Mining anchor rod stress monitoring and triaxial vibration frequency measuring system and method

Abstract

The invention discloses a mining anchor rod stress monitoring and three-axis vibration frequency measuring system and method, and relates to the technical field of intelligent mine sensors, and the system comprises a plurality of side end data processing units, a plurality of mining anchor rod stress monitoring sensor units, a plurality of three-axis vibration frequency measuring sensor units and an upper computer which are distributed in a grid mode. A side end data processing unit collects sensor original data collected by a mining anchor rod stress monitoring sensor unit or a three-axis vibration frequency measuring sensor unit nearby; after the sensor data is transmitted, the side end data processing unit also needs to perform side end analysis on the data; sensor data feature matching can be carried out, edge end analysis of data is realized, roof fall detection of a mine roof and edge end identification of risks such as vibration abnormity are realized, and efficient edge end analysis processing of abnormal data is realized while the data processing amount of an upper computer end is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of smart mine sensors, and in particular to a system and method for monitoring the stress of a mine anchor and measuring the three-axis vibration frequency. Background Art

[0002] At present, the real-time monitoring of the load stress of anchor rods (cables) in underground anchor nets or anchor spraying support tunnels in the domestic mining industry mainly relies on mining anchor rod (cable) stress sensors;

[0003] The underground triaxial vibration is one of the complex vibration forms that causes drilling tool failure and affects drilling efficiency. The triaxial acceleration of the underground drill string of an ultra-deep well is measured by the drill string vibration measurement tool, and its characteristics are analyzed to effectively detect risks such as roof fall detection and vibration abnormality of the mine roof;

[0004] Among them, the mining anchor (cable) stress sensor can monitor the size and distribution of the anchor (cable) load stress in real time, help understand the working status of the anchor (cable), and promptly detect failed anchors (cables) and issue an alarm to strengthen the quality management of tunnel support.

[0005] At present, in actual application, the above-mentioned monitoring sensors do not simultaneously monitor the anchor stress and triaxial vibration frequency in the underground tunnels, and do not transmit the data to the substation through the underground 485. Therefore, the substation will not transmit the monitoring data of these sensors to the host computer through the local area network, so synchronous data analysis and processing cannot be achieved.

[0006] Therefore, it is urgent to design a real-time measurement system for mining anchor stress monitoring and triaxial vibration frequency to realize real-time collection and transmission of the above sensor data. Summary of the invention

[0007] In order to solve the technical problems of data collection and transmission of the above-mentioned mining sensors, the present invention provides a mining anchor stress monitoring and triaxial vibration frequency measurement system and method. The following technical solutions are adopted:

[0008] A mine anchor stress monitoring and three-axis vibration frequency measurement system, comprising a plurality of edge data processing units distributed in a grid, a plurality of mine anchor stress monitoring sensor units, a plurality of three-axis vibration frequency measurement sensor units and a host computer, wherein the plurality of edge data processing units are respectively installed through brackets within the physical range of sensor layout for mine anchor stress monitoring and three-axis vibration frequency measurement, and are distributed in an equidistant grid, a plurality of mine anchor stress monitoring sensor units are respectively installed on a plurality of mine anchors, and a plurality of three-axis vibration frequency measurement sensor units are respectively installed on a plurality of drill shafts, the edge data processing units, the mine anchor stress monitoring sensor units and the three-axis vibration frequency measurement sensor units are all provided with wireless transmission modules, and self-organize networks are performed based on the wireless transmission modules, and at least one mine anchor stress monitoring sensor unit or three-axis vibration frequency measurement sensor unit located at the center of the physical range of sensor layout establishes a 485 communication connection with the edge data processing unit arranged at the center of the physical range of sensor layout by direct connection through a communication line;

[0009] The edge data processing unit performs edge analysis on the data of multiple mining anchor stress monitoring sensor units and multiple three-axis vibration frequency measurement sensor units, and based on the threshold comparison results, packages the sensor data that is determined to exceed the set threshold and sends it to the host computer.

[0010] By adopting the above technical solution, under the complex working conditions in the mine, it is not possible to realize that all sensors use communication lines for data transmission, and large-scale wireless network coverage is also extremely difficult. Even if wireless network coverage is achieved, the sensors installed on the anchor or drill shaft may not be able to achieve stable wireless communication. In order to achieve stable sensor data collection and transmission, multiple edge data processing units are installed through brackets in the physical range of the sensors for mine anchor stress monitoring and three-axis vibration frequency measurement. The edge data processing unit has two functions. One is to collect the raw sensor data collected by the nearby mine anchor stress monitoring sensor unit or the three-axis vibration frequency measurement sensor unit. Due to the short distance, the wireless lora communication technology can at least realize the wireless transmission of sensor data at a relatively close distance;

[0011] Second, after the sensor data is transmitted, the edge data processing unit still needs the data for edge analysis. The significance of edge analysis is to filter out abnormal data. At this time, the threshold standard is low, and a large amount of ordinary sensor data can be eliminated. Only abnormal data with analytical significance is uploaded to the host computer. Of course, ordinary data can also be packaged and uploaded regularly, which can greatly reduce the data processing volume of the host computer and the occupancy of the communication channel.

