Roadway surrounding rock offset state and surface crack distribution detection device and use method

Abstract

The invention discloses a roadway surrounding rock offset state and surface crack distribution detection device and a use method. The detection device comprises a Doppler laser vibration meter and a base; and a first support arm mechanism, a second support arm mechanism and a third support arm mechanism are arranged between the Doppler laser vibration meter and the base. The use method comprises the following steps: S1, connecting the Doppler laser vibration meter with a heading machine; s2, performing detection setting on the first control circuit board; s3, the Doppler laser vibration meter transmits detection data back to an upper computer of a dispatching room on the ground; s4, modeling the detection data by the ground dispatching room, and obtaining the crack change condition and the deformation offset of the surrounding rock through superposition and comparison; s5, the supporting scheme of the roadway is improved; s6, when surrounding rock blocks about to fall off are found, a buzzing light alarm gives out alarm sound; and S7, irradiating the surrounding rock block which is about to fall off by a spotlight irradiator, and reminding surrounding workers to be far away from the place.

Description

Technical Field

[0001] The invention relates to the field of coal mine protection, and in particular to a device for detecting the deviation state of surrounding rock in a tunnel and the distribution of surface cracks and a use method thereof. Background Art

[0002] The geological environment of mine tunnels and tunnels is often complex and changeable, and there may be adverse geological conditions such as faults, broken zones, and weak rock formations. In these areas, the stability of the top and side walls is poor and they are prone to falling off. For example, near a fault, the mechanical properties of the rock change, the strength decreases, and it is easy to collapse during excavation. The effect of ground stress may also cause deformation and damage to the top and side walls. In deep mines or tunnels, the ground stress is large, which may cause the surrounding rock to be squeezed and deformed, and then cause the top and side walls to fall off. In external artificial drilling support projects, external forces destroy the integrity of the rock formation, causing rock flakes to fall and injure people, damage equipment, and lead to shutdowns.

[0003] At present, there is a lack of effective means for detecting the stability of the top and side walls, and it is impossible to detect potential risks of falling off in time. At present, although some mines and tunnels have adopted methods such as displacement detection and stress detection, these methods often have problems such as low detection accuracy and slow response speed, and it is difficult to predict the falling off of the top and side walls in a timely and accurate manner. Patent No. CN117449783A discloses a drilling peep matching device and method for observing the state of tunnel and tunnel surrounding rock, including an angle-adjustable bracket, a push rod, and a depth metering line. The push rod is detachably connected to the bracket, and the end of the push rod is connected to a lens bracket or a cleaning rod head. The cleaning rod head is used for the hole cleaning operation before drilling peep, and the lens bracket is installed with a peep lens; the depth metering line is connected to the winch, and the depth metering line is used to record the change in the depth of the borehole. However, this technical solution requires drilling a hole in the surrounding rock and placing the corresponding equipment in it before the rock state can be detected. The operation process is cumbersome and will cause irreversible effects on the surrounding rock structure and state, and the practicality is poor; therefore, it is necessary to study a tunnel surrounding rock offset state and surface crack distribution detection device to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide a tunnel surrounding rock deviation state and surface crack distribution detection device and a method for using the device, which has a simple structure and improves the safety protection effect of coal mines.

[0005] In order to achieve the above object, the technical solution of the present invention is:

[0006] A device for detecting the displacement state and surface crack distribution of tunnel surrounding rock comprises a Doppler laser vibrometer and a base, wherein the Doppler laser vibrometer is connected to the base; a first arm mechanism capable of causing the Doppler laser vibrometer to perform a pitching motion and a self-rotating motion, a second arm mechanism capable of causing the first arm mechanism to perform a pitching motion, and a third arm mechanism capable of causing the second arm mechanism to perform a pitching motion are arranged between the Doppler laser vibrometer and the base; the Doppler laser vibrometer is connected to one end of the second arm mechanism via the first arm mechanism, and the other end of the second arm mechanism is rotatably connected to the base via the third arm mechanism.

