Device and method for monitoring caving process of fractured rock mass

Abstract

The invention provides a fractured rock mass caving process monitoring device and method.The fractured rock mass caving process monitoring device comprises an automatic take-up and pay-off assembly, the automatic take-up and pay-off assembly comprises a cable winch, an anti-disengaging pulley assembly and a pay-off end assembly, and the cable winch, the anti-disengaging pulley assembly and the pay-off end assembly are sequentially arranged in the pay-off moving direction; the cable winch comprises a data cable, the data cable comprises a first end and a second end, the first end of the data cable is fixed to the cable winch, and the second end sequentially penetrates through the anti-disengaging pulley assembly and the pay-off end assembly. The probe assembly is connected to the end part of the second end of the data cable; the automatic take-up and pay-off assembly drives the data cable to move in the pay-off moving direction, so that the probe assembly moves into the goaf through the monitoring hole, and the caving process of the goaf is monitored. The risk of sudden collapse of the ground surface when an operator manually measures the ground surface is avoided, the safety of the monitoring process is improved, meanwhile, unattended continuous measurement can be realized, and the continuity of monitoring the development of the goaf is improved.

Description

Technical Field

[0001] The present application belongs to the field of mining engineering technology, and specifically relates to a device and method for monitoring the falling process of a broken rock mass. Background Art

[0002] The current actual situation of underground mining in my country is that goaf disasters occur frequently. Underground goaf has become an important problem restricting the development of mines. As the mines go deeper, the ground pressure increases. Under strong ground pressure, goaf is prone to collapse accidents. In the underground mining process of large metal mines, goaf is one of the main factors affecting the safe mining of underground ore bodies and surface collapse. Its treatment methods can be divided into: closure method, reinforcement method, caving method and filling method. The most direct and effective method for the treatment of goaf is filling method. However, the use of filling method for treatment in very broken rock mass often shows the situation of "filling and bubbling". When the rock mass around the goaf is broken, the bubbling process is fast, and there is a possibility of bubbling through the surface, which will cause serious damage to the ecological environment. In order to avoid the risk of surface collapse caused by the development of goaf, it is very necessary to fill and manage the goaf in time during the mining process. When managing the goaf, the size of the goaf determines the injection amount of filling slurry, and the development of the goaf determines the timing of filling. However, the means of monitoring the development of goafs are currently limited. The morphology and development information of goafs are still predicted by using drawings and visual inspection of production mining areas, and the information related to goafs is still in a "black box" state. Summary of the invention

[0003] Therefore, the present application provides a device and method for monitoring the falling process of a broken rock mass, so as to solve at least one of the above-mentioned problems existing in the prior art.

[0004] In order to solve the above problems, the first aspect of the present application provides a device for monitoring the process of broken rock falling, including an automatic wire retracting and releasing assembly and a probe assembly, the automatic wire retracting and releasing assembly including a cable winch, an anti-slip pulley assembly and a wire-releasing end assembly, the cable winch, the anti-slip pulley assembly and the wire-releasing end assembly are arranged in sequence along the wire-releasing moving direction; the cable winch includes a data cable, the data cable includes a first end and a second end, the first end of the data cable is fixed on the cable winch, and the second end passes through the anti-slip pulley assembly and the wire-releasing end assembly in sequence; the probe assembly is connected to the second end of the data cable; the automatic wire retracting and releasing assembly drives the data cable to move along the wire-releasing moving direction, so that the probe assembly moves into the goaf through the monitoring hole to monitor the process of falling in the goaf.

[0005] Optionally, the cable winch includes a winch frame and a winch, the winch is arranged on the top of the winch frame, the winch rotates relative to the winch frame, the first end of the data cable is fixed on the winch, and the data cable is wound around the winch by rotating the winch.

[0006] Optionally, the cable winch further includes a driving member and a transmission assembly, wherein the driving member is disposed on the winch frame, and the driving member is connected to the winch via the transmission assembly.

[0007] Optionally, the anti-slip pulley assembly includes a bracket, a linear slide rail assembly and an anti-slip pulley group, the linear slide rail assembly is arranged on the top of the bracket, and the anti-slip pulley group is arranged on the top of the linear slide rail assembly.

[0008] Optionally, the anti-slip pulley group includes a first wheel frame, a second wheel frame, a first anti-slip wheel, and a second anti-slip wheel, the first wheel frame is provided with the first anti-slip wheel and the second anti-slip wheel, the second wheel frame is installed on the linear slide rail assembly, and the second wheel frame is provided with the first pulley.