[0012] Optionally, the edge data processing unit includes an edge wireless communication module, a memory and a central processing unit circuit, the data output end of the edge wireless communication module is communicatively connected to the memory, the central processing unit circuit is communicatively connected to the memory, edge analysis is performed based on the sensor data collected by the memory, and the edge analysis results are stored in the memory, the memory forms an ad hoc network with other edge data processing units through the edge wireless communication module, and abnormal edge sensor data is exchanged based on the ad hoc network;

[0013] The data input and output ends of the memory of the edge data processing unit located at the center of the physical range of the sensor layout are directly connected to the data output ends of at least one nearby mining anchor stress monitoring sensor unit or three-axis vibration frequency measurement sensor unit through communication lines, and are directly connected to the host computer.

[0014] Optionally, the central processing unit circuit includes a processor core, a single-chip microcomputer programming circuit, a power supply filtering circuit, a program download circuit, a reset circuit, a serial port circuit, a 485 drive circuit and a 485 module circuit. The processor core is communicatively connected to the memory, the single-chip microcomputer programming circuit, the power supply filtering circuit, the program download circuit, the reset circuit, the serial port circuit and the 485 drive circuit are respectively communicatively connected to the processor core, the 485 module circuit is communicatively connected to the 485 drive circuit, and the 485 module circuit establishes a 485 communication connection with the mining anchor stress monitoring sensor unit, the three-axis vibration frequency measurement sensor unit or the host computer through a 485 communication line.

[0015] By adopting the above technical solution, the memory can collect sensor data based on the edge wireless communication module and the 485 module circuit. The central processing unit circuit can perform threshold analysis on the sensor data collected by the memory, and can also perform feature matching based on the relevant data features stored in the memory, thereby realizing edge analysis of the data. It can realize edge identification of risks such as roof fall detection and vibration abnormalities in the mine roof, while reducing the data processing volume on the host computer side, and realizing efficient edge analysis and processing of abnormal data.

[0016] Optionally, the mining anchor stress monitoring sensor unit includes an anchor stress value sensing and acquisition circuit, a stress sensor value amplification circuit, a first sensor 485 communication module and a first sensor wireless transmission module circuit, wherein the stress sensor value amplification circuit is communicatively connected to the anchor stress value sensing and acquisition circuit, and the first sensor 485 communication module and the first sensor wireless transmission module circuit are respectively communicatively connected to the data output end of the stress sensor value amplification circuit;

[0017] The data output end of the first sensor 485 communication module establishes a 485 communication connection with the edge data processing unit via a 485 communication line;

[0018] The first sensor wireless transmission module circuit is used to form a wireless ad hoc network with the edge data processing unit, other mining anchor stress monitoring sensor units and three-axis vibration frequency measurement sensor units.

[0019] Optionally, the three-axis vibration frequency measurement sensor unit includes a vibration detection drive circuit, a three-axis acceleration acquisition circuit, a second sensor 485 communication module and a second sensor wireless transmission module circuit, the data output ends of the vibration detection drive circuit and the three-axis acceleration acquisition circuit are respectively connected to the data input ends of the second sensor 485 communication module and the second sensor wireless transmission module circuit, and the data output end of the second sensor 485 communication module establishes a 485 communication connection with the edge data processing unit through a 485 communication line;

[0020] The second sensor wireless transmission module circuit is used to form a wireless ad hoc network with the edge data processing unit, other mining anchor stress monitoring sensor units and three-axis vibration frequency measurement sensor units.

[0021] By adopting the above technical scheme, the mining anchor stress monitoring sensor unit and the three-axis vibration frequency measurement sensor unit both adopt 485 communication and wireless communication modes. When wireless communication is possible, the sensor data is interacted with the nearby edge data processing unit based on wireless communication. When wireless communication is carried out with the nearby edge data processing unit for self-organizing network communication, it can communicate with other nearest mining anchor stress monitoring sensor units and three-axis vibration frequency measurement sensor units based on the self-organizing network, and finally the sensor data forwarding can be realized. The mining anchor stress monitoring sensor unit or the three-axis vibration frequency measurement sensor unit located at the center of the physical area where the sensors are arranged in the underground tunnel is directly connected by a 485 communication line, so it can be ensured that the sensor data can be forwarded to the edge data processing unit. Each time the sensor data is sent, the number and timestamp data of the relevant sensor are attached. Therefore, no matter how many times it is forwarded, if the sensor data analysis is abnormal, the staff can quickly locate the corresponding sensor according to the sensor number and timestamp data.