[0007] Furthermore, the first arm mechanism includes a first mechanical arm, a second rotating device, and a first rotating device. One end of the first mechanical arm is connected to the second arm mechanism, the other end of the first mechanical arm is fixedly connected to the second rotating device, the axial direction of the output shaft of the second rotating device is consistent with the length direction of the first mechanical arm, the output shaft of the second rotating device is fixedly connected to the first rotating device, the length direction of the output shaft of the first rotating device is perpendicular to the axial direction of the output shaft of the second rotating device, and the outer periphery of the output shaft of the first rotating device is fixedly connected to the Doppler laser vibrometer so that the Doppler laser vibrometer can perform a pitch angle adjustment action.

[0008] Furthermore, the second arm mechanism includes a second robotic arm and a third rotating device. One end of the second robotic arm is connected to the third arm mechanism, and the other end of the second robotic arm is fixedly connected to the third rotating device. The axial direction of the output shaft of the third rotating device is perpendicular to the length direction of the first robotic arm and the second robotic arm. The outer periphery of the output shaft of the third rotating device is fixedly connected to one end of the first robotic arm so that the first robotic arm can perform a pitch angle adjustment action.

[0009] Furthermore, the third arm mechanism includes a third robotic arm and a fourth rotating device. The third robotic arm is arranged vertically on the ground. The top end of the third robotic arm is fixedly connected to the fourth rotating device. The axial direction of the output shaft of the fourth rotating device is consistent with the axial direction of the output shaft of the third rotating device. The outer periphery of the output shaft of the fourth rotating device is fixedly connected to one end of the second robotic arm so that the second robotic arm can perform pitch angle adjustment action; the bottom end of the third robotic arm is rotatably connected to the base; the base is a rotatable base with its own rotation function and can drive the third robotic arm to rotate around the axis of the third robotic arm.

[0010] Furthermore, the third robotic arm is provided with an electronic component installation chamber which can be opened and closed, and the electronic component installation chamber is layered and respectively provided with a first control circuit board for controlling the working state of each rotating device, a data processing module for processing the monitoring data of the Doppler laser vibrometer, and a 5G wireless communication module for transmitting the processing results of the data processing module to the host computer through the network; the first control circuit board is electrically connected to the second rotating device, the first rotating device, the third rotating device, the fourth rotating device, the base, and the data processing module, the data processing module is electrically connected to the Doppler laser vibrometer, and the 5G wireless communication module is electrically connected to the data processing module.

[0011] Furthermore, the device also includes a light alarm; the light alarm includes an alarm housing, a positioning seat, a fifth rotating device, a buzzing light alarm, a spotlight illuminator, and a second control circuit board, the buzzing light alarm is fixed in the alarm housing, the top of the alarm housing is fixedly connected to the positioning seat, the top of the positioning seat is rotatably connected to the fourth mechanical arm, the fourth mechanical arm is arranged vertically to the ground, the positioning seat is a rotatable positioning seat with a built-in rotation function and can drive the fourth mechanical arm to rotate around the axis of the fourth mechanical arm; the top of the fourth mechanical arm is fixedly connected to the fifth rotating device, the axis direction of the output shaft of the fifth rotating device is perpendicular to the length direction of the fourth mechanical arm, and the outer periphery of the output shaft of the fifth rotating device is fixedly connected to the spotlight illuminator so that the spotlight illuminator can perform a pitch angle adjustment action; the second control circuit board is arranged in the alarm housing, and the second control circuit board is respectively connected to the spotlight illuminator, the positioning seat, the fifth rotating device, the buzzing light alarm, and the data processing module circuit.

[0012] Furthermore, a rectangular light path panel is provided in the spotlight illuminator, and lamp beads arranged in a matrix are provided in the rectangular light path panel. Specific lamp beads can be lit according to the control of the second control circuit board to form different light patterns. The lamp beads in the rectangular light path panel are connected to the second control circuit board circuit.

[0013] Furthermore, the base is fixed on the cover plate of the conveying part of the tunnel boring machine, there are two light warning devices and the warning device shells in the two light warning devices are fixed on the top of the chassis on both sides of the tunnel boring machine.

