Distance measurement system, distance measurement method and section reconstruction method for coal mine section monitoring

Abstract

The invention provides a range finding system, a range finding method and a section reconstruction method for coal mine section monitoring, and relates to the technical field of coal mine exploration, the range finding system comprises a plurality of transmitting devices which are respectively arranged at a plurality of preset measurement points on a section to be measured, the distance measuring modules are used for triggering respective distance measuring signals according to respective received control instructions, and the distance measuring signals comprise preset light rays in a target transmitting direction; the receiving device is arranged at a preset receiving point which has a preset distance with the preset measuring point, faces the section to be measured, and is used for adjusting the receiving direction according to a received control instruction so as to receive the plurality of distance measuring signals; and obtaining relative position information between each preset measurement point and the receiving point according to each distance measurement signal. The method can adapt to various surface characteristics and meet the requirement for distance measurement stability in a complex environment.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine exploration, and in particular to a distance measuring system, a distance measuring method and a section reconstruction method for coal mine section monitoring. Background Art

[0002] Existing distance measurement technology is widely used in industrial automation, traffic navigation, robotics and other fields. In particular, laser distance measurement technology has been widely used due to its high precision and fast response characteristics in situations where it is necessary to accurately locate and measure the distance of target objects. Existing laser distance measurement sensors usually use a laser beam with a fixed wavelength to measure the time difference between signal transmission and reception through the transmission characteristics of light waves in the air to determine the distance of the target object. By identifying the phase or pulse characteristics of the signal and combining it with the known speed of light, the existing technology can accurately calculate the distance that light travels in the air. Laser distance measurement sensors designed based on this principle usually integrate the transmitting device, receiving device and signal processing module into one, with a simple structure and easy to use, suitable for most target objects with ordinary reflective surfaces.

[0003] However, existing laser ranging equipment has significant limitations in practical applications, especially when facing target objects with low reflectivity, smooth surface or small area, it is difficult to work stably. This type of ranging system requires the section to be measured to have certain surface characteristics, such as a sufficiently large surface area, to ensure that the laser can be effectively reflected back to the receiving device. In addition, the surface of the section to be measured usually needs to have certain diffuse reflection characteristics so that the reflected light can return to the receiving device of the sensor, thereby obtaining accurate distance data. In the case of smooth surfaces or low reflectivity, such as mirrors, wire ropes or black coal sections waiting to be measured that often appear in coal mine environments, the measurement effect of traditional laser ranging systems is often poor. In particular, when the section to be measured is a mirror, although reflection can be formed in theory, the return path of the reflected light is limited by the measurement angle, and the ranging device needs to maintain an extremely precise alignment relationship with the mirror to effectively receive the signal. This places higher requirements on the installation accuracy and measurement environment of the equipment, making it difficult for traditional ranging systems to adapt to scenes with complex environments such as coal mines and diverse surface characteristics of target objects.

[0004] In coal mine cross-section measurement, since the target object is usually a low-reflectivity, rough or black coal mine surface, it is difficult for the existing laser ranging system to achieve reliable distance measurement, the measurement accuracy is not high and the signal is easily interfered. Coal mine cross-sections usually have variable surface structures and low-reflectivity surface characteristics, making it difficult for traditional ranging systems to form stable reflection signals, thus affecting the ranging accuracy. In addition, the presence of dust and other interfering objects in the coal mine environment will further weaken the signal strength and increase the difficulty of measurement. Therefore, how to achieve accurate and reliable ranging in a coal mine cross-section environment is still a difficult problem that is difficult to overcome with existing technologies. Summary of the invention

[0005] The purpose of the present invention is to overcome at least one of the shortcomings of the above-mentioned prior art and to provide a ranging system, ranging method and section reconstruction method for coal mine section monitoring that can adapt to a variety of surface characteristics and meet the requirements for ranging stability in complex environments.

[0006] Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

[0007] According to one aspect of the present invention, a distance measuring system for coal mine section monitoring is provided, the distance measuring system for coal mine section monitoring comprising: A plurality of transmitting devices, each of which is respectively arranged at a plurality of preset measuring points on the section to be measured, and is used to trigger a respective ranging signal according to a control instruction received by each of them, wherein the ranging signal includes a preset light in the target emission direction; A receiving device, wherein the receiving device is arranged at a preset receiving point at a predetermined distance from the preset measuring point and is arranged facing the section to be measured, and is used to adjust the receiving direction according to the received control instruction to receive a plurality of the ranging signals, and obtain the relative position information between each of the preset measuring points and the receiving point according to each of the ranging signals.

[0008] In some example embodiments of the present invention, based on the aforementioned scheme, the receiving device and each of the transmitting devices are connected by wire or wirelessly; and each of the transmitting devices has its own power module, or a centralized power supply of each of the transmitting devices is arranged in the receiving device.

[0009] In some exemplary embodiments of the present invention, based on the above scheme, each of the transmitting devices includes: case, A fixing mechanism, connected to and supporting the housing, and used for fixedly connecting with each of the preset measuring points; A transmitter, disposed inside the housing, for transmitting a ranging signal; An angle sensor, disposed inside the housing and connected to the tail end of the transmitter, for detecting the angle of the transmitter to adjust the transmission direction of the ranging signal; The lens group is sleeved on the housing and located at the front end of the transmitter to focus and adjust the ranging signal.

