Open pit coal mine goaf detection equipment and goaf detection method

Abstract

The invention provides open pit coal mine goaf detection equipment and a goaf detection method. The open-pit coal mine goaf detection equipment comprises a vehicle frame which is provided with a detection hole; a plurality of telescopic support parts; the pulley assembly comprises a pulley frame and a pulley, and the pulley frame is arranged on the frame; the first winch, the second winch and the third winch are all arranged on the frame; a data integration display device; the drilling television module is used for imaging and detecting a goaf; the three-dimensional laser scanning detection part comprises a three-dimensional laser data receiver, a second transmission line and a three-dimensional laser scanning module; and the sonar detection part comprises a sonar data receiver, a third transmission line and a sonar detection module. Therefore, the open pit coal mine goaf detection equipment has the advantage of being convenient to detect the goaf.

Description

Technical Field

[0001] The invention relates to the technical field of open-pit coal mining, and in particular to open-pit coal mine goaf detection equipment and a goaf detection method. Background Art

[0002] There are certain safety hazards in open-pit coal mining. For example, the disorderly mining of small coal mines in history has left a large number of isolated and unknown goafs. If there are continuous blasting vibrations and human mining disturbances, the roof of the goaf is prone to collapse, and large-scale operating equipment on the surface will overturn in the goaf, causing casualties, equipment damage, and certain economic losses. This type of mine safety accident is difficult to rescue, has a bad social impact, and serious consequences may even affect the continuous production of coal mines. Therefore, how to simply and efficiently determine the roof thickness, spatial three-dimensional shape, and positional relationship of each goaf in the goaf of open-pit coal mines is an important problem that needs to be solved urgently in some open-pit coal mines in my country that contain goafs.

[0003] In the relevant technologies, the determination and exploration of unknown goaf areas in open-pit coal mines mainly include geophysical exploration, engineering exploration and other means. Among them, engineering drilling is the main exploration method that can directly determine the basic characteristics of the goaf area. With the advancement of technology, equipment such as borehole television, 3D laser scanning, sonar and RTK have realized the refined detection of the spatial form of the goaf area, which has solved the problem of open-pit coal mine detection to a certain extent.

[0004] Taking borehole TV, 3D laser scanning and sonar as examples, although the three devices have their own advantages, the detection process and detection results are independent of each other, which brings certain difficulties to on-site construction and data integration. At the same time, there are many devices, which require the cooperation of multiple people to operate, and the operation threshold is high. The use of positioning instruments or the operation of equipment is not standardized, which will cause certain errors in the detection results. Secondly, the transportation requirements of equipment in open-pit mines are also relatively strict, and the single equipment transportation is inconvenient and the detection efficiency is low. Summary of the invention

[0005] The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, an embodiment of the present invention provides an open-pit coal mine goaf detection device and a goaf detection method.

[0006] The open-pit coal mine goaf detection device according to the embodiment of the present invention comprises:

[0007] A vehicle frame, wherein the thickness direction of the vehicle frame is the up-down direction, a wheel is arranged at the bottom of the vehicle frame, and the vehicle frame has a detection hole, wherein the detection hole extends in the up-down direction, and the detection hole is used to align with a drill hole in the goaf;

[0008] A plurality of telescopic support parts, each of the telescopic support parts comprises a telescopic control device and a support rod, the telescopic control device can control the support rod to extend downward, the telescopic control devices of the plurality of telescopic support parts are connected to the frame, and the support rods of the plurality of telescopic support parts can cooperate to make the upper surface of the frame a horizontal plane;

[0009] A pulley assembly, the pulley assembly comprising a pulley frame and a pulley, the pulley frame being arranged on the vehicle frame, the pulley being rotatably arranged on the pulley frame, the pulley being adjacent to the detection hole in a horizontal direction, and the pulley being located above the detection hole;

[0010] A first winch, a second winch and a third winch, wherein the first winch, the second winch and the third winch are all arranged on the frame;

[0011] A data integration display device, which is used to receive and process goaf detection data and can display analysis data;

[0012] A drilling television module, the drilling television module is used to image and detect the goaf, the drilling television module can be connected to the data integration display device via a first transmission line, the first transmission line is arranged on the first winch so that the first winch can retract the drilling television module on the first transmission line, the first transmission line can be matched on the pulley so that the drilling television module can pass through the detection hole and extend into the goaf borehole, the first transmission line can transmit the detection video data to the data integration display device for display;

[0013] A three-dimensional laser scanning detection unit, the three-dimensional laser detection unit includes a three-dimensional laser data receiver, a second transmission line and a three-dimensional laser scanning module, the three-dimensional laser data receiver is arranged on the frame, the three-dimensional laser scanning module is used to measure the three-dimensional point cloud data of the goaf, the three-dimensional laser scanning module can be connected to the three-dimensional laser data receiver through the second transmission line, the second transmission line is arranged on the second winch so that the second winch can retract the three-dimensional laser scanning module on the second transmission line, the second transmission line can be matched on the pulley so that the three-dimensional laser scanning module can pass through the detection hole and extend into the goaf borehole, and the three-dimensional laser data receiver can transmit data to the data integration display device;

