A device and method for measuring surrounding rock separation based on capacitance measurement and image recognition

Abstract

The present invention relates to a surrounding rock separation measurement device and method based on capacitive grating measurement and image recognition, and belongs to the technical field of mine safety monitoring. The surrounding rock separation measurement device of the present invention monitors the changes of surrounding rock separation in real time through a capacitive grating sensor, and verifies and calibrates the measurement data of the capacitive grating sensor through an image recognition sensor. The reliability of surrounding rock separation monitoring is improved by adopting a redundant design of multi-sensor fusion, so that the unmanned intelligent operation and maintenance of surrounding rock separation monitoring is effectively guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of mine safety monitoring, and in particular to a surrounding rock separation measurement device and method based on capacitive grating measurement and image recognition. Background Art

[0002] The surrounding rock separation device can monitor the stability of the tunnel roof, detect signs of instability early, and avoid roof collapse accidents. Reliable and accurate measurement of surrounding rock separation is of great significance to mine safety production.

[0003] Unmanned intelligent operation and maintenance of underground equipment and sensors is an inevitable trend of smart mines. Long-term accurate and reliable operation of the surrounding rock separation device is the prerequisite for realizing unmanned operation and maintenance of the surrounding rock separation device underground. To ensure the accuracy of the measured values, the use of multi-sensor fusion can effectively solve the problem of unreliable measurement data of a single sensor. At the same time, unmanned operation and maintenance requires the surrounding rock separation device to give timely alarm feedback when the function fails.

[0004] In recent years, capacitive grid technology has begun to be applied to the measurement of surrounding rock separation, which is used to solve the problem of inaccurate measurement data of surrounding rock separation caused by sliding noise, contact resistance and other factors of traditional rotary potentiometers. Capacitive grid measurement technology has the advantage of accurate measurement, but in the current application cases of surrounding rock separation monitoring, the installation and arrangement of fixed grids and mobile grids are both linear, and the mobile grid needs to extend out of the surrounding rock separation device during use. If the mobile grid extends too much downward from the top of the tunnel, it is very easy to damage the device and lose its monitoring function.

[0005] To ensure the accuracy and reliability of the measured data, the surrounding rock separation device, like other sensors, needs to be calibrated regularly. Existing surrounding rock separation devices are based on the measurement principle of potentiometers, or based on the measurement principle of capacitive gratings and fiber gratings. They all obtain data through a single sensor, and the accuracy of the measured data cannot be guaranteed. Although the measurement accuracy of the mechanical surrounding rock separation measurement device is not high, it has the advantages of stability and reliability. In order to verify the accuracy of the data, some surrounding rock separation devices have added mechanical scales. The mechanical surrounding rock separation measurement device requires staff to go down the well regularly for inspection and perform manual data comparison, which has problems such as low work efficiency and non-objective data reading. Summary of the invention

[0006] In order to solve the problems in the prior art, the present invention designs a surrounding rock separation measurement device and method based on capacitive grid measurement and image recognition.

[0007] The technical solution of the present invention is: a surrounding rock separation measurement device based on capacitive grid measurement and image recognition, the surrounding rock separation measurement device comprises a capacitive grid sensor component, an image recognition sensor component, a coil spring expansion and contraction mechanism component, a hardware control module component and a device fixing component, the device fixing component comprises a shell, a guide tube and an anchor claw, the capacitive grid sensor component, the image recognition sensor component, the coil spring expansion and contraction mechanism component and the hardware control module component are assembled in the shell, the capacitive grid sensor component comprises a scale fixing bracket, a fixed grid scale and a movable grid scale, the movable grid scale adopts a flexible scale body and has a continuous scale value, one end of the movable grid scale is connected and coiled on the concentric axis of the coil spring expansion and contraction mechanism, and the other end passes through the through hole on the grid scale fixing bracket and is connected to the wire rope of the anchor claw inserted into the guide tube, the image recognition sensor component is fixed on one side of the capacitive grid sensor component, and the image information of the movable grid scale is regularly collected,

[0008] The capacitive barrier sensor component and the image recognition sensor component are both electrically connected to a hardware control module component, and the hardware control module component is used to drive the capacitive barrier sensor component and the image recognition sensor component to work and collect and obtain measurement data of the capacitive barrier sensor component and image information of the image recognition sensor component, and obtain visual measurement values ​​by analyzing the image information of the image recognition sensor component, and then compare and correct them with the synchronous measurement data of the capacitive barrier sensor component to achieve self-inspection and self-calibration of the measurement data, and transmit the obtained measurement data to the outside at the same time.