[0022] Optionally, the edge wireless communication module, the first sensor wireless transmission module circuit and the second sensor wireless transmission module circuit are implemented based on wireless LoRa communication technology.

[0023] By adopting the above technical solutions, wireless LoRa communication technology can realize self-organizing network in close range, with high transmission efficiency. In the event of short-term transmission identification caused by local obstruction in the mine, data forwarding can also be quickly realized based on the self-organizing network.

[0024] The method for monitoring the stress of mining anchor bolts and measuring the three-axis vibration frequency is implemented by using the system for monitoring the stress of mining anchor bolts and measuring the three-axis vibration frequency.

[0025] Optionally, the method for monitoring the stress and triaxial vibration frequency data of a mining anchor comprises the following steps:

[0026] Step 1: install multiple mining anchor stress monitoring sensor units on multiple mining anchors in the mine tunnel, and number them as S1, S2, ..., S n ; Where n represents the number of mining anchor stress monitoring sensor units;

[0027] Step 2: Install multiple triaxial vibration frequency measurement sensor units on multiple drill shafts in the mine tunnel and number them as VS1, VS2, ..., VS m ; Where m represents the number of triaxial vibration frequency measurement sensor units;

[0028] Step 3: evenly install multiple edge data processing units within the physical area where the sensors are arranged in the underground tunnel, and number them as C1, C2, ..., C a , where a represents the number of edge data processing units, and the edge data processing unit located at the center of the physical area is marked as C s ;

[0029] C s Connect directly to the nearest mining anchor stress monitoring sensor unit or triaxial vibration frequency measurement sensor unit via 485 communication line and connect C s Directly connect to the host computer;

[0030] Step 4, respectively start a plurality of mining anchor stress monitoring sensor units, a plurality of triaxial vibration frequency measurement sensor units and a plurality of edge data processing units;

[0031] At set intervals, multiple mining anchor stress monitoring sensor units and multiple triaxial vibration frequency measurement sensor units communicate with multiple edge data processing units near the physical location through self-organizing wireless communication to exchange monitoring data, and pack and add sensor data tags during the detection data transmission process;

[0032] Multiple edge data processing units perform edge screening based on the stress threshold of the mining anchor or the triaxial vibration frequency threshold, mark the detection data exceeding the corresponding threshold as abnormal sensor data, and package and interactively transmit it to C s ;

[0033] Step 5: Every set time C s Pack the abnormal sensor data and send them to the host computer.

[0034] Optionally, in step 4, the edge data processing unit performs emergency data feature matching analysis while performing threshold analysis. If the emergency data feature matches successfully, the current detection data is directly transmitted to C s , C s Immediately transmit the current detection data to the host computer.

[0035] Optionally, the emergency status data feature matching analysis includes the following steps:

[0036] The memory stores an emergency state data characteristic data packet, and the central processing unit circuit calls the current sensor data packet received by the memory, parses the current sensor data packet, and performs similarity matching with the emergency state data characteristic data packet based on the maximum data value, data change value and data change rate of the sensor. If there is a matching result with a similarity greater than a set value, a judgment result that the emergency state data characteristic match is successful is output.

[0037] In summary, the present invention includes at least one of the following beneficial technical effects:

[0038] The present invention can provide a system and method for monitoring the stress of mining anchor rods and measuring the three-axis vibration frequency. A plurality of edge data processing units are respectively installed in the physical range of the sensors for monitoring the stress of mining anchor rods and measuring the three-axis vibration frequency. The edge data processing unit collects the original sensor data collected by the nearby mining anchor rod stress monitoring sensor unit or the three-axis vibration frequency measurement sensor unit. After the sensor data is transmitted, the edge data processing unit also needs the data for edge analysis. The significance of edge analysis is to filter abnormal data. At this time, the threshold standard is relatively low, and a large amount of ordinary sensor data can be eliminated. Only abnormal data with analytical significance can be uploaded to the host computer. Of course, ordinary data can also be regularly packaged and uploaded, which can greatly reduce the data processing volume of the host computer and the occupancy of the communication channel. Sensor data feature matching can also be performed to realize edge analysis of the data, realize edge identification of risks such as roof fall detection and vibration abnormality of the mine roof, and realize efficient edge analysis and processing of abnormal data while reducing the data processing volume of the host computer. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the communication connection of components of the mining anchor stress monitoring and triaxial vibration frequency measurement system of the present invention;

[0040] Figure 2 It is a schematic diagram of the communication connection of the edge data processing unit components of the mining anchor stress monitoring and triaxial vibration frequency measurement system of the present invention.