[0014] A sonar detection unit, the sonar detection unit comprises a sonar data receiver, a third transmission line and a sonar detection module, the sonar data receiver is arranged on the vehicle frame, the sonar detection module is used to scan the water-filled cavity in the goaf, the sonar detection module can be connected to the sonar data receiver via the third transmission line, the third transmission line is arranged on the third winch so that the third winch can retract and release the sonar detection module on the third transmission line, the third transmission line can be matched on the pulley so that the sonar detection module can pass through the detection hole and extend into the goaf borehole, and the sonar data receiver can transmit data to the data integration display device;

[0015] The frame is provided with mounting grooves for placing the drilling television module, the three-dimensional laser scanning module and the sonar detection module.

[0016] Therefore, the open-pit coal mine goaf area detection device according to the embodiment of the present invention has the advantage of being convenient for detecting the goaf area.

[0017] In some embodiments, the axial directions of the pulley, the first winch, the second winch and the third winch are all in a first direction;

[0018] The pulley is spaced apart from each of the first winch, the second winch, and the third winch in a second direction, and any two of the first direction, the second direction, and the up-down direction are perpendicular to each other.

[0019] In some embodiments, the length direction of the frame is the second direction, and the width direction of the frame is the first direction;

[0020] The frame is a rectangular frame, the frame has a first side and a second side on both sides in the second direction, and the frame has a third side and a fourth side on both sides in the first direction;

[0021] A portion of the first side is concave so as to define the detection hole, and in a cross section perpendicular to the up-down direction, a projection of the detection hole is open on a side facing away from the second side in the second direction;

[0022] The pulley is adjacent to the first side in the second direction;

[0023] The first winch, the second winch and the third winch are adjacent to the second side in the second direction;

[0024] The mounting groove is located between the pulley and any one of the first winch, the second winch, and the third winch in the second direction.

[0025] In some embodiments, the mounting slot includes a first mounting slot, a second mounting slot and a third mounting slot, the drilling TV module can be placed in the first mounting slot, the three-dimensional laser scanning module can be placed in the second mounting slot, the sonar detection module can be placed in the third mounting slot, the second mounting slot is adjacent to the third side in the first direction, the second mounting slot, the third mounting slot and the first mounting slot are arranged in sequence in the first direction away from the third side, the length directions of the second mounting slot, the third mounting slot and the first mounting slot are all the second direction, the second winch is adjacent to the third side in the first direction, and the second winch, the third winch and the first winch are arranged in sequence in the first direction away from the third side.

[0026] In some embodiments, the drilling television module is detachably connected to the first transmission line, the three-dimensional laser scanning module is detachably connected to the second transmission line, and the sonar detection unit is detachably connected to the third transmission line;

[0027] The vehicle frame is provided with a first frame body, the first frame body defines a second installation slot, and the first frame body is provided with a three-dimensional laser head-to-tail coordinate calibration module.

[0028] In some embodiments, a plurality of leveling instruments are disposed on any one of the first side, the second side, the third side, and the fourth side.

[0029] In some embodiments, a fourth mounting groove is provided on the upper surface of the frame, and the fourth mounting groove is used to place a handheld detection device, and the handheld detection device is used to detect the temperature and toxic and harmful gas data at the mouth of the borehole in the goaf. The fourth mounting groove is adjacent to the first side in the second direction, and the fourth mounting groove, the three-dimensional laser data receiver and the data integration display device are arranged in sequence in the second direction and adjacent to the fourth side.

[0030] In some embodiments, the wheel includes a driving wheel and a transmission wheel, and a driver is provided at the bottom of the frame, and the driver can drive the driving wheel to rotate;

[0031] The frame is provided with a locator, which is adjacent to the detection hole in the horizontal direction;

[0032] Each of the first winch, the second winch and the third winch has a data transmission motor matched therewith, and the data transmission motor can transmit the lowering data to the data integrated display device.