[0009] Furthermore, the image recognition sensor assembly includes a camera module and a camera module fixing bracket, the camera module fixing bracket is fixed to one side of the scale fixing bracket by screws, the camera module is facing the scale side of the moving scale, and is used to obtain an image of the scale indication of the moving scale, and the camera module is provided with two low-power LED fill lights.

[0010] Furthermore, the surrounding rock separation measurement device also includes a wire rope tension detection assembly, which is arranged in the guide tube, and the wire rope of the anchor claw passes through the wire rope tension detection assembly.

[0011] Furthermore, the wire rope tensioning detection assembly includes a cylindrical fixing seat and a plurality of micro switches, wherein the plurality of micro switches are fixed inside the fixing seat, and are arranged in axial steps along the fixing seat and are evenly distributed in the radial direction, and the fixing seat is provided with an axial through hole corresponding to each micro switch, and the micro switch adopts an ultra-small MQS waterproof switch with a metal pressing plate, and the metal pressing plate of the micro switch is located on the same side as the through hole, and the wire rope of the anchor claw passes through the through hole of the fixing seat and contacts with the metal pressing plate of the micro switch, and the tensioning and relaxation of the wire rope trigger the depression and popping up of the metal pressing plate of the micro switch, thereby realizing the closing and opening of the micro switch, and the micro switch is electrically connected to the hardware control module assembly.

[0012] Furthermore, the movable scale is docked with the wire rope through a slider, and the slider is slidably connected in the guide tube, and an elongated axial hole is opened in the axial direction at the upper part, and an internal threaded hole is opened in the transverse direction at the middle part, and the internal threaded hole is communicated with the axial hole. The wire rope is inserted into the axial hole and is clamped and fixed by a clamping bolt threadedly connected in the internal threaded hole. A scale fixing position is provided at the lower part of the slider, and the end of the movable scale is fixed in the scale fixing position by a screw connection.

[0013] Furthermore, a first bearing is arranged in the shell just below the through hole of the scale fixing bracket, and a second bearing is arranged just below the slider, the first bearing and the second bearing are located on the same horizontal line, and the movable scale passes around the first bearing and the second bearing in sequence, so that the body of the movable scale is located on the same axial direction as the through hole of the scale fixing bracket and the slider.

[0014] Furthermore, the surrounding rock separation measurement device is equipped with multiple sets of capacitive grid sensor assemblies, image recognition sensor assemblies, coil spring telescopic mechanism assemblies and anchor claws, and the same number of micro switches are configured on the corresponding fixing seat of the wire rope tensioning detection assembly.

[0015] Furthermore, a positioning claw is provided at the top end of the guide tube, a tray is sleeved at the lower part, and a fastening nut is threadedly connected to the lower side of the tray of the guide tube.

[0016] The specific steps of the measurement method of the surrounding rock separation measurement device based on capacitive grating measurement and image recognition disclosed in the patent of the present invention are as follows: the surrounding rock separation measurement device sets the capacitive grating sensor as the first sensor to collect high-frequency data and output it as basic measurement data, sets the image recognition sensor as the second sensor, regularly collects the moving scale image, and analyzes the obtained visual measurement value to calibrate the measurement data of the capacitive grating sensor to realize the self-check of the surrounding rock separation measurement device. The specific steps are as follows: S.1 After the surrounding rock separation measurement device is installed, the hardware control module obtains the initial value of the capacitive grating sensor, which is recorded as A0; at the same time, the hardware control module controls the image recognition sensor to collect the image of the moving scale of the target area and identify and analyze the indication of the moving scale at the target position, which is recorded as B0; the initial difference between the measurement value of the capacitive grating sensor and the measurement value of the image recognition sensor is recorded as S0, S0=A0-B0;