[0009] Optionally, the wire-releasing end assembly includes a support frame, a first frame body and a second frame body are provided on the support frame, a second pulley is provided on the first frame body, a height difference is formed between the first frame body and the second frame body so that the second pulley is in the same plane as the first pulley, and a third pulley is provided on the second frame body.

[0010] Optionally, the probe assembly includes a probe, a force measuring piece and a casing, the probe is used to collect contour information and video information of the goaf and the monitoring hole, the tail end of the probe is connected to the force measuring piece, the probe and the force measuring piece are arranged in the casing, and the second end of the data cable is connected to the force measuring piece.

[0011] Optionally, the monitoring device also includes a control system, which is respectively connected to the cable winch and the anti-slip pulley assembly for controlling the movement of the cable winch and the anti-slip pulley assembly. The control system is also connected to the probe assembly for receiving data information fed back by the probe assembly.

[0012] Optionally, the monitoring device further includes a solar power supply system, and the solar power supply system is connected to the control system to supply power to the monitoring device.

[0013] In a second aspect of the present application, a method for monitoring the falling process of a broken rock mass is provided, wherein the monitoring is performed using any one of the above-mentioned monitoring devices for monitoring the falling process of a broken rock mass, and the monitoring method comprises:

[0014] Acquire first development information of the monitoring hole;

[0015] Wherein, the first development information includes changes in cracks in the hole wall of the monitoring hole;

[0016] Acquire the spatial information and second development information of the goaf;

[0017] The spatial information includes the long semi-axis, short semi-axis and bulk height of the goaf; the first development information includes the change in the height of the goaf roof from the ground surface;

[0018] Based on the spatial information and the second development information of the goaf and the second development information of the monitoring hole, the caving process of the goaf is monitored simultaneously, and the impact of the development of the goaf on the ground surface is estimated.

[0019] Beneficial Effects

[0020] The embodiment of the present application provides a device and method for monitoring the process of broken rock mass falling. The data cable is allowed to run along the moving direction of the wire release through an automatic retractable wire assembly, and the probe assembly is extended into the monitoring hole by relying on its own gravity, and is moved along the monitoring hole to the goaf. In the process of the probe assembly continuously moving downward along the monitoring hole, the probe assembly can also monitor the first development information of the cracks in the hole wall of the monitoring hole, and predict whether the monitoring hole may have collapsed holes, blocked holes, new cracks, fractures, etc. At the same time, the spatial information and second development information of the goaf are obtained through the probe assembly, thereby realizing the monitoring of the falling process of the goaf and the monitoring of the spatial morphology of the goaf, so as to realize the prediction of the surface state. Through the automated monitoring operation, the risk of sudden collapse of the surface when the operator performs manual measurement on the surface is avoided, the safety of the monitoring process is improved, and at the same time, unmanned continuous measurement can be realized, thereby improving the continuity of monitoring the development of the goaf. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of a device for monitoring the falling progress of a broken rock mass according to an embodiment of the present application;

[0022] Figure 2 A partial schematic diagram of a probe assembly according to an embodiment of the present application;

[0023] Figure 3 A side view of a cable winch according to an embodiment of the present application;

[0024] Figure 4 A side view of an anti-slip pulley assembly according to an embodiment of the present application;

[0025] Figure 5 A side view of a defense line end assembly according to an embodiment of the present application.

[0026] The reference numerals are:

[0027] 11-cable winch; 12-anti-slip pulley assembly; 13-anti-line end assembly;

[0028] 111-data cable; 112-winch frame; 113-winch; 114-driving member;

[0029] 121-anti-slip pulley assembly; 122-bracket; 123-linear guide rail assembly; 124-micro switch;

[0030] 1211-first anti-slip pulley; 1212-second anti-slip pulley; 1213-first pulley;

[0031] 131 - second pulley; 132 - third pulley; 133 - displacement sensor; 134 - support frame;

[0032] 21-force measuring piece; 22-casing; 23-probe;

[0033] 231-LiDAR; 232-LED light; 233-Image sensor;

[0034] 31-system controller; 32-switch; 33-computer; 34-chassis shell; 35-battery;

[0035] 41-solar panel; 42-solar charge controller;

[0036] 5- Monitoring hole;

[0037] 6-Goaf area. DETAILED DESCRIPTION

[0038] In the description of the present application, 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" 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 a limitation on the present invention.