[0033] The present invention also proposes a method for detecting goaf in an open-pit coal mine using the above-mentioned goaf detection device. The method for detecting goaf in an embodiment of the present invention comprises the following steps:

[0034] The vehicle frame moves to the drilling hole in the goaf and aligns the detection hole on the vehicle frame with the drilling hole in the goaf;

[0035] The support rods of the plurality of telescopic support parts extend downward to the ground and cooperate with each other so that the upper surface of the frame is a horizontal plane;

[0036] Using a first winch and a first transmission line to lower the borehole television module through the detection hole into the goaf, so that the borehole television module can send the detection video data to the data integration display device through the first transmission line;

[0037] Using a second winch and a second transmission line to lower a three-dimensional laser scanning module through the detection hole into the goaf, so that the three-dimensional laser scanning module can send detection data to a three-dimensional laser data receiver through the second transmission line, and the three-dimensional laser data receiver sends the detection data to the data integration display device;

[0038] For the goaf containing water, the sonar detection module is lowered into the goaf through the detection hole by using the third winch and the third transmission line, so that the sonar detection module can send the detection data to the sonar data receiver through the third transmission line, and the sonar data receiver sends the detection data to the data integration display device;

[0039] At least one of the height of the goaf top plate, the height of the goaf bottom plate and the three-dimensional shape of the goaf is determined using the data received by the data integration and display device.

[0040] In some embodiments, each of the first winch, the second winch and the third winch has a data transmission motor matched therewith, and the data transmission motor can transmit the lowering data to the data integrated display device;

[0041] The depth H of the goaf roof satisfies the following formula:

[0042]

[0043] Among them, H is the depth of the goaf roof, a is the depth of the goaf roof measured by drilling a hole in the goaf, b is the depth of the goaf roof scanned by the three-dimensional laser scanning detection unit, and c is the depth of the goaf roof measured by the data transmission motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 Schematic diagram of an open-pit coal mine goaf detection device according to an embodiment of the present invention.

[0045] Reference numerals:

[0046] 1. vehicle frame, 11. detection hole, 12. wheel, 13. first side, 14. second side, 15. third side, 16. fourth side;

[0047] 2. telescopic support part, 21. telescopic control device, 22. support rod;

[0048] 3. pulley, 31. pulley frame;

[0049] 4. Data integration display device;

[0050] 5. drilling TV module, 51. first transmission line, 52. first winch;

[0051] 6. 3D laser scanning module, 61. 3D laser data receiver, 62. second transmission line, 63. second winch, 64. first frame;

[0052] 7. sonar detection module, 71. third transmission line, 72. third winch;

[0053] 8. Level calibrator;

[0054] 9. Handheld detection device. DETAILED DESCRIPTION

[0055] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0056] The following describes the open-pit coal mine goaf detection device according to an embodiment of the present invention with reference to the accompanying drawings. Figure 1 As shown, the open-pit coal mine goaf detection equipment according to an embodiment of the present invention includes a frame 1, multiple telescopic support parts 2, a pulley assembly, a first winch 52, a second winch 63, a third winch 72, a data integration display device 4, a drilling TV module 5, a three-dimensional laser scanning detection part and a sonar detection part.

[0057] The thickness direction of the frame 1 is the up-down direction, and a wheel 12 is provided at the bottom of the frame 1. The frame 1 has a detection hole 11, which extends in the up-down direction, and the detection hole 11 is used to align with the goaf borehole. Specifically, the length direction of the frame 1 is the second direction, and the width direction of the frame 1 is the first direction, and any two of the first direction, the second direction and the up-down direction are perpendicular to each other. The frame 1 is a rectangular frame 1, and the frame 1 has a first side 13 and a second side 14 on both sides of the second direction, and the frame 1 has a third side 15 and a fourth side 16 on both sides of the first direction. The second direction can be a front-to-back direction, and the first direction can be a left-to-right direction. The front-to-back direction, the left-to-right direction, and the up-to-down direction are shown by arrows in the figure. For example, the first side 13 is located in front of the second side 14, and the third side 15 is located on the left side of the fourth side 16.

[0058] like Figure 1 As shown, in some embodiments, a portion of the first side 13 is concave to define a detection hole 11, and in a cross section perpendicular to the up-down direction, a projection of the detection hole 11 is open on a side facing away from the second side 14 in the second direction. For example, the front side of the detection hole 11 is open, and the detection hole 11 is a semicircular hole.

[0059] In some embodiments, the wheel 12 includes a driving wheel and a transmission wheel. A driver is provided at the bottom of the frame 1, and the driver can drive the driving wheel to rotate, thereby enabling the driver to drive the wheel 2 to move, thereby driving the frame 1 to move, so that the detection hole 11 can be aligned with the opening of the drill hole in the goaf, that is, the detection hole 11 can be located at the same position as the drill hole in the goaf in the horizontal direction.

[0060] A locator is provided on the vehicle frame 1, and the locator is adjacent to the detection hole 11 in the horizontal direction. Specifically, the locator can facilitate the positioning of the vehicle frame 1 (detection hole 11), so that after obtaining the coordinates of the borehole, the vehicle frame 1 (detection hole 11) can use the locator to move to the position of the borehole in the goaf that needs to be detected.