[0014] A method for using a device for detecting the displacement state and surface crack distribution of surrounding rock in a tunnel, comprising the following steps:

[0015] S1. Install the Doppler laser vibrometer on the base through the first arm mechanism, the second arm mechanism, and the third arm mechanism, and fix the base on the cover plate of the conveying part of the tunnel boring machine; at the same time, install the light warning device on the chassis on both sides of the tunnel boring machine;

[0016] S2, setting the detection path, detection range, and movement speeds of the first mechanical arm, the second mechanical arm, and the third mechanical arm for the first control circuit board, so that the Doppler laser vibrometer performs crack detection operations in the space; and setting the cycle length of the Doppler laser vibrometer cyclic detection;

[0017] S3, Doppler laser vibrometer transmits the detection data to the data processing module in real time, and the data processing module processes the data and transmits the detection data back to the upper computer in the well dispatching room through the 5G wireless communication module;

[0018] S4. The dispatching room on the well will sort out the detection data, and after FLAC3D simulation data and model, establish a three-dimensional model of the surrounding rock of the underground tunnel and a spatial coordinate system, and reproduce the crack distribution, crack length, and crack direction on the three-dimensional model of the surrounding rock of the underground tunnel in the form of spatial coordinates, and mark the coordinates in the spatial coordinate system to obtain Model 1; when the cycle length of the Doppler laser vibrometer cyclic detection is reached, repeat steps S2 to S4, and let the Doppler laser vibrometer re-perform crack detection operations on the same position to obtain Model 2; Model 2 is overlapped and compared with Model 1 to obtain the crack change situation and surrounding rock deformation offset;

[0019] S5. Analyze the direction of surrounding rock cracks according to the crack changes and surrounding rock deformation offset, estimate the surrounding rock parts that are about to fall off, improve the support plan for the tunnel according to the direction of surrounding rock cracks, and remove the surrounding rock parts that are about to fall off in advance;

[0020] S6. When the Doppler laser vibrometer directly finds a surrounding rock block that is about to fall off during the detection process, the data processing module transmits the surrounding rock block information to the well dispatching room through the 5G wireless communication module and issues a warning. At the same time, the data processing module transmits the surrounding rock block information to the second control circuit board of the light alarm to control the buzzer light alarm to sound an alarm;

[0021] S7. The second control circuit board synchronously transmits the surrounding rock block information to the spotlight illuminator, which moves the irradiation position to the surrounding rock block that is about to fall off through the positioning seat and the fifth rotating device, and lights up specific lamp beads on the rectangular light road panel to enclose the surrounding rock block that is about to fall off, and uses light warnings to remind surrounding workers to stay away from this place, thereby reducing casualties and equipment damage.

[0022] Furthermore, the step S4 specifically includes the following steps:

[0023] S41, establish a spatial rectangular coordinate system with the forward direction of the tunnel boring machine as the positive direction of the y-axis, the left side direction of the tunnel boring machine as the positive direction of the x-axis, the vertically upward direction as the positive direction of the z-axis, and the center point of the base as the origin; set the point being measured by the Doppler laser vibrometer as point A, and perform the first measurement operation on point A;

[0024] S42, when point A is on the left side of the tunnel boring machine; the spatial coordinate value of point A (X A ,Y A ,Z A ) is calculated as:

[0025] X A =(L 2 *cosθ 1 +L 1 *cosθ 2 )sinβ 1 +L 4 ;

[0026] Y A =(L 2 *cosθ 1 +L 1 *cosθ 2 )cosβ 1 ;

[0027] Z A =(L 3 +L 2 *sinθ 1 +L 1 *sinθ 2 );

[0028] When point A is on the right side of the surrounding rock of the tunnel boring machine; the spatial coordinate value of point A (X A ,Y A ,Z A ) is calculated as:

[0029] X A =-((L 2 *cosθ 1 +L 1 *cosθ 2 )sinβ 1 +L 4 );

[0030] Y A =(L 2 *cosθ 1 +L 1 *cosθ 2 )cosβ 1 ;

[0031] Z A =(L 3 +L 2 *sinθ 1 +L 1 *sinθ 2 );

[0032] When point A is on the top rock of the tunnel boring machine, the spatial coordinate value of point A (X A ,Y A ,Z A ) is calculated as:

[0033] X A =(L 2 *cosθ 1 +L 1 *cosθ 2 )sinβ 1 ;

[0034] Y A =(L 2 *cosθ 1 +L 1 *cosθ 2 )cosβ 1 ;

[0035] Z A =(L 3 +L 2 *sinθ 1 +L 1 *sinθ 2 )+L 4 ;

[0036] Among them, L 1 is the length of the first robotic arm; L 2 is the length of the second robotic arm; L 3 is the length of the third robotic arm; L 4 is the distance from the Doppler laser vibrometer to point A measured by the Doppler laser vibrometer in the X-axis direction; β 1 is the angle between the second robot arm and the negative direction of the y-axis in the xoy plane; θ 1 θ is the angle between the second robot arm and the negative direction of the y-axis in the yoz plane; 2 is the angle between the first robot arm and the negative direction of the y-axis in the yoz plane;

[0037] S43, determining the spatial coordinate value of point A according to step S4, and so on, outputting all the points detected by the Doppler laser vibrometer in the form of spatial coordinate values, and then accurately distributing them on the three-dimensional model of the surrounding rock of the underground tunnel to obtain the length, direction and distribution of the cracks on the surrounding rock surface, and recording the first measurement result of the surrounding rock surface as model 1;

[0038] S44, perform the second measurement operation on point A. At this time, the position of the tunnel boring machine has moved forward along the positive direction of the y axis by L. 5, when the first robot arm, the second robot arm, and the third robot arm are deployed again in the same posture as the first measurement of point A, the spatial coordinate parameters of the Doppler laser vibrometer are (X A -L 4 , Y A , Z A ), the coordinates of point A change to (X A , Y A -L 5 , Z A ), according to the spatial coordinate formula, β can be obtained 3 for:

[0039] tanβ 3 =L 5 / L 4 ;

[0040] β 3 =tan -1 (L 5 / L 4 );

[0041] Among them, L 5 is the distance the tunnel boring machine moves along the positive direction of the y-axis; β 3 is the difference between the angle between the Doppler laser vibrometer and the first robotic arm when measuring point A twice in the xoy plane;

[0042] S45, according to the angle value β between the first manipulator arm and the Doppler laser vibrometer when measuring point A for the first time in the xoy plane 2 and β 3 The Doppler laser vibrometer can quickly find the position of point A and perform a secondary measurement of point A, and measure the distance L between the Doppler laser vibrometer and point A during the secondary measurement. 6 '; Similarly, a secondary measurement operation is performed on all points detected by the Doppler laser vibrometer, and the second measurement result of the surrounding rock surface is recorded as model 2;

[0043] S46, comparing model 2 with model 1, during the comparison, calculating the actual calculated value L between the Doppler laser vibrometer and point A 6 , and its calculation formula is:

[0044] (L 4 ) 2 +(L 5 ) 2 =(L 6 ) 2 ;

[0045]

[0046] S47, L 6 ′ and L6 For comparison, if L 6 / L 6 ′ is equal to 1, then the position of point A has not shifted; if L 6 / L 6 ′ is not equal to 1, then the position of point A is offset;

[0047] S48. Similarly, the offset conditions of all points detected by the Doppler laser vibrometer are judged, and the crack changes on the detected surrounding rock surface and the deformation offset of the surrounding rock are analyzed.

[0048] Compared with the prior art, the present invention has the following advantages and positive effects:

[0049] The invention discloses a device for detecting the displacement state and surface crack distribution of tunnel surrounding rock, which is mainly composed of a mechanical arm, a Doppler laser vibrometer, a base, and a light alarm. The mechanical arm and the base can be rotated and matched to transport the Doppler laser vibrometer to a position 0.5m-1.0m away from the surface of the tunnel surrounding rock. The Doppler laser vibrometer can detect the vibration state and cracks of the surrounding rock, output data after detection and form a 3D tunnel model, and then a ground dispatching room can make a detailed anchor support plan (anchor drilling position, installation quantity, orientation and other planning) according to the formed 3D tunnel model, and the Doppler laser vibrometer can detect the parts with high risk of falling off in the top wall and side wall during the crack detection process, and can break them in advance to prevent the possibility of falling off in the later stage to injure people and damage equipment.