[0017] S.2 The surrounding rock separation device obtains the value of the moving scale at a certain moment according to the set self-check cycle or temporary demand. The real-time data collected by the capacitive sensor is recorded as Ai, and the data analyzed and recognized by the image recognition sensor is recorded as Bi. The difference between the measured values ​​of the two sensors at this moment is recorded as Si, Si=Ai-Bi;

[0018] S.3 The output value of the surrounding rock separation device is recorded as Ci, and the maximum allowable value of the relative difference between the capacitive sensor and the image recognition sensor is recorded as Smax;

[0019] When |Si-S0|≤Smax, the output value of the surrounding rock separation measurement device is Ci=Ai;

[0020] When |Si-S0|>Smax, the output value of the surrounding rock separation measurement device Ci=Ai-(Si-S0).

[0021] Compared with the prior art, the invention provides a device for measuring surrounding rock separation based on capacitance measurement and image recognition, which has the following advantages:

[0022] The capacitive sensor assembly of the surrounding rock separation measurement device adopts a flexible moving scale arranged inside the device. The moving scale is retracted and extended by a coil spring extension mechanism, which avoids the moving scale extending out of the device during use, occupying the height space of the tunnel and causing damage to the device.

[0023] The moving scale is enclosed in the device, which improves the protection performance of the device itself and enhances the stability of the electronic components. The moving scale is redirected by the first bearing and the second bearing so that it is located on the same axial direction as the through-holes of the scale fixing bracket and the slider, ensuring the smooth operation of the moving scale and reducing wear between other components.

[0024] The present invention also adopts an image recognition sensor component, which obtains the image of the scale value of the flexible moving scale at the target to correct the output value of the capacitive sensor and realize long-distance visual inspection. The redundant design of multi-sensor fusion ensures the reliability of unmanned intelligent operation and maintenance.

[0025] The movable scale and the wire rope are connected by a slider, and the slider fixes the movable scale and the wire rope with bolts, which makes assembly convenient and quick.

[0026] A wire rope tension detection assembly is provided in the guide tube, and a plurality of micro switches are arranged along the axial steps on the fixing seat of the tension detection assembly, which can realize the tension detection of multiple groups of wire ropes at the same time, and further realize the accurate monitoring of the working condition of the measuring device. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the main structural components of the surrounding rock separation measurement device based on capacitive grating measurement and image recognition.

[0028] Figure 2 It is a schematic diagram of the main structural components of the capacitive sensor component and the image recognition sensor component.

[0029] Figure 3 It is a structural schematic diagram of a capacitive grid sensor assembly.

[0030] Figure 4 It is a structural diagram of the image recognition sensor component.

[0031] Figure 5 It is a schematic diagram of the cross-sectional structure of a wire rope tension detection component.

[0032] Figure 6 It is a three-dimensional wire rope tension detection component.

[0033] Figure 7 It is a structural diagram of the slider.

[0034] In the figure, 1 is a capacitive sensor component, 2 is an image recognition sensor component, 3 is a wire rope tensioning detection component, 4 is a coil spring retracting mechanism component, 5 is a hardware control module component, 11 is a scale fixing bracket, 12 is a fixed scale, 13 is a movable scale, 14 is a first bearing, 15 is a second bearing, 16 is a scale perforation, 21 is a camera module, 21 is a fill light, 22 is a camera module fixing bracket, 23 is a fixing bracket, 31 is a fixing seat, 32 is a micro switch, 311 is a through hole, 321 is a metal pressing sheet, 61 is a shell, 62 is an anchor claw, 63 is a wire rope, 64 is a guide tube, 65 is a tray, 66 is a slider, 67 is a fastening nut, 661 is a scale fixing position, 662 is an internal threaded hole, and 663 is an axial hole. DETAILED DESCRIPTION

[0035] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments. The technical solutions in the embodiments of the present invention are clearly and completely described, and the described embodiments are only embodiments of a part of the present invention, not all of them. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] like Figure 1 , 2 As shown, the present invention provides an embodiment of a surrounding rock separation measurement device based on capacitive grid measurement and image recognition. In this embodiment, the surrounding rock separation measurement device is composed of multiple groups of capacitive grid sensor components 1, multiple groups of image recognition sensor components 2, wire rope tension detection components 3, multiple groups of coil spring expansion and contraction mechanism components 4, hardware control module components 5 and device fixing components. The number of capacitive grid sensor components 1, image recognition sensor components 2 and coil spring expansion and contraction mechanism components 4 is the same and matched.

