Surface rock movement monitoring device and method in working face stoping process

Abstract

The invention relates to an earth surface rock movement monitoring device and method in a working face stoping process, and belongs to the technical field of rock movement monitoring. The method comprises the following steps: arranging a monitoring device at each of stable positions at two ends of a theoretical subsidence area of the earth surface of the working face, and arranging a plurality of monitoring devices in a rock migration subsidence area between the two monitoring devices; acquiring geographic coordinates of each monitoring device and relative coordinates of each monitoring device; setting the distance between the measuring points, and inserting interpolation points between the monitoring devices according to the distance between the measuring points; starting from one side of the rock migration subsidence area, all monitoring devices in the rock migration subsidence area are controlled to start scanning in sequence, and two-dimensional coordinate data of all interpolation points are obtained; and repeating the scanning process to obtain new two-dimensional coordinate data of each interpolation point, and subtracting the two-dimensional coordinate data of each interpolation point stored last time to obtain the rock migration settlement of each interpolation point. According to the invention, multi-point continuous monitoring can be realized, automatic monitoring and prediction of rock movement can be realized, and the monitoring data is real and reliable and has good continuity.

Description

Technical Field

[0001] The invention belongs to the field of rock movement monitoring, and relates to a device and method for monitoring surface rock movement in a working face mining process. Background Art

[0002] During coal mining, due to the impact of underground mining activities, surface rocks may move and deform, which may lead to geological disasters such as collapse and landslides, threatening the lives of coal miners and causing damage to ground buildings and the ecological environment. By monitoring and analyzing the surface rock movement during the mining process, we can analyze and calculate the real and effective rock movement angle, and provide data support for the design of the reserved coal pillar boundary when protecting the safety of buildings above the mining area.

[0003] Currently, rock movement monitoring mainly relies on manual measurement, which has low measurement efficiency, long investment time, poor measurement data continuity, unguaranteed data authenticity and large measurement errors. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a surface rock movement monitoring device and method for the working face mining process, which can automatically monitor the surface rock movement data of the coal mine mining working face, improve the monitoring accuracy, and can locally store and transmit the monitoring data through the network.

[0005] To achieve the above object, the present invention provides a method for monitoring surface rock movement during mining of a working face, the method comprising:

[0006] S1. First, a monitoring device is arranged at each stable position at both ends of the theoretical settlement area on the working face surface, and several monitoring devices are arranged in the rock movement settlement area between the two monitoring devices;

[0007] S2. Establish a rectangular coordinate system in the cross-section plane of the surface rock layer, obtain the geographic coordinates of each monitoring device, and then use one of the monitoring devices at a stable position as the coordinate origin to calculate the relative coordinates of other monitoring devices. After obtaining the relative coordinates, calculate the spacing between adjacent monitoring devices;

[0008] S3, setting the measuring point spacing, and inserting interpolation points between each monitoring device according to the measuring point spacing;

[0009] S4, starting from one side of the rock movement and settlement area, controlling each monitoring device in the rock movement and settlement area to start scanning in sequence, and obtaining two-dimensional coordinate data of each interpolation point;

[0010] S5. Repeat the scanning process of step S4 to obtain new two-dimensional coordinate data of each interpolation point, and subtract the two-dimensional coordinate data of each interpolation point saved last time to obtain the rock movement settlement amount at each interpolation point.

[0011] Furthermore, before conducting rock movement monitoring, it is necessary to first determine the basic parameters for rock movement calculation according to the geological conditions of the coal mine, including strike movement angle, uphill movement angle, downhill movement angle, maximum sinking angle, loose layer movement angle, coal seam movement angle correction value, coal seam inclination and measuring point spacing.

[0012] Furthermore, in step S4, before calculating the rock movement and settlement, the initial angle and initial straight-line distance between each monitoring device and each interpolation point within its own monitoring range, as well as the initial elevation of each interpolation point are first obtained, and these initial data are saved.

[0013] Furthermore, in step S4, the two-dimensional coordinate data of each interpolation point is obtained in the following manner: the monitoring device measures the angle and straight-line distance between the device itself and the interpolation point, and based on the angle, straight-line distance and horizontal distance between the monitoring device and the interpolation point, the trigonometric function formula is used to obtain the elevation of the interpolation point relative to the monitoring device, and then the elevation of the interpolation point relative to the coordinate origin is obtained, thereby obtaining the two-dimensional coordinate data of the interpolation point.

[0014] Furthermore, in step S5, the rock movement and settlement amount at each interpolation point is obtained by subtracting the last saved ordinate value from the new ordinate value of each interpolation point.

[0015] On the other hand, the present invention provides a surface rock movement monitoring device for a working face mining process, which includes a data acquisition controller, and a surface displacement monitoring sensor, an inclination sensor, a rotating pan-tilt head, a laser ranging sensor and a wireless communication module respectively connected to the data acquisition controller.