[0039] 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 one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0040] In this application, 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 connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0042] See also Figures 1 to 5 As shown, according to the first aspect of the embodiment of the present application, a broken rock mass fall process monitoring device is provided, including an automatic wire retracting and releasing assembly and a probe assembly, the automatic wire retracting and releasing assembly including a cable winch 11, an anti-slip pulley assembly 12 and a wire release end assembly 13, the cable winch 11, the anti-slip pulley assembly 12 and the wire release end assembly 13 are sequentially arranged along the wire release moving direction; the cable winch 11 includes a data cable 111, the data cable 111 includes a first end and a second end, the first end of the data cable 111 is fixed on the cable winch 11, and the second end passes through the anti-slip pulley assembly 12 and the wire release end assembly 13 in sequence; the probe assembly 2 is connected to the second end of the data cable 111;

[0043] The automatic retractable wire assembly 1 drives the data cable 111 to move along the wire-releasing direction, so that the probe assembly 2 moves into the goaf 6 through the monitoring hole 5 to monitor the caving process of the goaf 6 .

[0044] The data cable 111 is made to run along the direction of the wire release through the automatic retractable wire assembly, and the probe assembly is extended into the monitoring hole 5 by relying on its own gravity, and is moved along the monitoring hole 5 to the goaf 6; in the process of the probe assembly continuously moving downward along the monitoring hole 5, the probe assembly can also monitor the first development information of the cracks in the hole wall of the monitoring hole 5, and predict whether the monitoring hole 5 may have collapsed holes, blocked holes, new cracks, fractures, etc.; at the same time, the spatial information and second development information of the goaf 6 are obtained through the probe assembly, thereby realizing the monitoring of the caving process of the goaf 6 and the monitoring of the spatial morphology of the goaf 6, so as to realize the prediction of the surface state; through the automated monitoring operation, the risk of sudden collapse of the surface when the operator performs manual measurement on the surface is avoided, the safety of the monitoring process is improved, and at the same time, unmanned continuous measurement can be realized, thereby improving the continuity of monitoring the development of the goaf 6.

[0045] Among them, the automatic wire-reeling assembly includes a cable winch 11, an anti-slip pulley assembly 12 and a wire-releasing end assembly 13, and the cable winch 11, the anti-slip pulley assembly 12 and the wire-releasing end assembly 13 are arranged in sequence along the wire-releasing moving direction; that is, moving from one end of the cable winch 11 to one end of the monitoring hole 5 is along the wire-releasing moving direction, and the corresponding wire-reeling moving direction is moving from one end of the monitoring hole 5 to one end of the cable winch 11, and the two are relative; further, the cable winch 11, the anti-slip pulley assembly 12 and the wire-releasing end assembly 13 are arranged in sequence along the wire-releasing moving direction 2 and a pay-off end assembly 13, that is, the pay-off end assembly 13 is arranged at the top of the monitoring hole 5, the cable winch 11 is arranged at an end away from the monitoring hole 5, and the anti-slip pulley assembly 12 is arranged between the pay-off end assembly 13 and the cable winch 11. Through the above arrangement, the data cable 111 can be smoothly paid out from the cable winch 11, and under the arrangement of the anti-slip pulley assembly 12, the data cable 111 is prevented from slipping off the automatic pay-off and retracting assembly, ensuring that the data cable 111 can smoothly lower the probe assembly to the goaf 6.

[0046] Among them, the data cable 111 includes a first end and a second end. The first end of the data cable 111 is fixed on the cable winch 11, that is, when the goaf 6 is not monitored, the data cable 111 is wound around the cable winch 11, and the winding of the data cable 111 is facilitated by fixing one end; the second end passes through the anti-slip pulley assembly 12 and the wire-releasing end assembly 13 in sequence to prevent the data cable 111 from slipping off the automatic retractable wire assembly, and ensure that the data cable 111 moves along a specified trajectory to ensure that the probe assembly can smoothly enter the monitoring hole 5; the probe assembly 2 is connected to the second end of the data cable 111. The data cable 111 is used to send the probe assembly into the goaf 6 through the monitoring hole 5 on the one hand, and to realize the transmission of information collected by the probe assembly on the other hand.

[0047] The cable winch 11 includes a winch frame 112 and a winch 113 . The winch 113 is disposed on the top of the winch frame 112 . The winch 113 rotates relative to the winch frame 112 . The first end of the data cable 111 is fixed on the winch 113 . The data cable 111 is wound around the winch 113 by rotating the winch 113 .

[0048] Among them, a capstan 113 is arranged on the top of the winch frame 112, and the capstan 113 rotates relative to the winch frame 112. That is to say, bearing seats are respectively installed at both ends of the top of the winch frame 112, and rotating shafts are arranged at both ends of the capstan 113. The capstan 113 is installed on the bearing seats through the rotating shafts. The installation of the capstan 113 on the winch frame 112 is realized through the bearing seats to ensure the rotation performance between the two and avoid noise, so as to avoid hard friction between the rotating shaft of the capstan 113 and the winch frame 112, which will cause wear to both.