[0041] Description of the drawings: 1. Edge data processing unit; 11. Edge wireless communication module; 12. Memory; 13. Central processing unit circuit; 130. Processor core; 131. Single-chip microcomputer programming circuit; 132. Power supply filter circuit; 133. Program download circuit; 134. Reset circuit; 135. Serial port circuit; 136. 485 drive circuit; 137. 485 module circuit; 2. Mining anchor stress monitoring sensor unit; 21. Anchor stress value sensing and acquisition circuit; 22. Stress sensor value amplification circuit; 23. First sensor 485 communication module; 24. First sensor wireless transmission module circuit; 3. Three-axis vibration frequency measurement sensor unit; 31. Vibration detection drive circuit; 32. Three-axis acceleration acquisition circuit; 33. Second sensor 485 communication module; 34. Second sensor wireless transmission module circuit; 4. Host computer. DETAILED DESCRIPTION

[0042] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0043] The embodiment of the invention discloses a system and method for monitoring the stress of a mining anchor and measuring the triaxial vibration frequency.

[0044] Reference Figure 1 and Figure 2 , Example 1, a mine anchor stress monitoring and three-axis vibration frequency measurement system comprises a plurality of edge data processing units 1, a plurality of mine anchor stress monitoring sensor units 2, a plurality of three-axis vibration frequency measurement sensor units 3 and a host computer 4 distributed in a grid, wherein the plurality of edge data processing units 1 are respectively installed through brackets in the physical range of sensor layout for mine anchor stress monitoring and three-axis vibration frequency measurement, and are distributed in an equidistant grid, a plurality of mine anchor stress monitoring sensor units 2 are respectively installed on a plurality of mine anchors, and a plurality of three-axis vibration frequency measurement sensor units 3 are respectively installed on a plurality of drill shafts, the edge data processing unit 1, the mine anchor stress monitoring sensor unit 2 and the three-axis vibration frequency measurement sensor unit 3 are all provided with a wireless transmission module, and self-organize the network based on the wireless transmission module, and at least one mine anchor stress monitoring sensor unit 2 or three-axis vibration frequency measurement sensor unit 3 located at the center of the physical range of sensor layout establishes a 485 communication connection with the edge data processing unit 1 arranged at the center of the physical range of sensor layout through a direct connection via a communication line;

[0045] The edge data processing unit 1 performs edge analysis on the data of multiple mining anchor stress monitoring sensor units 2 and multiple three-axis vibration frequency measurement sensor units 3, and based on the threshold comparison results, packages the sensor data that is determined to exceed the set threshold and sends it to the host computer 4.

[0046] Under the complex working conditions in the mine, it is not possible to realize that all sensors use communication lines for data transmission, and large-scale wireless network coverage is also extremely difficult. Even if wireless network coverage is achieved, the sensors installed on the anchor or drill shaft may not be able to achieve stable wireless communication. In order to achieve stable sensor data acquisition and transmission, multiple edge data processing units 1 are installed through brackets in the physical range of the sensors for mine anchor stress monitoring and three-axis vibration frequency measurement. The edge data processing unit 1 has two functions. One is to collect the raw sensor data collected by the nearby mine anchor stress monitoring sensor unit 2 or the three-axis vibration frequency measurement sensor unit 3. Due to the short distance and the use of wireless lora communication technology, the wireless transmission of sensor data can be achieved at least at a relatively close distance;

[0047] Second, after the sensor data is transmitted, the edge data processing unit 1 still needs the data for edge analysis. The significance of edge analysis is to filter out abnormal data. At this time, the threshold standard is low, and a large amount of ordinary sensor data can be eliminated. Only abnormal data with analytical significance is uploaded to the host computer 4. Of course, ordinary data can also be packaged and uploaded regularly, which can greatly reduce the data processing volume of the host computer 4 and the occupancy of the communication channel.