[0016] Among them, the surface displacement monitoring sensor is used to monitor the horizontal and elevation displacement changes of the location of the device; the inclination sensor is used to monitor the angle changes of the device itself; the rotating pan-tilt head is used to fix the laser ranging sensor and control the laser ranging sensor to measure the distance of multiple target points on the ground; the data acquisition controller collects data from the surface displacement monitoring sensor, inclination sensor and laser ranging sensor, and calculates the relative displacement of each interpolation point, and then packages it for long-distance transmission through the wireless communication module.

[0017] The beneficial effects of the present invention are as follows: the present invention can effectively solve the problem of real-time monitoring of surface rock movement changes caused by the coal mining process, can effectively reduce the personnel input of the coal mine surveying department, and can realize multi-point continuous monitoring through cloud control, saving the cost of deployment. The system can automatically save high-precision surface displacement monitoring data, and realize automatic monitoring and prediction of rock movement through analysis of historical data and combination of rock movement calculation formulas. The data has no human intervention, is true and reliable, and has good continuity of monitoring data, which can be used as an important data reference for reserving safe coal pillars.

[0018] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:

[0020] Figure 1 A functional block diagram of a surface rock movement monitoring device provided by an embodiment of the present invention;

[0021] Figure 2 A schematic diagram of the structure of a surface rock movement monitoring device provided in one embodiment of the present invention;

[0022] Figure 3 A schematic diagram of a process flow of a surface rock movement monitoring method provided by an embodiment of the present invention;

[0023] Figure 4 It is a schematic diagram of the layout of the monitoring device;

[0024] Figure 5 This is a schematic diagram of interpolation calculation of measuring points; DETAILED DESCRIPTION

[0025] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner, and the following embodiments and the features in the embodiments can be combined with each other without conflict.

[0026] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on the present invention. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0027] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "front", "rear", etc. indicate the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0028] Example 1

[0029] like Figure 1 and 2 As shown, the surface rock movement monitoring device provided in this embodiment includes a data acquisition controller, and a surface displacement monitoring sensor, an inclination sensor, a high-precision rotating pan-tilt head, a long-distance laser ranging sensor and a wireless communication module respectively connected to the data acquisition controller.

[0030] Among them, the surface displacement monitoring sensor is used to monitor the horizontal and elevation displacement changes of the location of the device, and transmit the monitoring data to the data acquisition controller; the inclination sensor is used to monitor the angle changes of the device itself, and transmit the monitoring data to the data acquisition controller; the long-distance laser ranging sensor is fixed on a high-precision rotating pan-tilt head, and the monitoring angle of the laser ranging sensor is driven by the pan-tilt head to control the laser ranging sensor to measure the distance of multiple target points on the ground according to the set vertical angle. At the same time, the laser ranging sensor transmits the measurement data to the data acquisition controller; the data acquisition controller packages the data from the surface displacement monitoring sensor, the inclination sensor and the long-distance laser ranging sensor, and sends them to the data processing center through the wireless communication module.

[0031] Example 2

[0032] This embodiment provides a method for monitoring surface rock movement during the mining process of a working face. Specifically, the monitoring device described in Example 1 is used to monitor surface rock movement. When used, multiple devices need to be used in coordination, that is, multiple monitoring devices are arranged in sequence on the surface strike and inclination survey lines of the working face, such as Figure 4 shown.

[0033] like Figure 3 As shown, the method is as follows:

[0034] S1. Two monitoring devices are set as control point equipment at the stable position of the boundary of the theoretical settlement area. The positions of these two monitoring devices are respectively recorded as K1 and K2. Three monitoring devices are installed as measuring point equipment in the rock movement settlement area between K1 and K2. The positions of these three monitoring devices are respectively recorded as C1, C2, and C3.

[0035] S2. Before conducting rock movement monitoring, the basic parameters for rock movement calculation should be determined according to the local coal mine conditions. These parameters include: strike movement angle, uphill movement angle, downhill movement angle, maximum sinking angle, loose layer movement angle, coal seam movement angle correction value, coal seam inclination, measuring point spacing, etc.

[0036] S3. Establish a two-dimensional coordinate system in the profile plane of the surface rock layer, with the horizontal direction as the abscissa and the elevation direction (i.e., vertical direction) as the ordinate, then obtain the geographic coordinates of points K1, K2, C1, C2, and C3, and use K1 or K2 as the coordinate origin to calculate the initial relative coordinates of the locations of other monitoring devices, thereby obtaining the distance D1 between K1 and C1, the distance D2 between C2 and C1, the distance D3 between C3 and C2, and the distance D4 between K2 and C3.

[0037] S4, set the measuring point spacing d, divide the interpolation measuring points between the segments D1 to D4, and obtain the interpolation measuring points N1, N2, ..., N in each segment. i ,…,N n .

[0038] S5. Record the initial angles (the initial angle refers to the angle between the connecting line between the monitoring device and the interpolation point and the vertical direction) and the initial straight-line distance between the monitoring device at K1, K2, C1, C2, and C3 and each interpolation point, and calculate the initial elevation of each interpolation point by means of trigonometric formulas, and save these initial data.