[0050] On the other hand, the detection device can set a cyclic detection period to provide the dispatching center with the latest status and crack information of the surrounding rock in real time. The dispatching center can calculate the pressure distribution of the surrounding rock at a certain location based on the established 3D stereoscopic tunnel model, and then combine the distribution of the surrounding rock cracks at that location, the distribution area and the previous big data statistics of the same situation to predict the future crack direction and the rock shedding rate at a certain location when the impact ground pressure comes, break the rock parts with high shedding rate in advance, and provide relevant support for the rock with low shedding rate, thereby improving the safety of coal mine construction operations; and the entire detection process of the detection device does not require drilling operations, and will not cause any damage to the tunnel surrounding rock structure. The entire detection process is simple and fast, saving time and effort, and has excellent practicality; at the same time, the detection device can be combined with the mine's intelligent monitoring system to achieve remote real-time detection of the tunnel surrounding rock, providing strong support for the digital and intelligent development of mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0052] Figure 1 It is a structural schematic diagram of the detection device;

[0053] Figure 2 This is the installation effect diagram of the detection device;

[0054] Figure 3 This is a structural diagram of the connection between the base and the Doppler laser vibrometer;

[0055] Figure 4 A schematic diagram of the structure of the chamber for mounting electronic components;

[0056] Figure 5 It is a structural schematic diagram of a light warning device;

[0057] Figure 6 This is a schematic diagram of the crack distribution in the tunnel output by the Doppler laser vibrometer;

[0058] Figure 7 This is a schematic diagram of an area with a greater risk of falling off after being irradiated by a spotlight;

[0059] Figure 8 A flow chart of a method for using the detection device;

[0060] Fig. 9 It is a schematic diagram showing the positions of the Doppler laser vibrometer and the support arm mechanism on the XY plane in the spatial coordinate system during the first measurement;

[0061] Fig.10 It is a schematic diagram showing the positions of the Doppler laser vibrometer and the support arm mechanism on the YZ plane in the spatial coordinate system during the first measurement;

[0062] Fig.11 This is a schematic diagram showing the positions of the Doppler laser vibrometer and the support arm mechanism in the XY plane in the spatial coordinate system during the second measurement. DETAILED DESCRIPTION

[0063] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work, any modifications, equivalent substitutions, improvements, etc., should be included in the protection scope of the present invention.

[0064] like Figures 1 to 5 As shown, this embodiment discloses a device for detecting the displacement state and surface crack distribution of surrounding rock in a tunnel, comprising a Doppler laser vibrometer 11 and a base 3, wherein the Doppler laser vibrometer 11 is connected to the base 3; a first arm mechanism capable of causing the Doppler laser vibrometer 11 to perform a pitching motion and a self-rotating motion, a second arm mechanism capable of causing the first arm mechanism to perform a pitching motion, and a third arm mechanism capable of causing the second arm mechanism to perform a pitching motion are arranged between the Doppler laser vibrometer 11 and the base 3; the Doppler laser vibrometer 11 is connected to one end of the second arm mechanism via the first arm mechanism, and the other end of the second arm mechanism is rotatably connected to the base 3 via the third arm mechanism.

[0065] The first arm mechanism includes a first mechanical arm 14, a second rotating device 13, and a first rotating device 12. One end of the first mechanical arm 14 is connected to the second arm mechanism, and the other end of the first mechanical arm 14 is fixedly connected to the second rotating device 13. The axial direction of the output shaft of the second rotating device 13 is consistent with the length direction of the first mechanical arm 14. The output shaft of the second rotating device 13 is fixedly connected to the first rotating device 12. The length direction of the output shaft of the first rotating device 12 is perpendicular to the axial direction of the output shaft of the second rotating device 13. The outer periphery of the output shaft of the first rotating device 12 is fixedly connected to the Doppler laser vibrometer 11, so that the Doppler laser vibrometer 11 can perform a pitch angle adjustment action.