[0061] like Figure 1 As shown, in some embodiments, each telescopic support part 2 includes a telescopic control device 21 and a support rod 22. The telescopic control device 21 can control the support rod 22 to extend downward, and the telescopic control devices 21 of multiple telescopic support parts 2 are connected to the frame 1. The support rods 22 of multiple telescopic support parts 2 can cooperate to make the upper surface of the frame 1 a horizontal plane. Specifically, there are four telescopic support parts 2, and the telescopic control devices 21 of the four telescopic support parts 2 are arranged at the four corners of the frame 1. After the detection hole 11 is aligned with the orifice of the drill hole in the goaf, the telescopic control device 21 controls the corresponding support rod 22 to extend downward, so that the support seat of the support rod 22 contacts the ground, and the upper surface of the frame 1 is adjusted to a horizontal plane by adjusting the size of the different support rods 22 extending downward.

[0062] like Figure 1 As shown, the pulley assembly includes a pulley frame 31 and a pulley 3. The pulley frame 31 is provided on the vehicle frame 1, and the pulley frame 31 is annular and is provided around the detection hole 11. The pulley 3 is rotatably provided on the pulley frame 31, and the pulley 3 is adjacent to the detection hole 11 in the horizontal direction, and the pulley 3 is located above the detection hole 11. Specifically, the pulley 3 is adjacent to the first side 13 in the second direction. For example, the pulley 3 is located on the front side of the vehicle frame 1.

[0063] The first winch 52, the second winch 63 and the third winch 72 are all arranged on the frame 1. The axial directions of the pulley 3, the first winch 52, the second winch 63 and the third winch 72 are all in the first direction. The pulley 3 and each of the first winch 52, the second winch 63 and the third winch 72 are spaced apart in the second direction. For example, the axial directions of the pulley 3, the first winch 52, the second winch 63 and the third winch 72 are all in the left-right direction. The pulley 3 and each of the first winch 52, the second winch 63 and the third winch 72 are spaced apart in the front-back direction. The first winch 52, the second winch 63 and the third winch 72 can be manual winches or electric winches.

[0064] The data integration display device 4 is used to receive and process goaf detection data and can display analysis data. Specifically, the data integration display device 4 (data integration display system) is used to collect, integrate and display data from multiple data sources. Such a device usually includes multiple components such as data acquisition, processing, storage and visualization. The data integration display device 4 includes multiple components such as data acquisition, processing, storage and visualization to provide a unified view to help users better understand and use data. For example, the data integration display device 4 is a computer.

[0065] like Figure 1 As shown, the drilling TV module 5 is used to image and detect the goaf. The drilling TV module 5 can be connected to the data integration display device 4 through the first transmission line 51. The first transmission line 51 is arranged on the first winch 52 so that the first winch 52 can retract the drilling TV module 5 on the first transmission line 51. The first transmission line 51 can be matched with the pulley 3 so that the drilling TV module 5 can pass through the detection hole 11 and extend into the goaf borehole. The first transmission line 51 can transmit the detection video data to the data integration display device 4 for display. Specifically, when the drilling TV module 5 needs to extend into the goaf for imaging and detection, the first transmission line 51 can be hung on the groove of the pulley 3, and the drilling TV module 5 (first transmission line 51) can be passed through the detection hole 11. The first winch 52 lowers the drilling TV module 5 into the borehole of the goaf through the first transmission line 51, and then enters the goaf for imaging and detection. The imaging data and the detection data can be transmitted to the data integration display device 4 through the first transmission line 51.

[0066] The three-dimensional laser detection unit includes a three-dimensional laser data receiver 61, a second transmission line 62 and a three-dimensional laser scanning module 6. The three-dimensional laser data receiver 61 is arranged on the vehicle frame 1, and the three-dimensional laser scanning module 6 is used to measure the three-dimensional point cloud data of the goaf. The three-dimensional laser scanning module 6 can be connected to the three-dimensional laser data receiver 61 through the second transmission line 62, and the second transmission line 62 is arranged on the second winch 63 so that the second winch 63 can retract the three-dimensional laser scanning module 6 on the second transmission line 62, and the second transmission line 62 can be matched on the pulley 3 so that the three-dimensional laser scanning module 6 can pass through the detection hole 11 and extend into the goaf borehole, and the three-dimensional laser data receiver 61 can transmit data to the data integration display device 4. Specifically, when the three-dimensional laser scanning module 6 needs to extend into the goaf for scanning, the second transmission line 62 can be hung on the groove of the pulley 3, and the three-dimensional laser scanning module 6 (second transmission line 62) can be passed through the detection hole 11. The second winch 63 lowers the three-dimensional laser scanning module 6 into the drill hole in the goaf through the second transmission line 62, and then enters the goaf to measure the three-dimensional point cloud data of the goaf. The detection data can be transmitted to the three-dimensional laser data receiver 61 through the second transmission line 62 and then transmitted to the data integration display device 4.

