, in step S9, the sensitive threshold is the minimum value of the external effect on rock mass fracture, and the degree of fracture is characterized by the number of cracks. The greater the degree of rock mass fracture, the more sensitive it is to the effects of exposure time and vibration speed, and the threshold should be lowered.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention realizes integrated monitoring and intelligent control of drilling video and blasting vibration, automatically monitors rock fracture information based on blasting vibration and time, and can dynamically adjust the vibration speed threshold and sleep time. It can be used to study the influence of blasting disturbance and exposure time on the rock mass in the mining area, ensuring the timeliness of test data while reducing labor intensity.

[0015] 2. The present invention utilizes its own weight and servo motor to move forward and backward in the hole, and performs mobile video and photography of the drilled ore and rock, timely and long-term recording of internal fracture information of the ore and rock in the mining area, replacing frequent manual downhole testing on site. It can be used to study the influence of blasting disturbance and exposure time on the stability of the mining area, and greatly improves the convenience and timeliness of information collection. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the drilling camera device of the present invention; Figure 2 It is a schematic diagram of the arc-shaped pad of the present invention; Figure 3 This is a connection diagram of the working state of the drilling camera device of the present invention; Figure 4 This is a system block diagram of an intelligent control system for real-time photography of disturbed ore and rock in a mining area according to the present invention; Figure 5 The present invention is an execution flow chart of an intelligent control system for real-time photography of disturbed ore and rock in a mining area.

[0017] In the figure: 1. upper outer shell; 2. data line plug; 3. electronic compass; 4. mounting plate 1; 5. circuit board; 6. mounting plate 2; 7. arc pad; 8. vibration test module; 9. mounting plate 3; 10. camera bracket; 11. LED light; 12. middle outer shell; 13. camera; 14. glass cover; 15. protective cover; 16. ranging laser radar module; 17. mounting hole; 18. servo motor; 19. controller; 20. computer; 21. front guide wheel; 22. rear guide wheel; 23. positioning plate; 24. depth pulley; 25. upper fixed bracket; 26. lower fixed bracket; 27. transmission line; 28. drilling camera device; 29. ​​ore body; 30. goaf; 31. frame; 32. wire-laying device; 33. communication cable; 34. ground terminal; 35. depth meter; 36. drilling. DETAILED DESCRIPTION

[0018] 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 implementation regulations described 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.

[0019] Example 1: Reference Figure 1 - Figure 5 As shown: an intelligent control system for real-time photography of disturbed ore and rock in a mining area, comprising a database, a controller 19, a depth meter 35, a line-laying device 32 and a drilling camera device 28; The wire-releasing device 32 is connected to the drilling camera device 28 via the transmission line 27 to control the lowering movement of the drilling camera device 28 in the borehole; The drilling camera device 28 is provided with a vibration test module 8, a ranging laser radar module 16 and a timer. The vibration test module 8 is used to monitor the rock blasting vibration in real time, the timer is used to record the dormant time of the camera device, and the ranging laser radar module 16 is used to detect the distance between the drilling camera device 28 and the bottom of the hole; The controller is used to receive monitoring data feedback in real time, and judge whether the drilling camera device 28 starts working by comparing with the sleep time and vibration speed threshold by using the PID algorithm, and judge whether the drilling camera device 28 reels in the line by comparing with the line-laying depth threshold or the hole bottom distance threshold by using the PID algorithm; The drilling camera device 28 is used to receive the control instruction of the controller and move to collect the image information of the ore and rock in the drilling hole; The depth gauge 35 is used to monitor the depth of the wire-laying device 32; The database is preset in the controller 19, and the database stores a relationship table of dormancy time, vibration speed and rock fracture degree. The rock fracture degree is characterized by the number of cracks, and the dormancy time and vibration speed thresholds are determined by the table.

[0020] The drilling camera device 28 includes an upper outer shell 1, one end of the upper outer shell 1 is fixedly connected to the middle outer shell 12, one end of the middle outer shell 12 is fixedly connected to the glass cover 14, one end of the outer wall of the glass cover 14 is sleeved with a protective cover 15, the outer wall of the protective cover 15 is fixedly connected to a ranging laser radar module 16, the outer walls of the middle outer shell 12 and the protective cover 15 are fixedly connected to an arc-shaped pad 7, the outer wall of the arc-shaped pad 7 is penetrated with a mounting hole 17, the other end of the outer wall of the upper outer shell 1 is penetrated with a data line plug 2, and one end of the upper outer shell 1 is installed An electronic compass 3 is installed, and a mounting plate 14, a mounting plate 26 and a mounting plate 3 9 are arranged inside the middle outer shell 12. The mounting plate 14, the mounting plate 26 and the mounting plate 3 9 are all fixedly connected to the inner wall of the middle outer shell 12. A circuit board 5 is installed on one side outer wall of the mounting plate 14, a vibration test module 8 is installed on one side outer wall of the mounting plate 26, a camera bracket 10 is installed on one side outer wall of the mounting plate 3 9, a camera 13 is installed in the middle of the camera bracket 10, an LED lamp 11 is arranged on the outside of the camera 13, and the LED lamp 11 is installed on the outer wall of the camera bracket 10.