[0066] The second arm mechanism includes a second robotic arm 16 and a third rotating device 15. One end of the second robotic arm 16 is connected to the third arm mechanism, and the other end of the second robotic arm 16 is fixedly connected to the third rotating device 15. The axial direction of the output shaft of the third rotating device 15 is perpendicular to the length direction of the first robotic arm 14 and the second robotic arm 16. The outer periphery of the output shaft of the third rotating device 15 is fixedly connected to one end of the first robotic arm 14 so that the first robotic arm 14 can perform a pitch angle adjustment action.

[0067] The third arm mechanism includes a third robotic arm 18 and a fourth rotating device 17. The third robotic arm 18 is arranged vertically on the ground. The top of the third robotic arm 18 is fixedly connected to the fourth rotating device 17. The axis direction of the output shaft of the fourth rotating device 17 is consistent with the axis direction of the output shaft of the third rotating device 15. The outer periphery of the output shaft of the fourth rotating device 17 is fixedly connected to one end of the second robotic arm 16 so that the second robotic arm 16 can adjust the pitch angle. The bottom end of the third robotic arm 18 is rotatably connected to the base 3. The base 3 is a rotatable base with its own rotation function and can drive the third robotic arm 18 to rotate around the axis of the third robotic arm 18.

[0068] The first rotating device is connected to the Doppler laser vibrometer and is used to control the angle between the Doppler laser vibrometer and the first mechanical arm. The second rotating device makes the Doppler laser vibrometer more flexible in detecting the roof. The remaining rotating devices and the mechanical arm are mainly responsible for transporting the Doppler laser vibrometer to a position 0.5m-1.5m away from the surrounding rock.

[0069] The third robotic arm 18 is provided with an electronic component installation chamber 19 that can be opened and closed. The electronic component installation chamber 19 can protect the normal operation of the electronic components inside it, and when there is a problem with the electronic components, it is also convenient for workers to maintain and repair them; the electronic component installation chamber 19 is layered and respectively provided with a first control circuit board 191 for controlling the working state of each rotating device, a data processing module 193 for processing the monitoring data of the Doppler laser vibrometer 11, and a 5G wireless communication module 192 for transmitting the processing results of the data processing module 193 to the host computer through the network; the first control circuit board 191 is electrically connected to the second rotating device 13, the first rotating device 12, the third rotating device 15, the fourth rotating device 17, the base 3, and the data processing module 193 respectively. The first control circuit board can accurately control each rotating device to rotate the rotating device, thereby driving the mechanical arm to move, so that the Doppler laser vibrometer can flexibly detect the surrounding rock conditions of the tunnel; the data processing module 193 is electrically connected to the Doppler laser vibrometer 11, and the 5G wireless communication module 192 is electrically connected to the data processing module 193, which can realize the remote operation of the device and transmit the data processed by the data processing module to the well dispatching room at a later stage.

[0070] The overall structure of the detection device is made of explosion-proof plastic material, with a light overall mass, which has little impact on the deadweight of the tunnel boring machine. The Doppler laser vibrometer is used as the detection equipment, which can detect the surrounding rocks on both sides of the tunnel roof, and output the length, direction, distribution position and other information of the surrounding rock cracks in the form of (X, Y, Z) spatial coordinates, which is convenient for clarifying the distribution in the three-dimensional model and providing data support for the support plan of the later support.

[0071] The device also includes a light alarm 2; the light alarm 2 includes an alarm housing 27, a positioning seat 23, a fifth rotating device 22, a buzzing light alarm 24, a spotlight illuminator 21, and a second control circuit board 26; the buzzing light alarm 24 is fixed in the alarm housing 27; a sound outlet 25 is provided on the side wall of the alarm housing 27; a positioning seat 23 is fixedly connected to the top of the alarm housing 27; a fourth mechanical arm 28 is rotatably connected to the top of the positioning seat 23; the fourth mechanical arm 28 is vertically arranged on the ground; the positioning seat 23 is a rotatable positioning seat with a self-rotating function and can drive the fourth mechanical arm 28 to rotate around the axis of the fourth mechanical arm 28; the fourth mechanical A fifth rotating device 22 is fixedly connected to the top of the arm 28, and the axial direction of the output shaft of the fifth rotating device 22 is perpendicular to the length direction of the fourth mechanical arm 28. The outer periphery of the output shaft of the fifth rotating device 22 is fixedly connected to the spotlight illuminator 21 so that the spotlight illuminator 21 can adjust the pitch angle; the design of the fifth rotating device 22 and the rotatable positioning seat significantly increases the range of the light alarm and effectively improves the sensitivity; the second control circuit board 26 is arranged in the alarm housing 27, and the second control circuit board 26 is respectively connected to the spotlight illuminator 27, the positioning seat 23, the fifth rotating device 22, the buzzer light alarm 24, and the data processing module 193.