[0037] The device fixing components of the surrounding rock delamination measuring device include a shell 61, multiple groups of anchor claws 62, a guide tube 64, a tray 65, a fastening nut 67 and multiple sliders 66, etc. Multiple groups of capacitive sensor components 1, image recognition sensor components 2 and coil spring expansion and contraction mechanism components 4 are evenly arranged in the shell 61 in a one-to-one manner in different regions, and the hardware control module component 5 is also installed and fixed on the shell 61. The bottom end of the guide tube 64 is fixed to the top of the middle part of the shell 61 and is connected to the inside of the shell 61 for installing the wire rope tensioning detection component 3. A positioning claw is arranged on the top. The number of anchor claws 62 is arranged in a one-to-one correspondence with the sensor components. Each anchor claw 62 is connected to a wire rope 63. The wire rope 63 passes through the wire rope tensioning detection component 3 in the guide tube 64 and is connected to the slider 66. Combined with Figure 7 As shown, the slider 66 is slidably connected in the guide tube 64, and an elongated axial hole 663 is opened in the upper part along the axial direction, and an internal threaded hole 662 is opened in the middle part along the transverse direction. The internal threaded hole 622 is connected with the axial hole 663. The wire rope 63 is inserted into the axial hole 663 of the slider 66 and is pressed and fixed by the clamping bolt threaded in the internal threaded hole 662. A partition is set at the lower inner part of the guide tube 64 to evenly divide its internal tube cavity. The number of sliders 66 is the same as that of the anchor claws 62, and each slider 66 is located in a partition cavity at the lower part of the guide tube 64. The tray 65 is sleeved on the outer side of the guide tube 64, and the lower tube body of the guide tube 64 is provided with an external thread and is threadedly connected with a fastening nut 67. The fastening nut 67 is located at the lower side of the tray 65 and is used to fix and fasten the surrounding rock separation measurement device in the drilled hole at the top of the tunnel.

[0038] Combination Figure 3 , 4As shown in the figure, taking one set of sensor components as an example, the capacitive grating sensor component 1 of the surrounding rock separation measurement device includes a scale fixing bracket 11, a fixed scale 12 and a movable scale 13. The fixed scale 12 is fixed in the scale fixing bracket 11 by screws, and the scale fixing bracket 11 is provided with a slender scale through hole 16 from top to bottom. The movable scale 13 adopts a flexible scale body with continuous scale values, one end of which is arranged in a disc shape and is wound and connected to the concentric axis of the coil spring expansion mechanism 4, and the other end passes through the scale through hole 16 of the scale fixing bracket 11 and is parallel to and close to the fixed scale 12, with a gap of no more than 0.2mm. The coil spring expansion mechanism 4 is arranged above the capacitive grating sensor component 1, and the movable scale outlet and the scale through hole 16 of the scale fixing bracket 11 are located on the same vertical straight line. The other end of the movable scale 13 bypasses the first bearing 14 and the second bearing 15 in turn, completes a 180° turn inside the housing 61 of the measuring device, and is fixed to the slider 66. A scale fixing position 661 is provided at the lower part of the slider 66, and the end of the movable scale 13 is fixed to the scale fixing position 661 by screw connection. The movable scale 13 is docked with the wire rope 63 through the slider 66, and the wire rope 63 drives the movable scale 13 to move in the guide tube 63 of the measuring device when it moves up and down, thereby avoiding the scale of the existing roof separation measuring device based on the capacitive grid measurement principle from extending too much downward from the top of the tunnel, causing damage to the device. The capacitive grid sensor component 1 is electrically connected to the hardware control module component 5, and the capacitance change caused by the relative movement of the movable scale 13 and the fixed scale 12 during measurement can be converted to obtain the measurement value of the capacitive grid sensor.