[0010] In some exemplary embodiments of the present invention, based on the above solution, each of the transmitting devices further includes: A camera assembly, arranged above the housing, for acquiring a visual image of the environment in which each of the sections to be measured is located; The light sensor is arranged outside the shell to obtain the light intensity signal of the environment where each of the sections to be measured is located.

[0011] In some exemplary embodiments of the present invention, based on the above solution, the receiving device is further used for: The time parameters for sending preset instructions to each of the transmitting devices are matched with each of the ranging signals received in time sequence.

[0012] In some exemplary embodiments of the present invention, based on the above solution, the receiving device includes: A wide-angle receiving module, the wide-angle receiving module comprising a receiving unit and an optical module, the receiving unit comprising a receiver for receiving ranging signals within a 360° range of a coal mine section, the optical module comprising a wide-angle lens, arranged at a receiving end of the receiving device, for expanding the receiving field of view and optimizing the collection efficiency of the ranging signals; The signal processing module is connected to the receiving unit and is used to calculate the signal strength distribution according to each received ranging signal and obtain the azimuth and position relationship of each ranging signal.

[0013] In some exemplary embodiments of the present invention, based on the above solution, the receiving device is further used for: The adjustment parameters of the angle sensors in the emitting devices are determined according to the ranging signals, so as to adjust the light emitting direction of the emitting devices to the target emitting direction through the adjustment parameters.

[0014] According to another aspect of the present invention, a distance measurement method based on the above-mentioned distance measurement system for coal mine section monitoring is provided, and the distance measurement method comprises: A plurality of transmitting devices are arranged at a plurality of preset measuring points on the section to be measured, and a receiving device is arranged at a preset receiving point; Controlling the receiving device to send a control instruction to each transmitting device, wherein the control instruction includes a target transmitting direction parameter and a target transmitting time; Control each transmitting device to trigger the transmission of a ranging signal in sequence according to the target emission time, wherein the ranging signal is a preset light in the target emission direction; The receiving device is controlled to receive the ranging signals sent by each of the transmitting devices one by one at the receiving point according to the preset instructions, the ranging signals are processed one by one, the direction and position relationship of each ranging signal is extracted according to the receiving time and the signal strength distribution, and the relative position information between the preset measuring point of each transmitting device and the preset receiving point of the receiving device is calculated according to the matching relationship between the transmitting time and the receiving time.

[0015] In some exemplary embodiments of the present invention, based on the above scheme, calculating the relative position information between the preset measurement point of each transmitting device and the preset receiving point of the receiving device includes: ; in, Indicates The positions of the predicted measurement points, Indicates the location of the preset receiving point. Indicates The propagation distance of the ranging signal emitted by the preset measurement points and , represents the speed of light propagation, Indicates The propagation time of the ranging signal transmitted by the transmitting device and , Indicates that the receiving device has received the The time when the ranging signal is transmitted by a transmitter, Indicates The transmission time of the ranging signal transmitted by each transmitting device, Indicates the time it takes for the control command to be sent from the receiving device to the transmitting device. Indicates the response time of the transmitter, Indicates the processing delay time of the receiving device for the ranging signal, represents the transmission time of the ranging signal, Indicates The receiving direction vector of the ranging signal transmitted by the preset measurement point and , Indicates The angle between the normal of the transmitting device and the receiving device, Indicates The azimuth of a transmitter after being projected onto a plane.

[0016] According to another aspect of the present invention, a method for reconstructing a coal mine section is provided, the method comprising: Based on the relative position information between the preset measuring points of each transmitting device and the preset receiving points of the receiving device obtained by the above-mentioned distance measurement method, cross-section reconstruction is performed.

[0017] It can be seen from the above technical solution that the present invention has the following advantages and positive effects: On the one hand, by setting multiple transmitting devices at preset measuring points, it is possible to measure multiple key points of the cross section to be measured, so as to fully cover the cross-sectional features, thereby combining the position information of all measuring points to reconstruct the shape contour of the cross section to be measured with high precision; on the other hand, by the comprehensive processing of multiple independent ranging signals by the receiving device, the dependence of ranging on a single reflection path can be reduced, so that even in environments such as mirrors, ranging information can be effectively obtained, reducing the requirements for precise alignment. Therefore, the present invention has high adaptability, can adapt to cross sections to be measured with different surface characteristics, significantly improves the stability and reliability of ranging in complex environments, and meets the requirements for accuracy and robustness in various measurement scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and other features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.

[0019] Figure 1 is a structural schematic diagram of a distance measurement system provided by an embodiment of the present invention; Figure 2 is a schematic diagram of a distance measurement system provided by an embodiment of the present invention including multiple transmitting devices; Figure 3 is a schematic structural diagram of a transmitting device provided by an embodiment of the present invention; Figure 4 is a flow chart of a distance measurement method provided by an embodiment of the present invention; Figure 5 is a flow chart of a cross-sectional reconstruction method provided by an embodiment of the present invention; Figure 6 is a structural schematic diagram of a cross-sectional reconstruction model provided by an embodiment of the present invention; Figure 7 is a schematic diagram of the structure of a distance data extraction branch network provided by an embodiment of the present invention; Figure 8 is a schematic diagram of the structure of an image data extraction branch network provided by an embodiment of the present invention; Fig. 9 It is a structural schematic diagram of a light intensity feature extraction branch network provided by an embodiment of the present invention.