[0067] The sonar detection unit includes a sonar data receiver, a third transmission line 71 and a sonar detection module 7. The sonar data receiver is arranged on the vehicle frame 1, and the sonar detection module 7 is used to scan the water-filled cavity in the goaf. The sonar detection module 7 can be connected to the sonar data receiver through the third transmission line 71, and the third transmission line 71 is arranged on the third winch 72 so that the third winch 72 can retract and release the sonar detection module 7 on the third transmission line 71, and the third transmission line 71 can be matched on the pulley 3 so that the sonar detection module 7 can pass through the detection hole 11 and extend into the goaf borehole, and the sonar data receiver can transmit data to the data integration display device 4. Specifically, when there is water accumulation in the goaf, the third transmission line 71 can be hung on the groove of the pulley 3, and the sonar detection module 7 (third transmission line 71) can be passed through the detection hole 11. The second winch 63 lowers the sonar detection module 7 into the borehole in the goaf through the third transmission line 71, and then enters the goaf to scan the water-filled cavities in the goaf. The detection data can be transmitted to the sonar data receiver through the third transmission line 71 and then transmitted to the data integration display device 4.

[0068] The frame 1 is provided with mounting grooves for placing the drilling TV module 5, the three-dimensional laser scanning module 6 and the sonar detection module 7. Specifically, the drilling TV module 5 is detachably connected to the first transmission line 51, the three-dimensional laser scanning module 6 is detachably connected to the second transmission line 62, and the sonar detection unit is detachably connected to the third transmission line 71. Therefore, when detection is not required, the drilling TV module 5, the three-dimensional laser scanning module 6 and the sonar detection module 7 can be placed in the mounting grooves on the frame 1. When detection is required, the drilling TV module 5, the three-dimensional laser scanning module 6 and the sonar detection module 7 can be respectively connected to the corresponding transmission lines, and then lowered into the borehole of the goaf through the detection hole 11 in turn, and then enter the goaf for detection.

[0069] The open-pit coal mine goaf detection device according to the embodiment of the present invention is loaded with a drilling TV module 5, a three-dimensional laser scanning detection unit and a sonar detection unit through a vehicle frame 1, so that it is convenient for the staff to move the device to the corresponding goaf drilling location. A winch (a first winch 52, a second winch 63 and a third winch 72) is provided on the vehicle frame to facilitate the lowering of the drilling TV module 5, the three-dimensional laser scanning module 6 and the sonar detection module 7 into the goaf. The detection hole 11 facilitates the positioning of the drilling TV module 5, the three-dimensional laser scanning module 6 and the sonar detection module 7 from below to the goaf, thereby improving the detection efficiency.

[0070] Therefore, the open-pit coal mine goaf area detection device according to the embodiment of the present invention has the advantage of being convenient for detecting the goaf area.

[0071] like Figure 1 As shown, in some embodiments, the first winch 52, the second winch 63, and the third winch 72 are adjacent to the second side 14 in the second direction. The mounting groove is located between the pulley 3 and any one of the first winch 52, the second winch 63, and the third winch 72 in the second direction. For example, the first winch 52, the second winch 63, and the third winch 72 are adjacent to the rear side of the frame 1. The mounting groove is located between the pulley 3 and any one of the first winch 52, the second winch 63, and the third winch 72 in the front-to-rear direction.

[0072] In some embodiments, each of the first winch 52 , the second winch 63 and the third winch 72 has a data transmission motor matched therewith, and the data transmission motor can transmit the lowering data to the data integrated display device 4 .

[0073] In some embodiments, the mounting slot includes a first mounting slot, a second mounting slot and a third mounting slot. The drilling TV module 5 can be placed in the first mounting slot, the 3D laser scanning module 6 can be placed in the second mounting slot, and the sonar detection module 7 can be placed in the third mounting slot.

[0074] The second mounting groove is adjacent to the third side 15 in the first direction, and the second mounting groove, the third mounting groove and the first mounting groove are sequentially spaced apart in the direction away from the third side 15 in the first direction, and the length directions of the second mounting groove, the third mounting groove and the first mounting groove are all in the second direction. The second winch 63 is adjacent to the third side 15 in the first direction, and the second winch 63, the third winch 72 and the first winch 52 are sequentially spaced apart in the direction away from the third side 15 in the first direction. For example, the second mounting groove, the third mounting groove and the first mounting groove are sequentially spaced apart from left to right, and the length directions of the second mounting groove, the third mounting groove and the first mounting groove are all in the front-back direction. The second winch 63, the third winch 72 and the first winch 52 are sequentially spaced apart from left to right.

[0075] like Figure 1 As shown, in some embodiments, a first frame 64 is provided on the frame 1, the first frame 64 defines a second mounting slot, and a three-dimensional laser head-to-tail coordinate calibration module is provided on the first frame 64. The three-dimensional laser head-to-tail coordinate calibration module is a device used to ensure the accuracy and consistency of the scanning data of the laser scanner when performing three-dimensional measurement.