[0039] The image recognition sensor assembly 2 of the surrounding rock separation measurement device includes a camera module 21 and a camera module fixing bracket 22. The camera module 21 is directly opposite to the scale side of the moving scale 13, and is used to obtain an image of the scale indication of the moving scale 13. Two low-power LED fill lights 211 are provided on the camera module 21 to adjust the lighting conditions of the camera. The camera module fixing bracket 22 is connected to the scale fixing bracket 11 by screws to form a closed shell and is connected to the fixing bracket 23 by screws. The fixing bracket 23 is fixed to the shell 61 of the measuring device by screws. The hardware control module assembly 5 is electrically connected to the image recognition sensor assembly 2, controls the image recognition sensor assembly 2 to regularly collect images of the target area of ​​the moving scale 13, uses the existing image recognition technology to analyze and obtain the indication of the moving scale 13 at the target position, and is used to calibrate the measurement data of the capacitive sensor 1 to achieve self-inspection. The collected visual images can also be used for underground display and underground remote inspection and other functions.

[0040] Combination Figure 5 , 6As shown, the wire rope tension detection assembly 3 of the surrounding rock separation measurement device includes a fixed seat 31 and a plurality of micro switches 32. The fixed seat 31 is provided with a plurality of fixing positions of the micro switches 32, and each fixing position is arranged in a stepped manner along the axial direction of the fixed seat 31 and is evenly distributed in the radial direction at equal intervals. The fixed seat 31 is also provided with axial through holes 311 that are the same in number as the micro switches 32, for the wire rope 63 to pass through up and down. The micro switch 32 adopts an ultra-small MQS waterproof switch with a metal pressing plate 321. The fixed seat 31 and the micro switch 32 are bonded together by an adhesive such as instant glue, and the metal pressing plate 321 of the micro switch 32 is located on the same side as the through hole 311. The wire rope 63 passes through the through hole 311 of the fixed seat 31 and contacts the metal pressing plate 321 of the micro switch 32. The tension and relaxation of the wire rope 63 trigger the pressing and popping of the metal pressing plate 321 of the micro switch 32, thereby closing and opening the micro switch 32. The hardware control module assembly 5 is electrically connected to the micro switch 32 , and fault detection and alarm are implemented according to the closing and switching states of the micro switch 32 .

[0041] The coil spring expansion and contraction mechanism assembly 4 of the surrounding rock separation measurement device adopts the existing technology, and together with the moving scale 13, the slider 66, the wire rope 63 and the anchor claw 62, etc., constitute the main body of the motion mechanism, which is used to tension the moving scale 13 and the wire 63. One end of the moving scale 13 is wound on the axis concentric with the coil spring expansion and contraction mechanism assembly 4, and the other end is connected and fixed to the slider 66 after changing the direction through multiple bearings, and the slider 66 is connected to the wire rope 63 of the anchor claw 62 to complete the docking. After the measuring device is installed, the anchor claw 62 is embedded and fixed into the deep coal rock wall through drilling, and it can be regarded that no displacement occurs. When the surrounding rock is separated from the layer, the measuring device as a whole moves down with the roadway roof, and under the traction of the wire rope 63, the slider 66 and the moving scale 13 move upward relatively in the guide tube 63, generating a displacement.

[0042] The hardware control module component 5 of the surrounding rock separation measurement device adopts the existing technology, which is used to drive the capacitive barrier sensor and the image recognition sensor to work and collect the measurement data of the capacitive barrier sensor, the image information of the image recognition sensor, and the tension state of the wire rope, etc. After the visual measurement value is obtained by analyzing the image information of the image recognition sensor, it is compared and corrected with the synchronous measurement data of the capacitive barrier sensor to realize self-inspection and self-calibration of the measurement data. At the same time, the hardware control module component 5 can upload the measurement data, image, data over-limit and working status information to the downhole data acquisition instrument and the control center on the well through downhole cables and wireless transmission to realize downhole display and uphole remote inspection.