[0020] Description of Reference Numerals 1. Transmitting device; 11. Shell; 12. Fixing mechanism; 121. Fixing hole; 13. Transmitter; 14. Angle sensor; 15. Lens group; 16. Socket; 2. Receiving device; 21. Receiver; 4. Section to be measured; 5. Cable. DETAILED DESCRIPTION

[0021] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present invention will be comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their detailed description will be omitted.

[0022] The features, structures or characteristics described above may be combined in one or more embodiments in any suitable manner, and if possible, the features discussed in each embodiment are interchangeable. In the above description, many specific details are provided to provide a full understanding of the embodiments of the present invention. However, those skilled in the art will appreciate that the technical solution of the present invention may be practiced without one or more of the specific details, or other methods, components, materials, etc. may be adopted. In other cases, known structures, materials or operations are not shown or described in detail to avoid blurring various aspects of the present invention.

[0023] Although relative terms such as "upper" and "lower" are used in the present invention to describe the relative relationship of one component of the illustration to another component, these terms are used in the present invention only for convenience, such as the orientation of the examples described in the drawings. It is understood that if the device of the illustration is turned over and turned upside down, the component described as being "upper" will become the component "lower". Other relative terms such as "high", "low", "top", "bottom", "front", "back", "left", "right", etc. are also used to have similar meanings. When a structure is "on" other structures, it may mean that the structure is formed integrally on the other structure, or that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through another structure.

[0024] In the present invention, the terms "a", "an", "the", "said" and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "comprising", "including" and "having" are used to express an open-ended inclusion and mean that additional elements / components / etc. may exist in addition to the listed elements / components / etc.

[0025] According to one aspect of the present invention, a distance measuring system for coal mine section monitoring is provided, referring to Figure 1 As shown, the distance measuring system for coal mine section monitoring includes: A plurality of transmitting devices 1, each of which is respectively arranged at a plurality of preset measuring points on the section 4 to be measured, and is used to trigger a respective ranging signal according to a control instruction received by each of them, wherein the ranging signal includes a preset light in the target emission direction; A receiving device 2, wherein the receiving device 2 is arranged at a preset receiving point at a predetermined distance from the preset measuring point and facing the section 4 to be measured, and is used to adjust the receiving direction according to the received control instruction to receive a plurality of the ranging signals, and obtain the relative position information between each of the preset measuring points and the receiving point according to each of the ranging signals.

[0026] On the one hand, by setting multiple transmitting devices 1 at preset measuring points, it is possible to measure multiple key points of the cross section 4 to be measured, so as to fully cover the cross-sectional features, thereby combining the position information of all measuring points to reconstruct the shape contour of the cross section 4 to be measured with high precision; on the other hand, by the comprehensive processing of multiple independent ranging signals by the receiving device 2, the dependence of ranging on a single reflection path can be reduced, so that even in environments such as mirrors, ranging information can be effectively obtained, reducing the requirements for precise alignment. Therefore, the present invention has high adaptability, can adapt to the cross section 4 to be measured with different surface characteristics, significantly improves the stability and reliability of ranging in complex environments, and meets the requirements for accuracy and robustness in various measurement scenarios.

[0027] The distance measurement signal described in the present invention may be an optical signal, an acoustic signal or other signal suitable for distance measurement, and the purpose is to enable the distance measurement system to obtain the distance to the section 4 to be measured. However, based on the consideration of distance measurement accuracy, measurement range and anti-interference ability, in some exemplary embodiments of the present invention, the transmitting device 1 includes a laser transmitter, and the distance measurement signal includes a preset light in the target emission direction.

[0028] In this way, on the one hand, laser light has high directivity and stability, and can be transmitted at a very small diffusion angle, thereby achieving high-precision distance calculation in ranging; on the other hand, laser light has low energy loss when transmitted in the air. Compared with other types of signals, laser signals can effectively cover longer measurement distances and enhance the applicability of ranging systems in long-distance scenarios. The use of preset light can ensure the accuracy of the emission direction, so that the ranging system can effectively avoid the influence of interference signals, especially suitable for complex measurement scenarios, such as multi-target or multi-path reflection environments.

[0029] In addition, the light emitted by the laser transmitter has a high energy density, and can generate sufficient reflection signals even on objects with low reflectivity or smooth surfaces (such as black objects or mirror objects), so that the receiving device 2 can stably receive signals and improve the measurement stability of the device under different object surface conditions. In addition, the wavelength of the laser light is fixed, easy to filter and identify, and can effectively avoid interference from other ambient light sources, so it is particularly suitable for underground working environments.

[0030] In addition, the transmitting device 1 and the receiving device 2 of the present invention are designed separately, so that the ranging signal emitted by the transmitting device 1 can directly point to the receiving device 2, thereby eliminating the need to rely on the reflection path of the signal, simplifying the signal transmission process and improving the stability and reliability of signal transmission.

[0031] The present invention does not impose any specific restrictions on the connection method between the transmitting device 1 and the receiving device 2. For example, in some embodiments, the transmitting device 1 and the receiving device 2 can be connected wirelessly, such as wireless network or Bluetooth. However, in some exemplary embodiments of the present invention, considering the application requirements of the present invention in a coal mine environment, the present invention designs that each of the transmitting devices 1 is connected to the receiving device 2 via a cable 5.