[0049] Among them, the first end of the data cable 111 is fixed on the capstan 113, and the data cable 111 is wound around the capstan 113 by rotating the capstan 113; that is, the capstan 113 includes a winding drum, and the first end of the data cable 111 is fixed to one end of the winding drum, and then the capstan 113 is rotated to make the data cable 111 be paid out layer by layer from the capstan 113. Similarly, rotating the capstan 113 can also make the data cable 111 be wound around the winding drum of the capstan 113 layer by layer. By fixing the data cable 111 on the winding drum, on the one hand, it is to facilitate winding, and on the other hand, during the monitoring process, due to the gravity of the probe assembly, it is also to prevent the data cable 111 from falling off the winding drum as a whole.

[0050] The cable winch 11 further includes a driving member 114 and a transmission assembly. The driving member 114 is disposed on the winch frame 112 , and the driving member 114 is connected to the winch 113 via the transmission assembly.

[0051] The driving assembly 114 is used to provide driving force, and has transmitted the motion to the capstan 113 through the transmission assembly, thereby driving the capstan 113 to automatically reel in or unreel the line.

[0052] Specifically, when the driving member 112 drives the winch 113 to rotate along the first direction, the data cable 111 moves along the line-releasing direction; when the driving member 112 drives the winch 113 to rotate along the second direction, the data cable 111 moves along the line-reeling direction; wherein the first direction and the second direction are opposite directions to each other, so as to realize automatic line-reeling or line-releasing of the winch 113.

[0053] In this embodiment, the driving member 114 is a driving motor.

[0054] Among them, the transmission assembly in this embodiment is a chain transmission assembly, including a driving sprocket, a driven sprocket and a chain. The driven sprocket is installed on the rotating shaft of the capstan 113, the driving sprocket is installed on the output shaft of the driving member 112, one end of the chain is installed on the driving sprocket, and the other end is installed on the driven sprocket; the driving sprocket is driven to rotate by the driving member 112, and then the driven sprocket is driven to rotate by the chain, thereby realizing the rotation of the capstan 113.

[0055] In other embodiments, the transmission assembly may also be a belt drive or a gear drive.

[0056] The anti-slip pulley assembly 12 comprises a bracket 122 , a linear slide rail assembly 123 and an anti-slip pulley block 121 . The linear slide rail assembly 123 is arranged on the top of the bracket 122 , and the anti-slip pulley block 121 is arranged on the top of the linear slide rail assembly 123 .

[0057] Among them, the anti-slip pulley group 121 is arranged on the linear slide rail assembly 123. That is to say, no matter whether the data cable 111 is being wound or released, the anti-slip pulley group 121 will move along the length direction of the linear slide rail assembly 123 under the drive of the linear slide rail assembly 123 to avoid the entanglement of the wires and realize the automatic cable management function.

[0058] Specifically, the linear slide rail assembly 123 includes a base frame, a driving unit, a slider and a screw. The slider is arranged on the screw, the screw is installed on the base frame, the driving unit is installed on the base frame, and the output end is connected to the screw for driving the screw to rotate, so as to convert the rotational motion of the screw into the movement of the slider along the screw, thereby moving the anti-slip pulley assembly 121 on the linear slide rail assembly 123.

[0059] In this embodiment, the driving part is a driving motor.

[0060] Specifically, micro switches 124 are arranged at both ends of the base frame of the linear slide rail assembly 123. When the anti-slip pulley assembly 121 triggers the micro switch 124, the driving part changes the rotation direction to cooperate with the cable winch 11 to achieve line protection or line reeling.

[0061] The anti-slip pulley assembly 121 includes a first wheel frame, a second wheel frame, a first anti-slip wheel 1211, and a second anti-slip wheel 1212. The first wheel frame is provided with the first anti-slip wheel 1211 and the second anti-slip wheel 1212. The second wheel frame is installed on the linear slide rail assembly, and the second wheel frame is provided with the first pulley 1213.

[0062] Among them, the first wheel frame is installed on the slider of the linear slide rail assembly and can move with the slider; the first wheel frame is provided with a first anti-slip wheel 1211 and a second anti-slip wheel 1212, that is, the first anti-slip wheel 1211 and the second anti-slip wheel 1212 are arranged one above the other on the first wheel frame, and the data cable 111 is first laid on the first anti-slip wheel 1211 located at the upper part, and then passes through between the first anti-slip wheel 1211 and the second anti-slip wheel 1212 and is laid on the second anti-slip wheel 1212 located at the lower part, and then passes out from the bottom end of the second anti-slip wheel 1212. The position of the data cable 111 is limited by the first anti-slip pulley 1211 and the second anti-slip pulley 1212 arranged one above the other, so as to prevent the data cable 111 from slipping off the monitoring device, resulting in the inability to monitor the goaf 6.