[0021] Among them, the wire-releasing device 32 includes a servo motor 18, a controller 19 and a frame 31. The controller 19 is installed on the outer wall of the servo motor 18, and the servo motor 18 is installed on the inner wall of the frame 31. The inner wall of the depth gauge 35 is rotatably connected to the depth pulley 24, and the transmission line 27 is arranged through the inner wall of the depth gauge 35. One end of the depth gauge 35 is rotatably connected to the front guide wheel 21, and the other end of the depth gauge 35 is rotatably connected to the rear guide wheel 22. A positioning plate 23 is arranged on one side of the depth gauge 35, an upper fixed bracket 25 is connected between the top end of the positioning plate 23 and the depth gauge 35, and a lower fixed bracket 26 is connected between the bottom end of the positioning plate 23 and the depth gauge 35.

[0022] In this embodiment, after the camera data in the borehole 36 is transmitted back to the ground, the data is manually processed to extract the characteristic value of the number of rock cracks, and returned to the controller 19 to control the PID algorithm to search the database, complete the setting of the sleep time and the vibration speed threshold, and serve as the criterion for the next camera device to start working. The control system has a more detailed execution process as follows. After the control software preliminarily sets the parameters, the borehole camera device 28 enters the sleep state, the vibration test module 8 is started, and the vibration speed of the ore rock is monitored. When the vibration speed is greater than the vibration threshold, a message is sent to the ground terminal 34, and the borehole camera device 28 is started after a delay of 2-3 hours, or when the vibration speed is less than the vibration threshold but the sleep time is greater than the sleep threshold, a message is sent to the ground terminal 34 to immediately start the borehole camera device 28, and the vibration monitoring module is closed at this time. The servo motor 18, the depth gauge 35, the camera 13 module, and the ranging radar start working. The servo motor 18 releases the wire at a fixed speed. Under the action of gravity, the drilling camera 28 begins to enter and collect the ore and rock information in the borehole 36. The depth gauge 35 collects the laying-out depth and the distance measured by the ranging radar and feeds it back to the controller 19. It is compared with the laying-out depth threshold or the distance threshold from the bottom of the borehole 36. When it is greater than the laying-out depth threshold or less than the distance threshold from the bottom of the borehole 36 or a sudden increase, it is considered that the approach measurement is completed, the laying-out is stopped, and the depth gauge 35 collects the laying-out depth and transmits it to the computer 20 and the controller 19. The servo motor 18 reverses and starts to reel in the wire. The depth gauge 35 collects the length of the reel and feeds it back to the controller 19. When the length of the reel is not less than the laying-out depth, the reeling is completed, and the collection of ore and rock information is completed. The drilling camera 28 sleeps and the vibration monitoring module starts. The monitoring data is transmitted back to the ground terminal 34, which processes the monitoring data manually, extracts the characteristic value of the crack length, and feeds the result back to the controller 19. The controller 19 re-determines the sleep time and the vibration speed threshold according to the preset database.