[0048] Embodiment 2, the edge data processing unit 1 includes an edge wireless communication module 11, a memory 12 and a central processing unit circuit 13, the data output end of the edge wireless communication module 11 is communicatively connected to the memory 12, the central processing unit circuit 13 is communicatively connected to the memory 12, edge analysis is performed based on the sensor data collected by the memory 12, and the edge analysis results are stored in the memory 12, the memory 12 forms an ad hoc network with other edge data processing units 1 through the edge wireless communication module 11, and abnormal edge sensor data is exchanged based on the ad hoc network;

[0049] The data input and output ends of the memory 12 of the edge data processing unit 1 located at the center of the physical range of the sensor layout are directly connected to the data output ends of at least one nearby mining anchor stress monitoring sensor unit 2 or three-axis vibration frequency measurement sensor unit 3 through communication lines, and are directly connected to the host computer 4.

[0050] Embodiment 3, the central processing unit circuit 13 includes a processor core 130, a single-chip computer programming circuit 131, a power supply filtering circuit 132, a program download circuit 133, a reset circuit 134, a serial port circuit 135, a 485 drive circuit 136 and a 485 module circuit 137, the processor core 130 is communicatively connected to the memory 12, the single-chip computer programming circuit 131, the power supply filtering circuit 132, the program download circuit 133, the reset circuit 134, the serial port circuit 135 and the 485 drive circuit 136 are respectively communicatively connected to the processor core 130, the 485 module circuit 137 is communicatively connected to the 485 drive circuit 136, and the 485 module circuit 137 establishes a 485 communication connection with the mining anchor stress monitoring sensor unit 2, the three-axis vibration frequency measurement sensor unit 3 or the host computer 4 through the 485 communication line.

[0051] The memory 12 can collect sensor data based on the edge wireless communication module 11 and the 485 module circuit 137. The central processing unit circuit 13 can perform threshold analysis on the sensor data collected by the memory 12, and can also perform feature matching based on the relevant data features stored in the memory 12, thereby realizing edge analysis of the data, and can realize edge identification of risks such as roof fall detection and vibration abnormalities in the mine roof. While reducing the data processing volume of the upper computer 4, efficient edge analysis and processing of abnormal data can be achieved.

[0052] Embodiment 4, the mining anchor stress monitoring sensor unit 2 includes an anchor stress value sensing and acquisition circuit 21, a stress sensor numerical amplification circuit 22, a first sensor 485 communication module 23 and a first sensor wireless transmission module circuit 24, the stress sensor numerical amplification circuit 22 is communicatively connected with the anchor stress value sensing and acquisition circuit 21, and the first sensor 485 communication module 23 and the first sensor wireless transmission module circuit 24 are respectively communicatively connected with the data output end of the stress sensor numerical amplification circuit 22;

[0053] The data output end of the first sensor 485 communication module 23 establishes a 485 communication connection with the edge data processing unit 1 via a 485 communication line;

[0054] The first sensor wireless transmission module circuit 24 is used to form a wireless ad hoc network with the edge data processing unit 1, other mining anchor stress monitoring sensor units 2 and the three-axis vibration frequency measurement sensor unit 3.

[0055] Embodiment 5, the three-axis vibration frequency measurement sensor unit 3 includes a vibration detection drive circuit 31, a three-axis acceleration acquisition circuit 32, a second sensor 485 communication module 33 and a second sensor wireless transmission module circuit 34, the data output ends of the vibration detection drive circuit 31 and the three-axis acceleration acquisition circuit 32 are respectively communicated with the data input ends of the second sensor 485 communication module 33 and the second sensor wireless transmission module circuit 34, and the data output end of the second sensor 485 communication module 33 establishes a 485 communication connection with the edge data processing unit 1 through a 485 communication line;

[0056] The second sensor wireless transmission module circuit 34 is used to form a wireless ad hoc network with the edge data processing unit 1, other mining anchor stress monitoring sensor units 2 and the three-axis vibration frequency measurement sensor unit 3.

[0057] The mining anchor stress monitoring sensor unit 2 and the three-axis vibration frequency measurement sensor unit 3 both adopt 485 communication and wireless communication modes. When wireless communication is possible, the sensor data is interacted with the nearby edge data processing unit 1 based on wireless communication. When wireless communication is performed with the nearby edge data processing unit 1 through self-organizing network, it can communicate with other nearby mining anchor stress monitoring sensor units 2 and three-axis vibration frequency measurement sensor units 3 based on self-organizing network, and finally the sensor data forwarding can be realized. The mining anchor stress monitoring sensor unit 2 or the three-axis vibration frequency measurement sensor unit 3 located at the center of the physical area where the sensors are arranged in the underground tunnel of the mine are directly connected using a 485 communication line, so that the sensor data can be forwarded to the edge data processing unit 1. Each time the sensor data is sent, the number and timestamp data of the relevant sensor are attached. Therefore, no matter how many times it is forwarded, if the sensor data analysis is abnormal, the staff can quickly locate the corresponding sensor according to the sensor number and timestamp data.