[0043] The present embodiment provides a surrounding rock separation measurement device based on capacitive grating measurement and image recognition, and the measurement method thereof is as follows: the surrounding rock separation measurement device sets the capacitive grating sensor as the first sensor to collect high-frequency data and outputs it as basic measurement data. The surrounding rock separation measurement device sets the image recognition sensor as the second sensor, regularly collects moving scale images, and analyzes the obtained visual measurement values ​​to calibrate the measurement data of the capacitive grating sensor to realize self-inspection and self-calibration. The specific steps are as follows:

[0044] S.1 After the surrounding rock separation measurement device is installed, the hardware control module obtains the initial value of the capacitive grid sensor, which is recorded as A 0 At the same time, the hardware control module controls the image recognition sensor to collect the image of the target area and identify and analyze the indication of the moving scale at the target position, which is recorded as B 0 ; The initial difference between the measurement value of the capacitive sensor and the measurement value of the image recognition sensor is denoted as S 0 , S 0 =A 0 -B 0 .

[0045] S.2 The surrounding rock separation measurement device obtains the value of the moving scale at a certain moment according to the set self-check cycle or temporary demand, and the real-time data collected by the capacitive sensor is recorded as A i , the data extracted and recognized by the image recognition sensor is recorded as B i The difference between the measured values ​​of the two sensors at this moment is recorded as S i , S i =A i -B i .

[0046] S.3 The output value of the surrounding rock separation device is recorded as C i The maximum allowable value of the relative difference between the capacitive sensor and the image recognition sensor is denoted as S max ,

[0047] |S i -S 0 |≤S max When the sensor output value C i =A i ;

[0048] |S i -S 0 |>S max When the sensor output value C i =A i -(S i -S 0 ).

[0049] The above contents are only preferred embodiments of the present invention and cannot be used to limit the scope of implementation of the present invention. That is, any simple equivalent changes and modifications made according to the claims and description of the present invention are still within the scope of the present invention.

Claims

1. A measuring method of a surrounding rock separation measuring device based on capacitive grating measurement and image recognition, wherein the surrounding rock separation measuring device comprises a capacitive grating sensor component, an image recognition sensor component, a coil spring expansion and contraction mechanism component, a hardware control module component and a device fixing component, wherein the device fixing component comprises a housing, a guide tube and an anchor claw, wherein the capacitive grating sensor component, the image recognition sensor component, the coil spring expansion and contraction mechanism component and the hardware control module component are assembled in the housing, wherein the capacitive grating sensor component comprises a scale fixing bracket, a fixed scale and a movable scale, wherein the movable scale adopts a flexible scale body and has a continuous scale value, wherein one end of the movable scale is connected and coiled on the concentric axis of the coil spring expansion and contraction mechanism, and the other end passes through a through hole on the scale fixing bracket and is connected to a steel wire rope of the anchor claw penetrating the guide tube, wherein the image recognition sensor component is fixed on one side of the capacitive grating sensor component and regularly collects image information of the movable scale, The capacitive barrier sensor component and the image recognition sensor component are both electrically connected to a hardware control module component, and the hardware control module component is used to drive the capacitive barrier sensor component and the image recognition sensor component to work and collect and obtain the measurement data of the capacitive barrier sensor component and the image information of the image recognition sensor component, and obtain the visual measurement value by analyzing the image information of the image recognition sensor component, and then compare and calibrate it with the synchronous measurement data of the capacitive barrier sensor component to achieve self-inspection and self-calibration of the measurement data, and transmit the obtained measurement data to the outside at the same time. The image recognition sensor assembly includes a camera module and a camera module fixing bracket, wherein the camera module fixing bracket is fixed to one side of the scale fixing bracket by screws, and the camera module is facing the scale side of the moving scale, and is used to obtain an image of the scale indication of the moving scale, and the camera module is provided with two low-power LED fill lights; It is characterized in that The measuring method is that the surrounding rock separation measurement device sets the capacitive sensor as the first sensor, performs high-frequency data acquisition and outputs it as basic measurement data, sets the image recognition sensor as the second sensor, regularly acquires the moving scale image, and analyzes the obtained visual measurement value to calibrate the measurement data of the capacitive sensor to realize the self-check of the surrounding rock separation measurement device. The specific steps are as follows: S.1 After the surrounding rock separation measurement device is installed, the hardware control module obtains the initial value of the capacitive sensor, which is recorded as A0; at the same time, the hardware control module controls the image recognition sensor to collect the image of the moving scale in the target area and identify and analyze the indication of the moving scale at the target position, which is recorded as B0; the initial difference between the measurement value of the capacitive sensor and the measurement value of the image recognition sensor is recorded as S0, S0=A0-B0; S.2 The surrounding rock separation device obtains the value of the moving scale at a certain moment according to the set self-check cycle or temporary demand, and the real-time data collected by the capacitive sensor is recorded as A i , the data analyzed and recognized by the image recognition sensor is recorded as B i The difference between the measured values ​​of the two sensors at this moment is recorded as S i , S i =A i -B i； S.3 The output value of the surrounding rock separation device is recorded as C i The maximum allowable value of the relative difference between the capacitive sensor and the image recognition sensor is denoted as S max ; |S i -S0|≤S max When the output value of the surrounding rock separation measurement device is C i =A i ; |S i -S0|>S max When the output value of the surrounding rock separation measurement device is C i =A i -(S i -S0).