[0063] Among them, the second wheel frame is installed on the linear slide rail assembly, and the first pulley 1213 is arranged on the second wheel frame. Here, the second wheel frame is installed on the linear slide rail assembly, that is, the second wheel frame is installed on the slider of the linear slide rail assembly and can move with the slider; here, the axis of the first pulley 1213 is perpendicular to the horizontal plane, and at the same time, the axis of the first pulley 1213 and the axes of the first anti-slip wheel 1211 and the second anti-slip wheel 1212 are arranged perpendicular to each other, that is, the data cable 111 coming out of the second anti-slip wheel 1212 is laid on the first pulley 1213 and guided by the first pulley 1213.

[0064] The wire-releasing end assembly 13 includes a support frame 134, on which a first frame and a second frame are arranged, on which a second pulley 131 is arranged, and a height difference is formed between the first frame and the second frame so that the second pulley 131 and the first pulley 1213 are in the same plane, and on which a third pulley 132 is arranged.

[0065] Among them, a second pulley 131 is provided on the first frame, and a height difference is formed between the first frame and the second frame so that the second pulley 131 and the first pulley 1213 are in the same plane. That is to say, in order to further prevent the data cable 111 from slipping off from the pay-off end, the first pulley 1213 on the anti-slip pulley group 121 and the second pulley 131 on the pay-off end assembly 13 further form an anti-slip pulley, and the data cable 111 passes through the first pulley 1213 and is laid on the second pulley 131. It should be noted here that the positions of the second pulley 131 and the first pulley 1213 for laying the data cable 111 are relatively arranged.

[0066] The second frame is provided with a third pulley 132, which guides the data cable 111. The position where the third pulley 132 and the second pulley 131 are placed on the data cable 111 are at the same height, so as to prevent the data cable 111 from slipping off from the position where the second pulley 131 is placed.

[0067] The second frame includes the axle of the third pulley 132 , and a displacement sensor 133 is installed on the end face of the axle. The displacement sensor 133 records the distance the data cable 111 is lowered, thereby obtaining the buried depth of the roof of the goaf 6 .

[0068] The probe assembly includes a probe 23, a force measuring piece 21 and a casing 22. The probe 23 is used to collect spatial information and development information of the goaf 6 and the monitoring hole 5. The tail end of the probe 23 is connected to the force measuring piece 21. The probe 23 and the force measuring piece 21 are arranged in the casing 22. The second end of the data cable 111 is connected to the force measuring piece 21. The arrangement of the probe assembly realizes the automatic collection of the monitoring hole 5 and the goaf 6, providing a theoretical basis for the caving process monitoring of the goaf 6.

[0069] Among them, the probe assembly is suspended at the mouth of the monitoring hole 5 through the third pulley 132, and the probe 23 includes a probe shell, a laser radar 231 and an image sensor 233. The probe shell includes a front end and a tail end, wherein the front end is used to install the laser radar 231 and the image sensor 233, and the spatial information of the goaf 6 is collected through the laser radar 231, where the spatial information reflects the major semi-axis and minor semi-axis information of the goaf 6; the development information of the monitoring hole 5 and the goaf 6 is collected through the image sensor 233; the depth below the data cable 111 is recorded through the displacement sensor 133, and the top plate buried depth information is determined in combination with the development information returned by the image sensor 233, so as to obtain more accurate monitoring of the caving process, and at the same time, it can also be judged whether the monitoring hole 5 has collapsed holes, blocked holes, new cracks, fractures and other phenomena.

[0070] Specifically, in this embodiment, there are two image sensors 233 , which are symmetrically arranged with the laser radar 231 as the center of symmetry.

[0071] The probe 23 further includes an LED lamp 232 , which is disposed at the front end of the probe housing and is used to provide a light source for the probe assembly, thereby further ensuring the accuracy of data collection.

[0072] The tail end of the probe 23 is connected to the force measuring piece 21 , and the force measuring piece 21 is fixed to the probe 23 by welding to ensure the reliability of the connection between the two.

[0073] Specifically, the force measuring member 21 is a tension sensor. When the probe 23 reaches the bottom of the goaf 6 or contacts the surrounding rock wall and cannot be lowered further, the tension sensor will be triggered, thereby retracting the probe assembly.

[0074] The probe 23 and the force measuring piece 21 are arranged in the casing 22, and the casing 22 protects the probe 23 and the force measuring piece 21. During the lowering and retrieving process, they collide and rub against the wall of the monitoring hole, causing damage.