[0076] In some embodiments, the frame 1 is provided with a leveling gauge 8. Specifically, a plurality of leveling gauges 8 are provided on any one of the first side 13, the second side 14, the third side 15, and the fourth side 16. For example, two leveling gauges 8 are provided on any one of the first side 13, the second side 14, the third side 15, and the fourth side 16.

[0077] In some embodiments, a fourth mounting groove is provided on the upper surface of the vehicle frame 1, and the fourth mounting groove is used to place a handheld detection device 9, and the handheld detection device 9 is used to detect the temperature and toxic and harmful gas data at the opening of the borehole in the goaf. The fourth mounting groove is adjacent to the first side 13 in the second direction, and the fourth mounting groove, the three-dimensional laser data receiver 61 and the data integration display device 4 are sequentially arranged in intervals in the second direction and adjacent to the fourth side 16. For example, the fourth mounting groove, the three-dimensional laser data receiver 61 and the data integration display device 4 are sequentially arranged from front to back.

[0078] The present invention also proposes a method for detecting goaf in an open-pit coal mine using the goaf detection device according to an embodiment of the present invention. The method for detecting goaf in an open-pit coal mine according to an embodiment of the present invention comprises the following steps:

[0079] The vehicle frame 1 moves to the drilling position of the goaf area and aligns the detection hole 11 on the vehicle frame 1 with the drilling hole in the goaf area. Specifically, a positioner is provided on the vehicle frame 1. After the coordinates of the drilling hole in the goaf area are determined, the vehicle frame 1 is driven to move to the drilling position of the goaf area by controlling the wheels 12. The detection hole 11 is aligned with the drilling hole in the goaf area, so as to facilitate subsequent detection.

[0080] The support rods 22 of the multiple telescopic support parts 2 extend downward to the ground and cooperate with each other to make the upper surface of the frame 1 a horizontal plane. Specifically, after the frame 1 reaches the predetermined coordinates, under the reference of the level calibration instrument 8, the multiple telescopic support parts 2 are adjusted so that the support rods 22 can move downward so that the support rods 22 are in full contact with the ground surface and bear the main gravity of the platform, so that the upper surface of the frame 1 is a horizontal plane on the uneven ground.

[0081] In some embodiments, the handheld detection device 9 is taken out from the fourth installation slot, and the operator detects the temperature and toxic and harmful gas data at the opening of the borehole in the goaf through the handheld detection device 9. The data is transmitted and processed with the data integration display device 4 by wireless transmission.

[0082] The first winch 52 and the first transmission line 51 are used to lower the drilling TV module 5 through the detection hole 11 into the goaf, so that the drilling TV module 5 can send the detection video data to the data integration display device 4 through the first transmission line 51. Specifically, the first winch 52 has a data transmission motor matched with it, and the data transmission motor can transmit the lowering data of the first transmission line 51 to the data integration display device 4. The data integration display device 4 can drive the data transmission motor to lower the drilling TV module 5 to the borehole opening of the goaf. After the data integration display device 4 resets the measured meters to zero, it continues to control the data transmission motor to drive the drilling TV module 5 to be lowered. The drilling TV module 5 is lowered to the goaf to achieve preliminary detection of water, smoke and height of the goaf. The relevant video data is sent to the data integration display device 4 through the first transmission line 51, and the data transmission motor can transmit the measured meters of the top and bottom plates of the goaf to the data integration display device 4.

[0083] The 3D laser scanning module 6 is lowered into the goaf through the detection hole 11 by using the second winch 63 and the second transmission line 62, so that the 3D laser scanning module 6 can send the detection data to the 3D laser data receiver 61 through the second transmission line 62, and the 3D laser data receiver 61 sends the detection data to the data integration display device 4. Specifically, after the initial coordinate calibration is completed at the corresponding positions of the 3D laser head and tail coordinate calibration module, the data transmission motor on the second winch 63 is driven to drive the 3D laser scanning module 6 to the specified height of the goaf. The frame 1 completes the detection of the specified height of the 3D laser scanning module 6 under the force constraint of the telescopic support part 2, eliminating the interference of related human factors, and realizing the scanning of the cavity of the goaf. The scanning data is sent to the data integration display device 4 through the second transmission line 62.

[0084] For the water-containing goaf, the sonar detection module 7 is lowered into the goaf through the detection hole 11 by using the third winch 72 and the third transmission line 71, so that the sonar detection module 7 can send the detection data to the sonar data receiver through the third transmission line 71, and the sonar data receiver sends the detection data to the data integration display device 4. Specifically, for the water-containing goaf, the sonar detection module 7 is controlled by the third winch 72 (data transmission motor) and the third transmission line 71, and is lowered to the inside of the water-filled cavity in the goaf to perform relevant cavity scanning, and the scanning data is sent to the data integration display device 4 through the third transmission line 71.