[0023] Example 2: Reference Figure 1 - Figure 5 As shown: An intelligent control method for real-time photography of disturbed ore and rock in a mining area, comprising the following steps: Step 1, determine the position of the borehole 36: arrange it above the unmined ore body 29 and it is a blind hole. If it is in the rock mass above the goaf 30, the distance between the bottom of the borehole and the goaf 30 is 5-10m; Step 2, drilling 36: Drilling a vertical or inclined hole in the communication tunnel or rock drilling chamber above the ore body 29 with a sampling geological drill to ensure that the camera device can slide by gravity and the hole wall is smooth and avoids bending; Step 3: Clean the borehole 36: Use water to clean the borehole wall and keep it free of rock debris and drain the water. If the water is turbid, use alum to precipitate the suspended particles to ensure that the water is clear. Step 4: Ensure that the center of the positioning plate 23 is aligned with the axis of the drill hole 36, fix it with expansion screws, install the depth gauge 35 and ensure that the positioning plate 23 is firm to prevent the depth gauge 35 from shaking; Step 5, assemble the drilling camera device 28: install the arc-shaped pad 7 according to the diameter of the drill hole 36, so that its diameter is slightly smaller than the diameter of the drill hole 36, let the camera device glass cover 14 partly hang in the air and fix it, the transmission line 27 is led out from the servo motor 18 and wound around the pulley and connected to the plug, the camera system is powered by the power cord, and the depth gauge 35 and the wire release device 32 are connected to the computer 20; Step 6: Connecting to ground communication: Use the underground network to connect the acquisition computer 20 to the ground terminal 34 to achieve underground monitoring and ground communication, and at the same time view the equipment status and process data in real time through the ground terminal 34; Step 7. Preliminary test: Send commands through the control software to perform manual camera monitoring 3-5 times, then perform automatic monitoring test, set low vibration threshold or sleep time, hammer the rock to test the automatic camera performance, and the installation is complete after 3-5 successes; Step 8. Preliminary parameter setting: set the thresholds of dormancy time, vibration speed, laying depth and distance from the bottom of the hole respectively. The dormancy time threshold is determined according to the quality of the ore and the initial stress around it. A sudden increase in its value indicates that the rock mass at the bottom of the hole has collapsed and the blind hole has evolved into a through hole. Among them, the dormancy time threshold is set to 5-7 days, the vibration speed threshold is 15-30 cm / s, the line-laying depth threshold is 5-10 cm less than the drilling depth, and the distance threshold from the bottom of the hole is about 5-10 cm; Step 9, data storage and processing: After a single information collection, the data is stored in a computer and transmitted to the ground terminal 34, and the number of cracks is extracted by post-processing software and transmitted back to the controller 19. The controller 19 is a PLC control using a PID algorithm, and the pre-data, i.e., the sleep time and vibration speed sensitivity threshold under different cracking degrees, are imported; Among them, the sensitive threshold is the minimum value of the external effect on rock mass fracture. The degree of fracture is characterized by the number of cracks. The greater the degree of rock mass fracture, the more sensitive it is to the effects of exposure time and vibration speed, and the threshold should be lowered. Step 10: Equipment dismantling and recycling: After the filling of the mining area and the empty area is completed, the rock mass monitoring of the mining area is completed, and the equipment is dismantled and recycled.

[0024] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent control system for real-time video recording of disturbed ore and rock in a mining area, characterized by: It includes a database, a controller (19), a depth meter (35), a line-laying device (32) and a drilling camera device (28); The wire-releasing device (32) is connected to the borehole camera device (28) via a transmission line (27) to control the lowering movement of the borehole camera device (28) in the borehole; The borehole camera device (28) is provided with a vibration test module (8), a distance-measuring laser radar module (16) and a timer, wherein the vibration test module (8) is used to monitor the rock mass blasting vibration in real time, the timer is used to record the dormancy time of the camera device, and the distance-measuring laser radar module (16) is used to detect the distance between the borehole camera device (28) and the bottom of the hole; The controller is used to receive monitoring data feedback in real time, and to judge whether the drilling camera device (28) has started to work by comparing the PID algorithm with the sleep time and the vibration speed threshold, and to judge whether the drilling camera device (28) has reeled in the line by comparing the PID algorithm with the line-laying depth threshold or the hole bottom distance threshold; The drilling camera device (28) is used to receive control instructions from the controller and move to collect image information of the ore and rock in the drilling hole; The depth gauge (35) is used to monitor the laying-out depth of the laying-out device (32); The database is preset in the controller (19), and stores a relationship table of dormancy time, vibration speed and rock fracture degree, the rock fracture degree is characterized by the number of cracks, and the dormancy time and vibration speed thresholds are determined by the table.

2. The intelligent control system for real-time video recording of disturbed ore and rock in a mining area according to claim 1, characterized in that: The borehole camera device (28) comprises an upper outer shell (1), one end of the upper outer shell (1) is fixedly connected to a middle outer shell (12), one end of the middle outer shell (12) is fixedly connected to a glass cover (14), one end of the outer wall of the glass cover (14) is sleeved with a protective cover (15), the outer wall of the protective cover (15) is fixedly connected to a ranging laser radar module (16), the outer walls of the middle outer shell (12) and the protective cover (15) are both fixedly connected to an arc-shaped cushion block (7), the outer wall of the arc-shaped cushion block (7) is penetrated by a mounting hole (17), the center of the outer wall of the other end of the upper outer shell (1) is penetrated by a data line plug (2), and one end of the upper outer shell (1) is mounted with an electronic compass (3).

3. The intelligent control system for real-time video recording of disturbed ore and rock in a mining area according to claim 2, characterized in that: The middle outer shell (12) is provided with a mounting plate 1 (4), a mounting plate 2 (6) and a mounting plate 3 (9), and the mounting plate 1 (4), the mounting plate 2 (6) and the mounting plate 3 (9) are all fixedly connected to the inner wall of the middle outer shell (12); a circuit board (5) is mounted on one side outer wall of the mounting plate 1 (4); a vibration test module (8) is mounted on one side outer wall of the mounting plate 2 (6); a camera bracket (10) is mounted on one side outer wall of the mounting plate 3 (9); a camera (13) is mounted in the middle of the camera bracket (10); an LED light (11) is arranged on the outer side of the camera (13); and the LED light (11) is mounted on the outer wall of the camera bracket (10).