[0058] In embodiment 6, the edge wireless communication module 11, the first sensor wireless transmission module circuit 24 and the second sensor wireless transmission module circuit 34 are implemented based on wireless LoRa communication technology.

[0059] In close range situations, wireless LoRa communication technology can realize self-organizing networking with high transmission efficiency. When encountering local obstruction in the mine that leads to short-term transmission identification, data forwarding can also be quickly realized based on the self-organizing network.

[0060] Example 7, a method for monitoring the stress of a mining anchor and measuring the three-axis vibration frequency, adopts a system for monitoring the stress of a mining anchor and measuring the three-axis vibration frequency to implement monitoring the stress of a mining anchor and measuring the three-axis vibration frequency.

[0061] Embodiment 8, the method for monitoring the stress and triaxial vibration frequency data of a mining anchor comprises the following steps:

[0062] Step 1: install multiple mining anchor stress monitoring sensor units 2 on multiple mining anchors in the mine tunnel, and number them as S1, S2, ..., S n ; Where n represents the number of mining anchor stress monitoring sensor units 2;

[0063] Step 2: install multiple triaxial vibration frequency measurement sensor units 3 on multiple drill shafts in the mine tunnel, and number them as VS1, VS2, ..., VS m ; Wherein m represents the number of triaxial vibration frequency measurement sensor units 3;

[0064] Step 3: evenly install multiple edge data processing units 1 within the physical area where the underground tunnel sensors are arranged, and number them as C1, C2, ..., C a , where a represents the number of edge data processing units 1, and the edge data processing unit 1 located at the center of the physical area is marked as C s ;

[0065] C s It is directly connected to the nearest mining anchor stress monitoring sensor unit 2 or triaxial vibration frequency measurement sensor unit 3 using a 485 communication line, and the C s Directly connected to the host computer 4;

[0066] Step 4, respectively start a plurality of mining anchor stress monitoring sensor units 2, a plurality of triaxial vibration frequency measurement sensor units 3 and a plurality of edge data processing units 1;

[0067] At set intervals, multiple mining anchor stress monitoring sensor units 2 and multiple triaxial vibration frequency measurement sensor units 3 communicate with multiple edge data processing units 1 near the physical location through self-organizing wireless communication to exchange monitoring data, and pack and add sensor data tags during the detection data transmission process;

[0068] Multiple edge data processing units 1 perform edge screening based on the mining anchor stress threshold or the triaxial vibration frequency threshold, mark the detection data exceeding the corresponding threshold as abnormal sensor data, and package and interactively transmit it to C s ;

[0069] Step 5: Every set time C s The abnormal sensor data is packaged and sent to the host computer 4.

[0070] In step 4, the edge data processing unit 1 performs emergency data feature matching analysis while performing threshold analysis. If the emergency data feature matches successfully, the current detection data is directly transmitted to C s , C sImmediately transmit the current detection data to the host computer 4.

[0071] Example 9, emergency state data feature matching analysis includes the following steps:

[0072] The memory 12 stores an emergency state data feature data packet. The central processing unit circuit 13 calls the current sensor data packet received by the memory 12, parses the current sensor data packet, and performs similarity matching with the emergency state data feature data packet based on the maximum data value, data change value and data change rate of the sensor. If there is a matching result with a similarity greater than a set value, a judgment result that the emergency state data feature match is successful is output.

[0073] The emergency data feature matching analysis consists of the following steps:

[0074] First, define the data features related to roof fall detection and vibration anomalies in the mine roof. These features include:

[0075] Three-axis vibration frequency (Fx, Fy, Fz): frequency distribution under normal and abnormal conditions.

[0076] Frequency change rate: The speed at which the vibration frequency changes.

[0077] Amplitude: The strength of a vibration.

[0078] Kurtosis: A statistic that describes the distribution shape of a vibration signal.

[0079] Waveform factor: An indicator that reflects the shape of the waveform.

[0080] Frequency domain features: Frequency domain features obtained through Fourier transform.

[0081] The features defined above are extracted from the triaxial vibration data acquired in real time.

[0082] Perform vibration frequency feature matching, assuming that a set of three-axis vibration frequency data collected is Fx, Fy, Fz, and the frequency distribution under normal conditions is Fxnorm, Fynorm, Fznorm;

[0083] ΔFx=|Fx-Fxnorm|;

[0084] ΔFy=|Fy-Fynorm|;

[0085] ΔFz=|Fz-Fznorm|;

[0086] Perform frequency feature change rate feature matching:

[0087]

[0088] Where Δt is the time interval;

[0089] Perform amplitude feature matching:

[0090] Ax=|A(Fx)|;

[0091] Ay=|A(Fy)|;

[0092] Az=|A(Fz)|;

[0093] Where A(F) is the amplitude calculation function;

[0094] Perform kurtosis feature matching:

[0095]

[0096] in is the mean frequency, s is the standard deviation, and N is the sample size.