[0085] The data received by the data integration display device is used to determine at least one of the height of the goaf roof, the height of the goaf floor, and the three-dimensional shape of the goaf. Specifically, the detection data of the three detection devices are used to determine at least one of the height of the goaf roof, the height of the goaf floor, and the three-dimensional shape of the goaf, thereby completing the detection.

[0086] In some embodiments, the goaf roof depth H satisfies the following formula:

[0087]

[0088] Wherein, H is the depth of the goaf roof. a is the depth of the goaf roof measured by drilling a hole in the goaf, that is, the measurement data of the depth from the hole on the surface to the goaf during the process of drilling a hole in the goaf. b is the depth of the goaf roof scanned by the three-dimensional laser scanning detection unit. The measurement data of the three-dimensional laser head and tail coordinate calibration module and the three-dimensional laser scanning module 6 can identify the depth from the hole to the goaf. c is the depth of the goaf roof measured by the data transmission motor. For example, the data transmission motor of the first winch 52 can transmit the measured meters from the hole to the top and bottom plates of the goaf to the data integration display device 4. The above formula is determined by experience.

[0089] The open-pit coal mine goaf detection equipment according to the embodiment of the present invention is reasonably designed, simple in structure, saves labor costs, and realizes integrated management of open-pit coal mine goaf detection equipment. Through the device, accurate positioning and refined detection during goaf detection can be achieved, and the device can realize automatic system adjustment according to the mutual connection of various types of equipment, thereby saving manpower and greatly improving work efficiency.

[0090] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0091] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0092] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0093] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0094] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0095] Although the above embodiments have been shown and described, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. Changes, modifications, substitutions and variations of the above embodiments by those of ordinary skill in the art are all within the scope of protection of the present invention.

Claims

1. An open-pit coal mine goaf detection device, characterized in that: include: A vehicle frame, wherein the thickness direction of the vehicle frame is the up-down direction, a wheel is arranged at the bottom of the vehicle frame, and the vehicle frame has a detection hole, wherein the detection hole extends in the up-down direction, and the detection hole is used to align with a drill hole in the goaf; A plurality of telescopic support parts, each of the telescopic support parts comprises a telescopic control device and a support rod, the telescopic control device can control the support rod to extend downward, the telescopic control devices of the plurality of telescopic support parts are connected to the frame, and the support rods of the plurality of telescopic support parts can cooperate to make the upper surface of the frame a horizontal plane; A pulley assembly, the pulley assembly comprising a pulley frame and a pulley, the pulley frame being arranged on the vehicle frame, the pulley being rotatably arranged on the pulley frame, the pulley being adjacent to the detection hole in a horizontal direction, and the pulley being located above the detection hole; A first winch, a second winch and a third winch, wherein the first winch, the second winch and the third winch are all arranged on the frame; A data integration display device, which is used to receive and process goaf detection data and can display analysis data; A drilling television module, the drilling television module is used to image and detect the goaf, the drilling television module can be connected to the data integration display device via a first transmission line, the first transmission line is arranged on the first winch so that the first winch can retract the drilling television module on the first transmission line, the first transmission line can be matched on the pulley so that the drilling television module can pass through the detection hole and extend into the goaf borehole, the first transmission line can transmit the detection video data to the data integration display device for display; A three-dimensional laser scanning detection unit, the three-dimensional laser detection unit includes a three-dimensional laser data receiver, a second transmission line and a three-dimensional laser scanning module, the three-dimensional laser data receiver is arranged on the frame, the three-dimensional laser scanning module is used to measure the three-dimensional point cloud data of the goaf, the three-dimensional laser scanning module can be connected to the three-dimensional laser data receiver through the second transmission line, the second transmission line is arranged on the second winch so that the second winch can retract the three-dimensional laser scanning module on the second transmission line, the second transmission line can be matched on the pulley so that the three-dimensional laser scanning module can pass through the detection hole and extend into the goaf borehole, and the three-dimensional laser data receiver can transmit data to the data integration display device; A sonar detection unit, the sonar detection unit comprises a sonar data receiver, a third transmission line and a sonar detection module, the sonar data receiver is arranged on the vehicle frame, the sonar detection module is used to scan the water-filled cavity in the goaf, the sonar detection module can be connected to the sonar data receiver via the third transmission line, the third transmission line is arranged on the third winch so that the third winch can retract and release the sonar detection module on the third transmission line, the third transmission line can be matched on the pulley so that the sonar detection module can pass through the detection hole and extend into the goaf borehole, and the sonar data receiver can transmit data to the data integration display device; The frame is provided with mounting grooves for placing the drilling television module, the three-dimensional laser scanning module and the sonar detection module.

2. The open-pit coal mine goaf detection device according to claim 1, characterized in that: The axial directions of the pulley, the first winch, the second winch and the third winch are all in a first direction; The pulley is spaced apart from each of the first winch, the second winch, and the third winch in a second direction, and any two of the first direction, the second direction, and the up-down direction are perpendicular to each other.