[0032] The connection through the cable 5 can not only reduce the power consumption of the transmitting device 1, but also enable the ranging signal emitted by the transmitting device 1 to be stably and quickly transmitted to the receiving device 2, thereby avoiding signal interference and delay problems that may occur in wireless transmission, thereby improving the real-time and accuracy of the ranging data. When the cable 5 is used for connection, in some embodiments, each transmitting device 1 and the receiving device 2 are provided with a socket 16, and the socket 16 on each transmitting device 1 is arranged on a side away from the receiving device 2, and correspondingly, the socket 16 on the receiving device 2 is arranged on a side away from each transmitting device 1.

[0033] On this basis, in some embodiments, an independent power module can be provided for each transmitting device 1. When each transmitting device 1 is provided with an independent power module, it can ensure that the transmitting device 1 operates independently at different measuring points, and even if the transmitting devices 1 are far apart, the normal operation of the system can be ensured, so that the ranging system can cover a larger measurement range, adapt to large-scale or dynamic section reconstruction scenarios, and solve the problem of limited measurement range of traditional equipment.

[0034] In other embodiments, the centralized power supply of each transmitting device 1 may be arranged in the receiving device 2. In this way, all transmitting devices 1 are centrally powered by the receiving device 2, which not only simplifies the design of a single transmitting device 1 and reduces the complexity of power management, but also improves the overall reliability of the system through centralized power supply monitoring, avoiding the single point failure problem caused by independent power failure.

[0035] In some exemplary embodiments of the present invention, reference Figure 3 As shown, the transmitting device 1 comprises: Housing 11, A fixing mechanism 12, connected to and supporting the housing 11, and used to be connected to the section to be measured 4; A transmitter 13, disposed inside the housing 11, for transmitting a ranging signal; An angle sensor 14 is disposed inside the housing 11 and connected to the tail end of the transmitter 13 to detect the angle of the transmitter 1 to adjust the transmission direction of the ranging signal; The lens group 15 is mounted on the housing 11 and located at the front end of the transmitter 13 to focus and adjust the distance measurement signal.

[0036] In the present invention, the fixing mechanism 12 may include bolts, magnetic structures, etc. In the embodiment of the present invention, reference Figure 3 As shown, the fixing mechanism 12 is integrally formed with the shell 11, and a fixing hole 121 is provided on the fixing mechanism 12. In this way, when using the launching device 1, the operator can insert a connecting piece such as a bolt or a pin into the fixing hole 121 and the section to be measured 4 to fix the two. When the section to be measured 4 needs to be replaced, it is only necessary to remove the connecting piece, which facilitates the installation and maintenance of the equipment and improves the convenience and flexibility of use.

[0037] In addition, a camera assembly can be provided on the transmitting device 1, specifically, the camera assembly can be provided above the shell 11 to obtain a visual image of the environment in which the section to be measured 4 is located, and transmit the visual image to the receiving device 2 via the socket 16 and the cable 5.

[0038] A light sensor may also be arranged outside the housing 11 to obtain a light intensity signal in the environment where the section to be measured 4 is located, and transmit the light intensity signal to the receiving device 2 via the socket 16 and the cable 5 .

[0039] It is conceivable that a circuit board is disposed inside the housing 11 , and the circuit board is connected to the transmitter 13 , the angle sensor 14 , the camera assembly, the light sensor and the socket 16 at the same time to realize the collection and transmission of various signals.

[0040] When the transmitting device 1 is also provided with a camera assembly and / or a light sensor, the ranging signal may also include a visual image and a light intensity signal.

[0041] In addition, in some exemplary embodiments of the present invention, the transmission width of the ranging signal is set to 1 meter.

[0042] In this way, compared with traditional single-point or narrow-beam ranging, the reflected signal of the section to be measured 4 can be captured within a wider range, which can not only effectively simplify the installation and operation requirements and be suitable for measurement needs in dynamic or complex scenes, but also reduce the risk of signal deviation, so that the receiving device 2 can stably receive the ranging signal, thereby effectively improving the ranging efficiency while improving the stability and reliability of the ranging.

[0043] In some implementations, the receiving device 2 is further configured to: The time parameters for sending preset instructions to each of the transmitting devices 1 are matched with each of the ranging signals received in time sequence.

[0044] That is to say, the receiving device 2 can match the ranging signal received in time sequence according to the time parameters of sending the preset instruction to the transmitting device 1 to ensure that the timing information of the signal is consistent with the transmitting instruction, thereby effectively solving the interference problem of multiple transmitting devices 1 working at the same time, and enabling the receiving device 2 to accurately distinguish the sources of the ranging signals of different transmitting devices 1.

[0045] On this basis, the receiving device 2 includes: A wide-angle receiving module, the wide-angle receiving module includes a receiving unit and an optical module, the receiving unit includes a receiver 21, which is used to receive the ranging signal within a 360° range of the coal mine section, and the optical module includes a wide-angle lens, which is arranged at the receiving end of the receiving device 2, and is used to expand the receiving field of view and optimize the collection efficiency of the ranging signal; The signal processing module is connected to the receiving unit and is used to calculate the signal strength distribution according to each received ranging signal and obtain the azimuth and position relationship of each ranging signal.

[0046] refer to Figure 1 As shown, the receiver 21 can be designed as a 360° conical lens with a quartz tube, so as to be able to cover the ranging signal reception within the 360° range of the coal mine section, adapt to a wider range of measurement scenarios, and do not need to frequently adjust the direction of the device. At the same time, it can reduce the occlusion effect, and combine with the wide-angle lens to improve the robustness and stability of signal reception in complex environments. The wide-angle lens can concentrate incident signals at different angles, reduce signal energy loss, and improve the sensitivity of weak signal reception, while avoiding stray light interference and enhancing the signal-to-noise ratio. By optimizing the signal path and focusing characteristics through the optical module, the ranging device can achieve efficient signal reception in a wide field of view environment, adapting to dynamic target tracking or multi-target detection needs.