4. The intelligent control system for real-time video recording of disturbed ore and rock in a mining area according to claim 3, characterized in that: The wire-releasing device (32) comprises a servo motor (18), a controller (19) and a frame (31), wherein the controller (19) is mounted on the outer wall of the servo motor (18), and the servo motor (18) is mounted on the inner wall of the frame (31).

5. The intelligent control system for real-time video recording of disturbed ore and rock in a mining area according to claim 4, characterized in that: The inner wall of the depth gauge (35) is rotatably connected to a depth pulley (24), the transmission line (27) is arranged through the inner wall of the depth gauge (35), one end of the depth gauge (35) is rotatably connected to a front guide wheel (21), and the other end of the depth gauge (35) is rotatably connected to a rear guide wheel (22).

6. The intelligent control system for real-time video recording of disturbed ore and rock in a mining area according to claim 5, characterized in that: A positioning plate (23) is provided on one side of the depth gauge (35), an upper fixing bracket (25) is connected between the top end of the positioning plate (23) and the depth gauge (35), and a lower fixing bracket (26) is connected between the bottom end of the positioning plate (23) and the depth gauge (35).

7. An intelligent control method for real-time video recording of disturbed ore and rock in a mining area, characterized in that: The intelligent control system for real-time photography of disturbed ore and rock in a mining area according to any one of claims 1 to 6 comprises the following steps: S1. Determine the position of the borehole (36): arrange it above the unmined ore body (29) and it is a blind hole. If it is in the rock body above the goaf (30), the distance between the bottom of the borehole and the goaf (30) is 5-10m; S2, drilling (36): Drilling a vertical or inclined hole in the connecting tunnel or rock drilling chamber above the ore body (29) using a sampling geological drill to ensure that the camera device can slide by gravity and the hole wall is smooth and avoids bending; S3, cleaning the borehole (36): cleaning with water to keep the borehole wall clean and free of rock debris and draining the water. When the water is turbid, alum is used to precipitate suspended particles to ensure clear water; S4. Bracket installation: Ensure that the center of the positioning plate (23) is aligned with the axis of the drill hole (36), fix it with expansion screws, install the depth gauge (35) and ensure that the positioning plate (23) is firm to prevent the depth gauge (35) from shaking; S5, assembling the drilling camera device (28): installing the arc-shaped pad (7) according to the diameter of the drill hole (36), making its diameter slightly smaller than the diameter of the drill hole (36), allowing the glass cover (14) of the camera device to be suspended and fixed, leading the transmission line from the servo motor (18) to the pulley and then connected to the plug, the camera system is powered by the power cord, and the depth gauge (35) and the wire release device (32) are connected to the computer (20); S6. Connecting to ground communication: connecting the acquisition computer to the ground terminal (34) using the underground network to achieve underground monitoring and ground communication, and at the same time checking the equipment status and processing data in real time through the ground terminal (34); S7. Preliminary test: Send commands through the control software to perform manual camera monitoring 3-5 times, then perform automatic monitoring test, set low vibration threshold or sleep time, hammer the rock to test the automatic camera performance, and the installation is completed after 3-5 successes; S8. Preliminary parameter setting: set the thresholds of dormancy time, vibration speed, laying depth and distance from the bottom of the hole respectively. The dormancy time threshold is determined according to the quality of the ore and the initial stress around it. A sudden increase in its value indicates that the rock mass at the bottom of the hole has collapsed and the blind hole has evolved into a through hole. S9, data storage and processing: after a single information collection, the data is stored in a computer and transmitted to a ground terminal (34), and the number of cracks is extracted using post-processing software and transmitted back to a controller (19). The controller (19) is a PLC control using a PID algorithm, and pre-data, i.e., sleep time and vibration speed sensitivity threshold under different cracking degrees, are imported; S10. Equipment dismantling and recycling: After the filling of the mining area and the empty area is completed, the rock mass monitoring of the mining area is completed and the equipment is dismantled and recycled.

8. The intelligent control method for real-time video recording of disturbed ore and rock in a mining area according to claim 7, characterized in that: In step S8, the sleep time threshold is set to 5-7 days, the vibration speed threshold is 15-30 cm / s, the line-laying depth threshold is 5-10 cm less than the drilling depth, and the distance threshold from the bottom of the hole is about 5-10 cm.

9. The intelligent control method for real-time video recording of disturbed ore and rock in a mining area according to claim 7, characterized in that: In step S9, the sensitive threshold is the minimum value of the external effect on rock mass fracture. The degree of fracture is characterized by the number of cracks. The greater the degree of rock mass fracture, the more sensitive it is to the effects of exposure time and vibration speed, and the threshold should be lowered.

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