[0039] S6, control the pan / tilt of the monitoring device located at point C1 to scan from the maximum angle, and use the trigonometric function formula to perform fitting calculation to obtain the interpolation points N1 to N2 between the D1 segments. n The relative elevation of the interpolation point is converted into the two-dimensional coordinates of the profile. Similarly, the pan-tilt of the monitoring device at point C2 is controlled to scan from the maximum angle to obtain the relative elevation of the interpolation point in segment D2 and the two-dimensional coordinates of each point. The two-dimensional coordinate data of each interpolation point is saved. Repeat this operation process to obtain the new two-dimensional coordinate data of each interpolation point and save it. During the scanning process, the pan-tilt of the monitoring device at K1 and K2 keeps the initial position unchanged.

[0040] Interpolation point N between segments D1 i For example, the monitoring device at C1 measures N through a laser ranging sensor. iThe straight-line distance between the monitoring device and the PTZ, and the rotation angle of the PTZ is the distance between the device and N i The angle between the device and the interpolation point (i.e. the angle between the connecting line of the device and the interpolation point and the vertical direction) is calculated by combining the straight-line distance, angle, and the device and N i The horizontal distance between them is calculated to get N i Relative to the elevation of the monitoring device at C1, we can get N i The elevation relative to the origin of the coordinate system, i.e. the ordinate; N i The horizontal axis is based on N i The number of measured point distances d between the coordinate origin is obtained, from which the interpolation point N can be obtained i The two-dimensional coordinates of .

[0041] S7, subtract the ordinate data of each interpolation point calculated by the monitoring device each time from the ordinate data of each interpolation point saved last time, so as to obtain the rock movement and settlement amount at each interpolation point. The rock movement and settlement of the working face can be monitored in real time by the monitoring device continuously scanning.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention.

Claims

1. A method for monitoring surface rock movement during the mining process of a working face, characterized in that: The method comprises: firstly, arranging a monitoring device at each of the stable positions at both ends of the theoretical settlement area on the surface of the working face, and arranging a plurality of monitoring devices in the rock movement settlement area between the two monitoring devices; A rectangular coordinate system is established in the cross-section plane of the surface rock layer to obtain the geographic coordinates of each monitoring device, and then one of the monitoring devices at a stable position is used as the coordinate origin to calculate the relative coordinates of other monitoring devices. After obtaining the relative coordinates, the spacing between adjacent monitoring devices is calculated; Set the measurement point spacing and insert interpolation points between each monitoring device according to the measurement point spacing; Starting from one side of the rock movement and settlement area, each monitoring device in the rock movement and settlement area is controlled to start scanning in sequence to obtain two-dimensional coordinate data of each interpolation point; Repeat the scanning process to obtain new two-dimensional coordinate data of each interpolation point. Subtract the two-dimensional coordinate data of each interpolation point saved last time to obtain the rock movement and settlement amount at each interpolation point.

2. The surface rock movement monitoring method according to claim 1, characterized in that: Before conducting rock movement monitoring, it is necessary to first determine the basic parameters for rock movement calculation according to the geological conditions of the coal mine, including strike movement angle, uphill movement angle, downhill movement angle, maximum sinking angle, loose layer movement angle, coal seam movement angle correction value, coal seam inclination and measuring point spacing.

3. The surface rock movement monitoring method according to claim 1, characterized in that: Before calculating the rock movement and settlement, the initial angle and initial straight-line distance between each monitoring device and each interpolation point within its own monitoring range, as well as the initial elevation of each interpolation point, are obtained, and these initial data are saved.

4. The surface rock movement monitoring method according to claim 1, characterized in that: The two-dimensional coordinate data of each interpolation point is obtained in the following manner: the monitoring device measures the angle and straight-line distance between the device itself and the interpolation point, and based on the angle, straight-line distance and horizontal distance between the monitoring device and the interpolation point, the trigonometric function formula is used to obtain the elevation of the interpolation point relative to the monitoring device, and then the elevation of the interpolation point relative to the coordinate origin is obtained, thereby obtaining the two-dimensional coordinate data of the interpolation point.

5. A surface rock movement monitoring device applicable to the method according to any one of claims 1 to 4, characterized in that: The device comprises a data acquisition controller, and a surface displacement monitoring sensor, an inclination sensor, a rotating pan-tilt platform, a laser ranging sensor and a wireless communication module respectively connected to the data acquisition controller; The surface displacement monitoring sensor is used to monitor the displacement change value of the position where the device is located in the horizontal and elevation; the inclination sensor is used to monitor the angle change of the device itself; the rotating pan is used to fix the laser ranging sensor and control the laser ranging sensor to measure the distance of multiple target points on the ground; the data acquisition controller collects data from the surface displacement monitoring sensor, the inclination sensor and the laser ranging sensor, calculates the relative displacement of each interpolation point, and then packages it for long-distance transmission through the wireless communication module.

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