2. The measuring method of the surrounding rock separation measuring device based on capacitive grating measurement and image recognition according to claim 1 is characterized in that: The surrounding rock separation measurement device also includes a wire rope tension detection assembly, which is arranged in the guide tube, and the wire rope of the anchor claw passes through the wire rope tension detection assembly.

3. The measuring method of the surrounding rock separation measuring device based on capacitive grating measurement and image recognition according to claim 2 is characterized in that: The wire rope tensioning detection component includes a cylindrical fixing seat and a plurality of micro switches, wherein the plurality of micro switches are fixed inside the fixing seat, and are arranged in axial steps along the fixing seat and are evenly distributed in radial direction. The fixing seat is provided with an axial through hole corresponding to each micro switch, and the micro switch adopts an ultra-small MQS waterproof switch with a metal pressing plate, and the metal pressing plate of the micro switch is located on the same side as the through hole, and the wire rope of the anchor claw passes through the through hole of the fixing seat and contacts with the metal pressing plate of the micro switch, and the tensioning and relaxing of the wire rope trigger the depression and popping up of the metal pressing plate of the micro switch, thereby realizing the closing and opening of the micro switch, and the micro switch is electrically connected to the hardware control module component.

4. The measuring method of the surrounding rock separation measuring device based on capacitive grating measurement and image recognition according to claim 3 is characterized in that: The movable scale is docked with the wire rope through a slider. The slider is slidably connected in the guide tube. An axial center hole is opened in the upper part thereof along the axial direction, and an internal threaded hole is opened in the middle part along the lateral direction. The internal threaded hole is communicated with the axial center hole. The wire rope is inserted into the axial center hole and is clamped and fixed by a clamping bolt threadedly connected in the internal threaded hole. A scale fixing position is provided at the lower part of the slider, and the end of the movable scale is fixed in the scale fixing position by screw connection.

5. The measuring method of the surrounding rock separation measuring device based on capacitive grating measurement and image recognition according to claim 4 is characterized in that: A first bearing is arranged in the housing just below the through hole of the scale fixing bracket, and a second bearing is arranged just below the slider. The first bearing and the second bearing are located on the same horizontal line, and the movable scale passes around the first bearing and the second bearing in sequence, so that the body of the movable scale is located on the same axial direction as the through hole of the scale fixing bracket and the slider.

6. The measuring method of the surrounding rock separation measuring device based on capacitive grating measurement and image recognition according to claim 5 is characterized in that: The surrounding rock separation measurement device is equipped with multiple sets of capacitive grid sensor components, image recognition sensor components, coil spring telescopic mechanism components and anchor claws, and the corresponding fixed seat of the wire rope tensioning detection component is equipped with the same number of micro switches.

7. The measuring method of the surrounding rock separation measuring device based on capacitive grating measurement and image recognition according to claim 6 is characterized in that: The top end of the guide tube is provided with a positioning claw, and the lower part is sleeved with a tray. The guide tube is threadedly connected with a fastening nut on the lower side of the tray.

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