[0075] The monitoring device also includes a control system, which is connected to the cable winch 11 and the anti-slip pulley assembly 12 respectively, and is used to control the movement of the cable winch 11 and the anti-slip pulley assembly 12. The control system is also connected to the probe assembly 2, and is used to receive data information fed back by the probe assembly 2. Through the setting of the control system, the automatic control of the monitoring device is realized, and manual control is not required, thereby improving the monitoring efficiency.

[0076] Among them, the control system includes a system controller 31, a switch 32, a computer 33, a chassis shell 34 and a battery 35. The battery 35, the system controller 31 and the switch 32 are arranged in the chassis shell 34, and the system controller 31 is connected to the computer 33 through the switch 32, and the battery 35 is connected to the system controller 31 to realize power supply for the overall monitoring device.

[0077] Among them, the control system is respectively connected to the cable winch 11 and the anti-slip pulley assembly 12, and is used to control the movement of the cable winch 11 and the anti-slip pulley assembly 12. That is to say, the system controller 31 is connected to the driving member 114 on the cable winch 11 and the driving part on the anti-slip pulley assembly 12 to control the start and stop of the driving member 114 and the driving part.

[0078] The control system is also connected to the probe assembly 2 and the displacement sensor 133, and is used to receive data information fed back by the probe assembly 2 and information fed back by the displacement sensor 133, that is, the system controller 31 is connected to the laser radar 231, the image sensor 233 and the force measuring piece 21, so as to receive the contour information and video information of the monitoring hole 5 and the goaf 6; receive the trigger information of the force measuring piece 21, and control the driving piece 114 on the cable winch 11 to change the rotation direction, so as to realize the retraction of the data cable 111. It is used to receive the distance information of the data cable 111 fed back by the position sensor 133, so as to obtain the buried depth of the roof of the goaf 6.

[0079] The monitoring device also includes a solar power supply system 4, which is connected to the control system 3 to power the monitoring device. Through the setting of the solar power supply system 4, solar energy is converted into electrical energy to power the entire monitoring device, which has the advantages of energy saving and environmental protection.

[0080] The solar power supply system 4 includes a solar panel 41 and a solar charging controller 42. The solar panel 41 converts solar energy into electrical energy, and the solar charging controller 42 controls whether to charge the battery 35. The solar charging controller 42 protects the charging state of the battery 35.

[0081] A platform is built with concrete around the monitoring position, and a board house is built on the platform. All parts of the monitoring device except the solar panel 41 are installed and fixed on the ground in the board house. Here, that is to say, the monitoring hole 5 is also located in the board house; the solar panel 41 is built outside the board house to supply power to the entire monitoring device.

[0082] By placing the monitoring device at the monitoring location, the operator does not need to carry the equipment back and forth, thus reducing the operator's workload; by placing the monitoring device in the board house, it is not affected by weather and environment, the monitoring work can be carried out smoothly, and at the same time the manpower and material costs are reduced.

[0083] In a second aspect of the present application, a method for monitoring the falling process of a broken rock mass is provided, wherein the monitoring is performed using any one of the above-mentioned monitoring devices for monitoring the falling process of a broken rock mass, and the monitoring method comprises the following steps:

[0084] Step S1, obtaining first development information of the monitoring hole 5;

[0085] The first development information includes changes in cracks in the hole wall of monitoring hole 5;

[0086] Step S11, turn on the power, start the computer 33, check whether the equipment can operate normally, whether the line is connected normally, control the probe assembly to move up and down so that the tail end of the probe assembly is at the same height as the hole opening of the ground monitoring hole 5, and perform zero setting;

[0087] Step S12, by inputting a predetermined instruction into the computer 33, the probe assembly is lowered at a uniform speed, and the probe assembly scans the periphery of the monitoring hole 5 wall through the image sensor 233, collects crack development information data of the monitoring hole 5 wall, and predicts whether the monitoring hole 5 may have a collapsed hole, a blocked hole, a newly added crack, and a fracture;

[0088] Step S2, obtaining the spatial information and the second development information of the goaf 6;

[0089] The spatial information includes the major semi-axis, the minor semi-axis and the bulk height of the goaf 6; the first development information includes the change in the height of the top plate of the goaf 6 from the ground surface;