[0047] In addition, due to the presence of the signal processing module, on the one hand, it can analyze the intensity distribution of the ranging signal in real time, and combined with the positional relationship of the receiving unit, it can efficiently calculate the azimuth and spatial position of the signal, providing high-precision input for multi-target ranging and three-dimensional positioning; on the other hand, it can quickly respond to changes in the received ranging signal to achieve continuous measurement and tracking of targets in dynamic scenes.

[0048] Of course, in some embodiments, the receiving device 2 may also include a control module, which is used to adjust the receiving direction according to the received control instruction to receive multiple ranging signals, and obtain the relative position information between each preset measurement point and the receiving point according to each ranging signal. And, the time parameter of issuing the preset instruction to each transmitting device 1 is matched with each ranging signal received in time sequence. In this way, the control module can be connected to the signal processing module, the signal processing module is connected to the receiving unit, the optical module optimizes the ranging signal and receives it through the receiving unit, the receiving unit transmits it to the signal processing module after receiving it, and the azimuth and position relationship of the ranging signal is obtained after processing by the signal processing module, and the azimuth and position relationship is transmitted to the control module, and the control module obtains the relative position information between the preset measurement point and the receiving point based on the azimuth and position relationship of the ranging signal.

[0049] According to another aspect of the present invention, referring to Figure 4 As shown, a distance measurement method 400 is provided, and the distance measurement method includes: S410: multiple transmitting devices 1 are arranged at multiple preset measuring points on the section 4 to be measured, and a receiving device 2 is arranged at a preset receiving point; S420: Control the receiving device 2 to send a control instruction to each transmitting device 1, wherein the control instruction includes a target transmitting direction parameter and a target transmitting time; S430: Control each transmitting device 1 to trigger the transmission of a ranging signal in sequence according to the target emission time, wherein the ranging signal is a preset light in the target emission direction; S440: Control the receiving device 2 to receive the ranging signals sent by each of the transmitting devices 1 one by one at the receiving point according to the preset instructions, process the ranging signals one by one, extract the direction and position relationship of each ranging signal according to the receiving time and the signal strength distribution, and calculate the relative position information between the preset measurement point of each transmitting device 1 and the preset receiving point of the receiving device 2 according to the matching relationship between the transmitting time and the receiving time.

[0050] In S410, a plurality of transmitting devices 1 are arranged at a plurality of preset measuring points on the section 4 to be measured, and a receiving device 2 is arranged at a preset receiving point.

[0051] By setting multiple transmitting devices 1 at multiple preset measuring points on the section to be measured 4, the position of the transmitting source of the ranging signal can be made consistent with the section to be measured 4, ensuring that the position of the signal source is synchronized with the section to be measured 4 during the ranging process, thereby facilitating accurate calculation of the distance between the section to be measured 4 and the ranging point.

[0052] The present invention does not impose any specific restrictions on the fixing method of the launch device 1 and the section to be measured 4. For example, in some embodiments, magnetic materials or adhesives can be used for fixing. However, considering the stability and sustainable use of the connection, the present invention adopts the present invention. Figure 3 It is fixed by the fixing mechanism in.

[0053] Fixing different transmitting devices 1 on the section to be measured 4 can ensure that the position of each transmitting device 1 represents a specific position or feature point. By setting these transmitting devices 1 at different positions of the tunnel or lane section, the distance data of each feature point can be accurately collected, thereby realizing comprehensive measurement and monitoring of the cross-sectional shape of the tunnel or lane, which helps to obtain more detailed structural information and is suitable for multi-point measurement in complex environments.

[0054] The present invention does not limit the selection of preset measurement points, and those skilled in the art may set them according to the conditions in the coal mine lanes or tunnels.

[0055] In S420, the receiving device 2 is controlled to send a control instruction to each transmitting device 1, wherein the control instruction includes a target transmitting direction parameter and a target transmitting time.

[0056] Since there are multiple transmitting devices 1, a central device is required to coordinate the work of each transmitting device 1 to avoid signal conflicts or confusion that may be caused by the independent operation of different transmitting devices 1. By controlling the receiving device 2 to send control instructions to each transmitting device 1, the working state of the transmitting device 1, including the transmission direction and time, can be dynamically adjusted to ensure that all transmitting devices 1 work together while enhancing flexibility and meeting the transmission parameter requirements of different measurement scenarios.

[0057] In the coal mine section, since each transmitting device 1 may be set in a different area, in some embodiments, each transmitting device 1 may be set facing different directions. Therefore, considering the uniqueness of the receiving device 2, the present invention includes a target transmitting direction parameter in the control instruction. The existence of the target transmitting direction parameter can help adjust the direction of the transmitting device 1 according to actual application requirements, effectively avoid signal interference, so that the signal can cover the target area or focus on a specific target.

[0058] Since multiple transmitting devices 1 may work at the same time, if there is no precise time control, the signals sent by different devices may overlap or conflict when received, affecting the accuracy of measurement or communication. Therefore, including the target transmission time in the control instruction can stagger the operation of different transmitting devices 1 in time, ensuring that the receiving device 2 can distinguish and process the signals from different transmitting devices 1.