3. The open-pit coal mine goaf detection device according to claim 2, characterized in that: The length direction of the frame is the second direction, and the width direction of the frame is the first direction; The frame is a rectangular frame, the frame has a first side and a second side on both sides in the second direction, and the frame has a third side and a fourth side on both sides in the first direction; A portion of the first side is concave so as to define the detection hole, and in a cross section perpendicular to the up-down direction, a projection of the detection hole is open on a side facing away from the second side in the second direction; The pulley is adjacent to the first side in the second direction; The first winch, the second winch and the third winch are adjacent to the second side in the second direction; The mounting groove is located between the pulley and any one of the first winch, the second winch, and the third winch in the second direction.

4. The open-pit coal mine goaf detection device according to claim 3, characterized in that: The mounting slot includes a first mounting slot, a second mounting slot and a third mounting slot, the drilling TV module can be placed in the first mounting slot, the three-dimensional laser scanning module can be placed in the second mounting slot, and the sonar detection module can be placed in the third mounting slot, the second mounting slot is adjacent to the third side in the first direction, the second mounting slot, the third mounting slot and the first mounting slot are arranged in sequence in the first direction away from the third side, the length directions of the second mounting slot, the third mounting slot and the first mounting slot are all the second direction, the second winch is adjacent to the third side in the first direction, and the second winch, the third winch and the first winch are arranged in sequence in the first direction away from the third side.

5. The open-pit coal mine goaf detection device according to claim 4, characterized in that: The drilling TV module is detachably connected to the first transmission line, the three-dimensional laser scanning module is detachably connected to the second transmission line, and the sonar detection unit is detachably connected to the third transmission line; The vehicle frame is provided with a first frame body, the first frame body defines a second installation slot, and the first frame body is provided with a three-dimensional laser head-to-tail coordinate calibration module.

6. The open-pit coal mine goaf detection device according to claim 3, characterized in that: A plurality of leveling instruments are provided on any one of the first side, the second side, the third side and the fourth side.

7. The open-pit coal mine goaf detection device according to claim 4, characterized in that: A fourth mounting groove is provided on the upper surface of the frame, and the fourth mounting groove is used for placing a handheld detection device, and the handheld detection device is used to detect the temperature and toxic and harmful gas data at the mouth of the borehole in the goaf. The fourth mounting groove is adjacent to the first side in the second direction, and the fourth mounting groove, the three-dimensional laser data receiver and the data integration display device are sequentially spaced apart in the second direction and adjacent to the fourth side.

8. The open-pit coal mine goaf detection device according to any one of claims 1 to 7, characterized in that: The wheel includes a driving wheel and a transmission wheel, and a driver is provided at the bottom of the frame, and the driver can drive the driving wheel to rotate; The frame is provided with a locator, which is adjacent to the detection hole in the horizontal direction; Each of the first winch, the second winch and the third winch has a data transmission motor matched therewith, and the data transmission motor can transmit the lowering data to the data integrated display device.

9. A method for detecting goaf in an open-pit coal mine using the goaf detection device according to any one of claims 1 to 8, characterized in that: The following steps are involved: The vehicle frame moves to the drilling hole in the goaf and aligns the detection hole on the vehicle frame with the drilling hole in the goaf; The support rods of the plurality of telescopic support parts extend downward to the ground and cooperate with each other so that the upper surface of the frame is a horizontal plane; Using a first winch and a first transmission line to lower the borehole television module through the detection hole into the goaf, so that the borehole television module can send the detection video data to the data integration display device through the first transmission line; Using a second winch and a second transmission line to lower a three-dimensional laser scanning module through the detection hole into the goaf, so that the three-dimensional laser scanning module can send detection data to a three-dimensional laser data receiver through the second transmission line, and the three-dimensional laser data receiver sends the detection data to the data integration display device; For the goaf containing water, the sonar detection module is lowered into the goaf through the detection hole by using the third winch and the third transmission line, so that the sonar detection module can send the detection data to the sonar data receiver through the third transmission line, and the sonar data receiver sends the detection data to the data integration display device; At least one of the height of the goaf top plate, the height of the goaf bottom plate and the three-dimensional shape of the goaf is determined using the data received by the data integration and display device.

10. The method for detecting goaf according to claim 9, characterized in that: Each of the first winch, the second winch and the third winch has a data transmission motor matched therewith, and the data transmission motor can transmit the lowering data to the data integrated display device; The depth H of the goaf roof satisfies the following formula: Among them, H is the depth of the goaf roof, a is the depth of the goaf roof measured by drilling a hole in the goaf, b is the depth of the goaf roof scanned by the three-dimensional laser scanning detection unit, and c is the depth of the goaf roof measured by the data transmission motor.

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