[0090] Step S21, as the probe assembly is gradually lowered, the image sensor 233 scans the wall of the goaf 6 to collect the development information of the goaf 6; the laser radar 231 scans the goaf 6 from the strip-shaped slots on both sides of the wall of the monitoring hole 5 to obtain a three-dimensional dot cloud model of the goaf 6, that is, the volume V of the goaf 6 that can be filled with the falling bulk C , based on the three-dimensional point cloud model of the goaf 6, the long half a and the short half axis b of the equivalent ellipsoid of the goaf 6 are obtained; the displacement sensor 133 on the wire-laying end assembly records the lowering distance of the data cable 111 to obtain the buried depth c of the roof of the goaf 6;

[0091] Step S22, a strip-shaped slot of 0.5 m long is opened on both sides of the hole wall of the monitoring hole 5 every 0.5 m, and the positions of two adjacent slots are alternately arranged vertically, and the probe assembly collects the spatial information of the goaf 6 and the second development information every 3 seconds;

[0092] Step S3, based on the spatial information and the second development information of the goaf 6 and the second development information of the monitoring hole 5, the caving process of the goaf 6 is monitored simultaneously, and the impact of the development of the goaf 6 on the ground surface is estimated;

[0093] Step S31, the long half a and the short half axis b of the equivalent ellipsoid of the goaf 6, the buried depth c of the top plate of the goaf, and the volume V of the goaf 6 that can be filled with the falling bulk are obtained. C Substitute into formula (1), formula (2) and formula (3) to calculate the fall volume V when the goaf 6 breaks through the ground surface m , the bulk volume Vms and the remaining space volume △V in the falling body,

[0094]

[0095] Where h is the height of the bulk in the caving body, m; the bulk height here is the height of goaf 6 minus the height between the top plate of goaf 6 and the top of the bulk;

[0096] △V=V c -(η-1)V m (3)

[0097] Where η is the average expansion coefficient of the rock mass, and metal mines generally take η = 1.12 ~ 1.25; V c is the volume of the goaf 6 that can be filled by the falling bulk; the condition for the validity of formula (3) is: △V≥0; when △V<0, the goaf 6 cannot penetrate the surface; when △V≈0, a fracture pit (fragmentation zone) is formed on the surface; when ΔV>>0, a funnel-shaped collapse pit is formed on the surface;

[0098] The caving process of goaf 6 is monitored by the bulk volume Vms and the remaining space volume △V in the caving body of goaf 6, the second development information and the first development information of monitoring hole 5, and the impact of the development of goaf 6 on the ground surface is estimated to achieve early warning;

[0099] Step S32: When the probe assembly 2 reaches the bottom of the goaf 6 (when there is falling loose body, the bottom is the top of the falling loose body) or the probe assembly cannot be lowered further due to factors such as the collapse or blockage of the monitoring hole 5, the tension sensor 24 at the tail of the probe assembly will be triggered, so that the probe assembly is recovered;

[0100] Step S33: After the probe assembly is recovered, the collected data will be stored locally in the computer and sent to the remote server of the mine dispatch room through the mine's internal 4G network. The program will continue to execute and enter sleep mode and wait for the next startup.

[0101] Due to the small aperture and deep depth of monitoring hole 5, the complex environment and high risk of goaf 6, and the inaccessibility of personnel, the monitoring hole 5 and goaf 6 cannot be directly observed by human eyes. At the same time, due to the insufficient light source of image sensor 233, it is impossible to provide sufficient light conditions required for videos and photos in the large space environment of goaf 6, and to solve the problem of single viewing angle, add laser radar 231 to realize goaf scanning modeling in no light and dark light environment, which makes up for the limitation of single image sensor 233.

[0102] At the same time, since the monitoring hole 5 is affected by the development of the fissures caused by the development of the goaf 6, the environment inside the monitoring hole 5 is complex, and there are unfavorable conditions such as blockage, collapse, large cavities in the hole, and misalignment, which will affect the process below the probe. If the laser radar 231 is used alone, it cannot reflect the situation inside the monitoring hole 5 in real time, and the specific cause cannot be determined in time when there is a problem in the monitoring. Therefore, the image sensor 233 is used to provide real-time feedback on the situation inside the monitoring hole 5 to ensure the smooth lowering of the probe assembly. At the same time, due to the large amount of data and long modeling time of the laser radar 231, when using the development of the fissures in the monitoring hole 5 to monitor the development of the goaf 6, it cannot accurately reflect the development of multi-scale fissures. Therefore, in this application, a combination of the laser radar 231 and the image sensor 233 is used to achieve more accurate and efficient goaf monitoring.

[0103] It is easy for those skilled in the art to understand that, under the premise of no conflict, the above-mentioned advantageous methods can be freely combined and superimposed.

[0104] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application. The above are only preferred implementations of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and variations can be made without departing from the technical principles of the present application, and these improvements and variations should also be regarded as the protection scope of the present application.