[0059] In S430, each emitting device 1 is controlled to trigger the emission of a ranging signal in sequence according to the target emission time, and the ranging signal is a preset light in the target emission direction.

[0060] There are multiple transmitting devices 1 in the system at the same time. If they transmit signals at the same time, signal interference may occur, especially when the receiving device 2 needs to process multiple signals. Therefore, a control mechanism is required to ensure that each transmitting device 1 triggers signals in sequence at different time points to ensure the timing accuracy of the system.

[0061] Moreover, in distance calculation, sequential triggering can make the time point of each ranging signal be independently identified, thereby reducing the measurement error caused by signal overlap.

[0062] The ranging signal is emitted in the form of light (such as laser or infrared light) with high directionality and stability, which is ideal for accurate distance measurement. The design of the preset light can ensure that the emitted signal has uniform physical characteristics (such as wavelength, intensity, divergence angle), thereby improving the consistency and repeatability of the measurement. By limiting the ranging signal to the light emitted in the target direction, it can be ensured that the measurement is only performed in the target direction, effectively shielding interference signals from other directions.

[0063] In S440, the receiving device 2 is controlled to receive the ranging signals sent by each of the transmitting devices 1 one by one at the receiving point according to the preset instructions, and the ranging signals are processed one by one. The direction and position relationship of each ranging signal is extracted according to the receiving time and the signal strength distribution, and the relative position information between the preset measurement point of each transmitting device 1 and the preset receiving point of the receiving device 2 is calculated according to the matching relationship between the transmitting time and the receiving time.

[0064] Since the system includes multiple transmitting devices 1, transmitting signals at the same time may cause the receiving device 2 to be unable to distinguish the signal sources. Therefore, the receiving device 2 needs to receive the signals sent by each transmitting device 1 one by one according to the preset instructions, so as to achieve effective separation of the signal sources. Through the preset instructions (such as time synchronization and direction information), it can be ensured that the receiving device 2 accurately receives the signal from the target transmitting device 1 at a specific time point, ensuring the integrity and timeliness of the signal reception.

[0065] Processing the ranging signals one by one can ensure that each signal can be analyzed independently to avoid confusion or interference.

[0066] According to the receiving time and signal strength distribution, the direction and position relationship of each ranging signal is extracted. Here, the receiving time is the core parameter of the ranging calculation, and the signal strength distribution can reflect the attenuation and direction information of the signal during the propagation process, helping to identify the transmission angle and path of the signal. By analyzing the signal strength distribution, the propagation direction of the signal can be extracted to ensure the spatial accuracy of the ranging.

[0067] According to the matching relationship between the transmission time and the receiving time, the relative position information between the preset measuring point of each transmitting device 1 and the preset receiving point of the receiving device 2 is calculated. Here, by matching the transmission time and the receiving time, the flight time of the ranging signal from the transmitting device 1 to the receiving device 2 can be determined, and based on the flight time, the control instruction issuance time (the time when the control instruction is sent from the receiving device 2 to the transmitting device 1), the response time of the transmitting device 1, the processing delay time of the ranging signal by the receiving device 2, and the transmission time of the ranging signal combined with the signal direction, the relative position between the transmitting point and the receiving point, including the distance and angle information, can be derived.

[0068] In some embodiments, the relative position of the transmitting device 1 is calculated in the following manner: ; in, Indicates The positions of the predicted measurement points, Indicates the location of the preset receiving point. Indicates The propagation distance of the ranging signal emitted by the preset measurement points and , represents the speed of light propagation, Indicates The propagation time of the ranging signal transmitted by the transmitting device 1 and , Indicates that the receiving device 2 receives the The time of the ranging signal transmitted by the transmitting device 1, Indicates The transmission time of the ranging signal transmitted by the transmitting device 1, Indicates the time when the control instruction is sent from the receiving device 2 to the transmitting device 1, represents the response time of the transmitting device 1, represents the processing delay time of the ranging signal by the receiving device 2, represents the transmission time of the ranging signal, Indicates The receiving direction vector of the ranging signal transmitted by the preset measurement point and , Indicates The angle between the normal of the transmitting device 1 and the receiving device 2, Indicates The azimuth angle of a transmitting device 1 after being projected onto the plane.

[0069] Converted to coordinate relationship, that is: ; in, Indicates The horizontal coordinate of the transmitting device 1 and , Indicates The ordinate of the transmitting device 1 and , Indicates The vertical coordinates of the launch device 1 and , Indicates the location coordinates of receiving device 2.

[0070] Taking the calculation process of the first transmitter 1 as an example, assume that:

[0071] but: ; ; Combined direction angle :

[0072] In the present invention, any point can be used as the coordinate origin. In some implementations, a preset receiving point where the receiving device 2 is located can be used as the coordinate origin to facilitate calculation.

[0073] The main application scenarios of this invention are tunnels, underground coal mines and other spaces. The surfaces of tunnels, coal mine tunnels and other measured surfaces will be deformed due to rock stress, geological effects, etc., and usually multiple points of the same section (the cross section of the tunnel or tunnel) are continuously observed. Traditional rangefinders only support the measurement of one angle. Multiple points require the use of multiple sensors or a rotatable rangefinder, which has a complex structure and high cost.

[0074] On this basis, according to another aspect of the present invention, a cross-sectional reconstruction method is provided, referring to Figure 5 As shown, the cross-section reconstruction method includes: S510: Relative position information between the preset measuring points of each transmitting device 1 and the preset receiving points of the receiving device 2 obtained by the above-mentioned distance measurement method is used to reconstruct the cross section.