[0097] In order to quantify the degree of feature matching, the Euclidean distance or Mahalanobis distance can be used to express the similarity, thereby realizing the data feature matching related to roof fall detection and vibration anomaly of the mine roof.

[0098] The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. Mine anchor stress monitoring and triaxial vibration frequency measurement system, characterized by: The invention comprises a plurality of edge data processing units (1) distributed in a grid, a plurality of mining anchor stress monitoring sensor units (2), a plurality of three-axis vibration frequency measurement sensor units (3) and a host computer (4); the plurality of edge data processing units (1) are respectively installed through brackets in the physical range of the sensor layout where the mining anchor stress monitoring and three-axis vibration frequency measurement are located, and are distributed in an equidistant grid; the plurality of mining anchor stress monitoring sensor units (2) are respectively installed on a plurality of mining anchors; the plurality of three-axis vibration frequency measurement sensor units (3) are respectively installed on a plurality of drill shafts; the edge data processing units (1), the mining anchor stress monitoring sensor units (2) and the three-axis vibration frequency measurement sensor units (3) are all provided with wireless transmission modules, and self-organize networks based on the wireless transmission modules; at least one mining anchor stress monitoring sensor unit (2) or three-axis vibration frequency measurement sensor unit (3) located at the center of the physical range of the sensor layout establishes a 485 communication connection with the edge data processing unit (1) arranged at the center of the physical range of the sensor layout by directly connecting with a communication line; The edge data processing unit (1) performs edge analysis on the data of multiple mining anchor stress monitoring sensor units (2) and multiple three-axis vibration frequency measurement sensor units (3), and based on the threshold comparison result, packages the sensor data that is determined to exceed the set threshold and sends it to the host computer (4).

2. The mining anchor stress monitoring and triaxial vibration frequency measurement system according to claim 1 is characterized in that: The edge data processing unit (1) comprises an edge wireless communication module (11), a memory (12) and a central processing unit circuit (13); the data output end of the edge wireless communication module (11) is communicatively connected to the memory (12); the central processing unit circuit (13) is communicatively connected to the memory (12); edge analysis is performed based on sensor data collected by the memory (12); and the edge analysis result is stored in the memory (12); the memory (12) forms an ad hoc network with other edge data processing units (1) through the edge wireless communication module (11); and abnormal edge sensor data is exchanged based on the ad hoc network; The data input and output ends of the memory (12) of the edge data processing unit (1) located at the center of the physical range of the sensor layout are respectively connected to the data output end of at least one nearby mining anchor stress monitoring sensor unit (2) or three-axis vibration frequency measurement sensor unit (3) by means of direct communication lines, and are directly connected to the host computer (4).

3. The mining anchor stress monitoring and triaxial vibration frequency measurement system according to claim 2 is characterized in that: The central processing unit circuit (13) comprises a processor core (130), a single-chip computer programming circuit (131), a power supply filtering circuit (132), a program download circuit (133), a reset circuit (134), a serial port circuit (135), a 485 drive circuit (136) and a 485 module circuit (137). The processor core (130) is connected to the memory (12) in communication. The single-chip computer programming circuit (131), the power supply filtering circuit (132), the program download circuit (133), the reset circuit (134), the serial port circuit (135) and the 485 drive circuit (136) are connected to the processor core (130) in communication. The 485 module circuit (137) is connected to the 485 drive circuit (136) in communication. The 485 module circuit (137) establishes a 485 communication connection with a mining anchor stress monitoring sensor unit (2), a three-axis vibration frequency measurement sensor unit (3) or a host computer (4) through a 485 communication line.

4. The mining anchor stress monitoring and triaxial vibration frequency measurement system according to claim 3 is characterized in that: The mining anchor stress monitoring sensor unit (2) comprises an anchor stress value sensing and collecting circuit (21), a stress sensor value amplifying circuit (22), a first sensor 485 communication module (23) and a first sensor wireless transmission module circuit (24); the stress sensor value amplifying circuit (22) is communicatively connected with the anchor stress value sensing and collecting circuit (21); the first sensor 485 communication module (23) and the first sensor wireless transmission module circuit (24) are respectively communicatively connected with the data output end of the stress sensor value amplifying circuit (22); The data output end of the first sensor 485 communication module (23) establishes a 485 communication connection with the edge data processing unit (1) via a 485 communication line; The first sensor wireless transmission module circuit (24) is used to form a wireless ad hoc network with the edge data processing unit (1), other mining anchor stress monitoring sensor units (2) and the three-axis vibration frequency measurement sensor unit (3).