Claims

1. A device for monitoring the falling process of broken rock mass, characterized in that: include: An automatic wire retracting and unwinding assembly, the automatic wire retracting and unwinding assembly comprising a cable winch (11), an anti-slip pulley assembly (12) and a wire unwinding end assembly (13), wherein the cable winch (11), the anti-slip pulley assembly (12) and the wire unwinding end assembly (13) are sequentially arranged along a wire unwinding moving direction; The cable winch (11) comprises a data cable (111), wherein the data cable (111) comprises a first end and a second end, wherein the first end of the data cable (111) is fixed to the cable winch (11), and the second end passes through the anti-slip pulley assembly (12) and the pay-off end assembly (13) in sequence; A probe assembly, the probe assembly being connected to the second end of the data cable (111); The automatic wire retracting and releasing assembly drives the data cable (111) to move along the wire releasing movement direction, so that the probe assembly moves through the monitoring hole (5) into the goaf (6) to monitor the caving process of the goaf (6).

2. A device for monitoring the falling process of a broken rock mass according to claim 1, characterized in that: The cable winch (11) comprises a winch frame (112) and a winch (113); the winch (113) is arranged on the top of the winch frame (112); the winch (113) rotates relative to the winch frame (112); a first end of the data cable (111) is fixed on the winch (113); and the data cable (111) is wound around the winch (113) by rotating the winch (113).

3. A device for monitoring the falling process of a broken rock mass according to claim 2, characterized in that: The cable winch (11) further comprises a driving member (114) and a transmission assembly, wherein the driving member (114) is arranged on the winch frame, and the driving member (114) is connected to the winch (113) via the transmission assembly.

4. A device for monitoring the falling process of a broken rock mass according to claim 1, characterized in that: The anti-slip pulley assembly (12) comprises a bracket (122), a linear slide rail assembly (123) and an anti-slip pulley block (121); the linear slide rail assembly (123) is arranged on the top of the bracket (122); and the anti-slip pulley block (121) is arranged on the top of the linear slide rail assembly (123).

5. A device for monitoring the falling process of broken rock mass according to claim 4, characterized in that: The anti-slip pulley assembly (121) comprises a first wheel frame, a second wheel frame, a first anti-slip wheel (1211), and a second anti-slip wheel (1212); the first wheel frame is provided with the first anti-slip wheel (1211) and the second anti-slip wheel (1212); the second wheel frame is installed on the linear slide rail assembly (123); and the second wheel frame is provided with the first pulley (1213).

6. The device for monitoring the falling process of broken rock mass according to claim 1, characterized in that: The pay-off end assembly (13) comprises a support frame (134), on which a first frame body and a second frame body are arranged, the first frame body is provided with a second pulley (131), and the second frame body is provided with a third pulley (132).

7. The device for monitoring the falling process of broken rock mass according to claim 1, characterized in that: The probe assembly comprises a probe (23), a force measuring piece (21) and a casing (22); the probe (23) is used to collect contour information and video information of the goaf (6) and the monitoring hole (5); the tail end of the probe (23) is connected to the force measuring piece (21); the probe (23) and the force measuring piece (21) are arranged in the casing (22); and the second end of the data cable (111) is connected to the force measuring piece (21).

8. The device for monitoring the falling process of a broken rock mass according to claim 1, characterized in that: The monitoring device further comprises a control system (3), wherein the control system (3) is respectively connected to the cable winch (11) and the anti-slip pulley assembly (12) for controlling the movement of the cable winch (11) and the anti-slip pulley assembly (12), and the control system (3) is also connected to the probe assembly (2) for receiving data information fed back by the probe assembly (2).

9. A device for monitoring the falling process of a broken rock mass according to claim 8, characterized in that: The monitoring device further comprises a solar power supply system (4), wherein the solar power supply system (4) is connected to the control system (3) to supply power to the monitoring device.

10. A method for monitoring the falling process of a broken rock mass, characterized in that: The monitoring device for monitoring the falling process of the broken rock mass according to any one of claims 1 to 9 is used for monitoring, and the monitoring method comprises: Acquiring first development information of the monitoring hole (5); Wherein, the first development information includes changes in cracks in the hole wall of the monitoring hole (5); Acquire spatial information and second development information of the goaf (6); The spatial information includes the major semi-axis, the minor semi-axis and the bulk height of the goaf (6); the first development information includes the change in the height of the top plate of the goaf (6) from the ground surface; Based on the spatial information and the second development information of the goaf (6) and the second development information of the monitoring hole (5), the caving process of the goaf (6) is monitored, and the impact of the development of the goaf (6) on the ground surface is estimated.

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