[0075] In S510, section reconstruction is performed based on the relative position information between the preset measuring points of each transmitting device 1 and the preset receiving points of the receiving device 2 obtained by the above-mentioned distance measurement method.

[0076] The cross-sectional profile of each preset measuring point is determined by using the distance from each preset measuring point to the preset receiving point and the environment in which each transmitting device 1 is located. The cross-sectional profiles of multiple preset measuring points are integrated to reconstruct the cross-sectional shape of the section to be measured 4.

[0077] In some embodiments, using the distance from each preset measuring point to the preset receiving point and the environment in which each transmitting device 1 is located, determining the cross-sectional profile of the cross-sectional surface 4 to be measured includes: According to the distance, visual image and light intensity signal, cross-section reconstruction is performed. Further comprising: The distance between each of the transmitting devices 1 and the receiving devices 2, the visual image and the light intensity signal are transmitted to the cross-sectional reconstruction model, and the cross-sectional reconstruction is performed using the cross-sectional reconstruction model.

[0078] Further, refer to Figure 6 As shown, the cross-sectional reconstruction model includes a distance data extraction branch network, an image data extraction branch network, a light intensity feature extraction branch network, a multimodal adaptive fusion module, an error compensation network and a cross-sectional reconstruction layer, wherein the output result of the distance data extraction branch network, the output result of the image data extraction branch network and the output result of the light intensity feature extraction branch network are simultaneously used as the input of the multimodal adaptive fusion module, the input result of the multimodal adaptive fusion module is used as the input of the error compensation network, the output result of the error compensation network is used as the input of the cross-sectional reconstruction layer, and the output result of the cross-sectional reconstruction layer is the output result of the cross-sectional reconstruction model.

[0079] refer to Figure 7 As shown in FIG. 1 , the distance data extraction branch network includes a distance data input layer, a first convolution layer, a first batch normalization layer, a first ReLU activation function layer, a first maximum pooling layer, a second convolution layer, a second batch normalization layer, a second ReLU activation function layer, a first global average pooling layer, a first fully connected layer, and a distance data output layer; the ranging signal is processed by the first convolution layer, the first batch normalization layer, and the first ReLU activation function layer in sequence to obtain the first layer of local features; the first maximum pooling layer downsamples the first layer of local features, and then extracts high-order features through the second convolution layer, the second batch normalization layer, and the second ReLU activation function layer in sequence, and the high-order features are integrated into a fixed-length global feature vector through the first global average pooling layer, and then the high-level features are extracted through the first fully connected layer, and finally the specific distance features or signal features are obtained through the distance data output layer. Among them, the convolution kernel size of the first convolution layer is 3, the number is 64, and the step size is 1; the convolution kernel size of the second convolution layer is 3, the number is 128, and the step size is 1.

[0080] refer to Figure 8 As shown, the image data extraction branch network includes an image data input layer, a third convolutional layer, a third batch normalization layer, a third ReLU activation function layer, a second maximum pooling layer, four sequentially arranged convolutional blocks, a second global average pooling layer, a second fully connected layer and an image data output layer; the visual image passes through the image data input layer, the third convolutional layer, the third batch normalization layer, and the third ReLU activation function layer in sequence to extract preliminary edge and texture features; the second maximum pooling layer downsamples the extracted preliminary edge and texture features to extract local maxima, and then extracts deeper image features through four sequentially arranged convolutional blocks in sequence, generates a one-dimensional feature vector through the second global average pooling layer, further extracts high-level features through the second fully connected layer, and finally obtains the target features through the image data output layer for the next step of multimodal fusion. Among them, the convolution kernel size of the third convolutional layer is 7, the number is 64, and the step size is 2.

[0081] refer to Fig. 9 As shown in the figure, the light intensity feature extraction branch network includes a light signal input layer, a third fully connected layer, a fourth ReLU activation function layer, a dimensionality reduction fully connected layer, a third global average pooling layer and a light signal output layer; the light intensity signal directly passes through the third fully connected layer to quickly extract preliminary features, and after the fourth ReLU activation function layer is activated, the dimensionality reduction is performed through the dimensionality reduction fully connected layer to obtain a more compact feature, and finally the feature is compressed into a single value through the third global average pooling layer to represent the global information of the light intensity, and finally output through the output layer.

[0082] The multimodal adaptive fusion module performs weighted fusion on the output data of the distance data extraction branch network, the image data extraction branch network, and the light intensity feature extraction branch network, and dynamically allocates the weight of each data according to the current ranging conditions to optimize the fusion features. The error compensation network compensates for the errors of the fused features based on the historical ranging data, especially for low-reflectivity or high-reflectivity objects, to correct abnormal errors. The cross-section reconstruction layer is designed as a 3D convolutional neural network to perform three-dimensional reconstruction on the fused multimodal data and integrate the multi-point ranging data into a complete cross-section profile.

[0083] The present invention can reconstruct the cross section of a complex object with high accuracy and efficiency, and is particularly suitable for underground working environments.

[0084] It should be understood that the present invention does not limit its application to the detailed structure and arrangement of the components proposed by the present invention. The present invention can have other embodiments and can be implemented and executed in a variety of ways. The aforementioned variations and modifications fall within the scope of the present invention. It should be understood that the present invention disclosed and defined by the present invention extends to all alternative combinations of two or more individual features mentioned or apparent in the text and / or the accompanying drawings. All these different combinations constitute multiple alternative aspects of the present invention. The embodiments described in the present invention illustrate the best mode known for implementing the present invention and will enable those skilled in the art to utilize the present invention.