5. The mining anchor stress monitoring and triaxial vibration frequency measurement system according to claim 4 is characterized in that: The three-axis vibration frequency measurement sensor unit (3) comprises a vibration detection drive circuit (31), a three-axis acceleration acquisition circuit (32), a second sensor 485 communication module (33) and a second sensor wireless transmission module circuit (34); the data output ends of the vibration detection drive circuit (31) and the three-axis acceleration acquisition circuit (32) are respectively connected to the data input ends of the second sensor 485 communication module (33) and the second sensor wireless transmission module circuit (34); the data output end of the second sensor 485 communication module (33) establishes a 485 communication connection with the edge data processing unit (1) via a 485 communication line; The second sensor wireless transmission module circuit (34) is used to form a wireless ad hoc network with the edge data processing unit (1), other mining anchor stress monitoring sensor units (2) and the three-axis vibration frequency measurement sensor unit (3).

6. The mining anchor stress monitoring and triaxial vibration frequency measurement system according to claim 4 is characterized in that: The edge wireless communication module (11), the first sensor wireless transmission module circuit (24) and the second sensor wireless transmission module circuit (34) are implemented based on wireless LoRa communication technology.

7. A method for monitoring stress of a mining anchor and measuring triaxial vibration frequency, characterized in that: The mining anchor stress monitoring and triaxial vibration frequency measurement system described in claim 6 is used to implement mining anchor stress monitoring and triaxial vibration frequency measurement.

8. The method for monitoring stress and measuring triaxial vibration frequency of a mining anchor according to claim 7, characterized in that: The method for monitoring the stress and triaxial vibration frequency data of a mining anchor comprises the following steps: Step 1: install multiple mining anchor stress monitoring sensor units (2) on multiple mining anchors in the mine tunnel, and number them as S1, S2, ..., S n ; wherein n represents the number of mining anchor stress monitoring sensor units (2); Step 2: install multiple triaxial vibration frequency measurement sensor units (3) on multiple drill shafts in the mine tunnel, and number them as VS1, VS2, ..., VS m ; wherein m represents the number of triaxial vibration frequency measurement sensor units (3); Step 3, multiple edge data processing units (1) are evenly distributed within the physical area where the underground tunnel sensors are arranged, and are numbered as C1, C2, ..., C a , where a represents the number of edge data processing units (1), and the edge data processing unit (1) located at the center of the physical area is marked as C s ; C s It is directly connected to the nearest mining anchor stress monitoring sensor unit (2) or triaxial vibration frequency measurement sensor unit (3) through a 485 communication line, and the C s Directly connected to the host computer (4); Step 4, respectively starting a plurality of mining anchor stress monitoring sensor units (2), a plurality of triaxial vibration frequency measurement sensor units (3) and a plurality of edge data processing units (1); At set intervals, a plurality of mining anchor stress monitoring sensor units (2) and a plurality of triaxial vibration frequency measurement sensor units (3) respectively communicate with a plurality of edge data processing units (1) near a physical location via self-organizing wireless communication to exchange monitoring data, and pack and add sensor data tags during the detection data transmission process; Multiple edge data processing units (1) perform edge screening based on the stress threshold of the mining anchor or the triaxial vibration frequency threshold, mark the detection data exceeding the corresponding threshold as abnormal sensor data, and package and interactively transmit it to C s ; Step 5: Every set time C s The abnormal sensor data is packaged and sent to the host computer (4).

9. The method for monitoring stress and measuring triaxial vibration frequency of a mining anchor according to claim 8, characterized in that: In step 4, the edge data processing unit (1) performs an emergency data feature matching analysis while performing a threshold analysis. If an emergency data feature match is successful, the current detection data is directly transmitted to C s , C s Immediately transmit the current detection data to the host computer (4).

10. The method for monitoring stress and measuring triaxial vibration frequency of a mining anchor according to claim 8, characterized in that: The emergency data feature matching analysis includes the following steps: The memory (12) stores an emergency state data characteristic data packet. The central processing unit circuit (13) calls the current sensor data packet received by the memory (12), analyzes the current sensor data packet, and performs similarity matching with the emergency state data characteristic data packet based on the maximum data value, data change value and data change rate of the sensor. If there is a matching result with a similarity greater than a set value, a judgment result that the emergency state data characteristic match is successful is output.

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