Claims

1. A distance measuring system for coal mine section monitoring, characterized in that: include: A plurality of transmitting devices, each of which is respectively arranged at a plurality of preset measuring points on the section to be measured, and is used to trigger a respective ranging signal according to a control instruction received by each of them, wherein the ranging signal includes a preset light in the target emission direction; A receiving device, wherein the receiving device is arranged at a preset receiving point at a predetermined distance from the preset measuring point and is arranged facing the section to be measured, and is used to adjust the receiving direction according to the received control instruction to receive a plurality of the ranging signals, and obtain the relative position information between each of the preset measuring points and the receiving point according to each of the ranging signals.

2. The distance measuring system for coal mine section monitoring according to claim 1 is characterized in that: The receiving device is connected to each of the transmitting devices by wire or wirelessly; and each of the transmitting devices has its own power module, or a centralized power supply of each of the transmitting devices is arranged on the receiving device.

3. The distance measuring system for coal mine section monitoring according to claim 1 is characterized in that: Each of the transmitting devices further comprises: case, A fixing mechanism, connected to and supporting the housing, and used for fixedly connecting with each of the preset measuring points; A transmitter, disposed inside the housing, for transmitting a ranging signal; An angle sensor is arranged inside the housing and connected to the tail end of the transmitter, and is used to detect the angle of the transmitter to adjust the transmission direction of the ranging signal; The lens group is sleeved on the housing and located at the front end of the transmitter to focus and adjust the distance measurement signal.

4. The distance measuring system for coal mine section monitoring according to claim 3 is characterized in that: Each of the transmitting devices further comprises: A camera assembly, arranged above the housing, for acquiring a visual image of the environment in which each of the sections to be measured is located; The light sensor is arranged outside the shell to obtain the light intensity signal of the environment where each of the sections to be measured is located.

5. The distance measuring system for coal mine section monitoring according to claim 1, characterized in that: The receiving device is also used for: The time parameters for sending preset instructions to each of the transmitting devices are matched with each of the ranging signals received in time sequence.

6. The distance measuring system for coal mine cross-section monitoring according to claim 5, characterized in that: The receiving device comprises: A wide-angle receiving module, the wide-angle receiving module comprising a receiving unit and an optical module, the receiving unit comprising a receiver for receiving ranging signals within a 360° range of a coal mine section, the optical module comprising a wide-angle lens, arranged at a receiving end of the receiving device, for expanding the receiving field of view and optimizing the collection efficiency of the ranging signals; The signal processing module is connected to the receiving unit and is used to calculate the signal strength distribution according to each received ranging signal and obtain the azimuth and position relationship of each ranging signal.

7. The distance measuring system for coal mine cross-section monitoring according to claim 5, characterized in that: The receiving device is also used for: The adjustment parameters of the angle sensors in the emitting devices are determined according to the ranging signals, so as to adjust the light emitting direction of the emitting devices to the target emitting direction through the adjustment parameters.

8. A distance measurement method for a distance measurement system for coal mine section monitoring based on any one of claims 1 to 7, characterized in that: The ranging method comprises: A plurality of transmitting devices are arranged at a plurality of preset measuring points on the section to be measured, and a receiving device is arranged at a preset receiving point; Controlling the receiving device to send a control instruction to each transmitting device, wherein the control instruction includes a target transmitting direction parameter and a target transmitting time; Control each transmitting device to trigger the transmission of a ranging signal in sequence according to the target emission time, wherein the ranging signal is a preset light in the target emission direction; The receiving device is controlled to receive the ranging signals sent by each of the transmitting devices one by one at the receiving point according to the preset instructions, the ranging signals are processed one by one, the direction and position relationship of each ranging signal is extracted according to the receiving time and the signal strength distribution, and the relative position information between the preset measuring point of each transmitting device and the preset receiving point of the receiving device is calculated according to the matching relationship between the transmitting time and the receiving time.

9. The distance measurement method according to claim 8, characterized in that: The calculating, according to the matching relationship between the transmitting time and the receiving time, the relative position information between the preset measuring point of each transmitting device and the preset receiving point of the receiving device comprises: ； in, Indicates The positions of the predicted measurement points, Indicates the location of the preset receiving point. Indicates The propagation distance of the ranging signal emitted by the preset measurement points and , represents the speed of light propagation, Indicates The propagation time of the ranging signal transmitted by the transmitting device and , Indicates that the receiving device has received the The time when the ranging signal is transmitted by a transmitter, Indicates The transmission time of the ranging signal transmitted by each transmitting device, Indicates the time it takes for the control command to be sent from the receiving device to the transmitting device. Indicates the response time of the transmitter, Indicates the processing delay time of the receiving device for the ranging signal, represents the transmission time of the ranging signal, Indicates The receiving direction vector of the ranging signal transmitted by the preset measurement point and , Indicates The angle between the normal of the transmitting device and the receiving device, Indicates The azimuth of a transmitter after being projected onto a plane.

10. A method for reconstructing a coal mine section, characterized in that: include: Based on the relative position information between the preset measuring points of each transmitting device and the preset receiving points of the receiving device obtained by the ranging method described in claim 8 or 9, cross-section reconstruction is performed.

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