[0072] The spotlight illuminator 21 is provided with a rectangular light path panel 211, and the rectangular light path panel 211 is provided with lamp beads arranged in a matrix shape. Specific lamp beads can be lit according to the control of the second control circuit board 26 to form different light patterns. The range (i.e., shape) thereof is roughly the same as the shape of the rock that is about to fall off, so as to warn the staff to stay away from this place; the lamp beads in the rectangular light path panel are connected to the circuit of the second control circuit board.

[0073] When the surrounding rock state changes, the buzzer light alarm starts to sound an alarm and flashes red light, effectively reminding nearby workers to stay away. The buzzer light alarm is emitted from the sound outlet, and its operation is controlled by the second control circuit board;

[0074] The base 3 is fixed on the cover plate 4 of the conveying part of the tunnel boring machine, so that the detection device can detect the surrounding rocks on the left and right sides more flexibly, effectively improving the detection efficiency of the detection device; there are two light alarms 2 and the alarm housings 27 in the two light alarms 2 are fixed on the top of the chassis 5 on both sides of the tunnel boring machine.

[0075] This embodiment also discloses a method for using the above detection device, such as Figure 8 As shown, the steps are as follows:

[0076] S1. Install the Doppler laser vibrometer 11 on the base 3 through the first arm mechanism, the second arm mechanism, and the third arm mechanism, and fix the base 3 on the cover plate 4 of the conveying part of the tunnel boring machine; at the same time, install the light warning device 2 on the chassis 5 on both sides of the tunnel boring machine; debug the relevant electronic components of the equipment, and then test the flexibility of each joint of the mechanical arm and the effective range that the actual detection equipment can detect. After debugging and testing, the equipment starts to work.

[0077] S2, setting the detection path, detection range, and movement speeds of the first mechanical arm 14, the second mechanical arm 16, and the third mechanical arm 18 (i.e., the displacement speeds of the Doppler laser vibrometer in each direction in space) for the first control circuit board 191, and the mechanical arm and the rotatable base cooperate with each other to transport the Doppler laser vibrometer 11 to a suitable position, so that the Doppler laser vibrometer 11 performs crack detection operations in space; at the same time, setting the cycle time of the Doppler laser vibrometer 11 cyclic detection (the detection path is set according to the actual situation underground in the coal mine, the detection range is generally within 10 meters, and the surrounding rocks 7 on the left and right sides of the roof must be detected, and the cycle time of the cyclic detection is generally once every three hours);

[0078] S3. After the detection is completed, the Doppler laser vibrometer 11 transmits the detection data to the data processing module 193 in real time. The data processing module 193 processes the detection data and transmits the detection data back to the upper computer in the well dispatching room through the 5G wireless communication module 192;

[0079] S4. The dispatching room on the well sorts out the detection data, and after simulating the data and model with 3DMAX and FLAC3D, establishes a three-dimensional model of the surrounding rock of the underground tunnel and a spatial coordinate system. The distribution, length and direction of the cracks are reproduced on the three-dimensional model of the surrounding rock of the underground tunnel in the form of spatial coordinates, and the corresponding optimal support plan is proposed, and the coordinates are marked in the spatial coordinate system to obtain Model 1.

[0080] like Figure 6 As shown, the equipment detects the state of the tunnel surrounding rock 7 and the cracks 6 in the surrounding rock 7 periodically. It will re-detect the detected areas at regular intervals and output new real-time relevant data. The dispatching room on the well can form a new relevant model and simulate the relevant data again. By comparing the before and after data, the direction of rock cracks can be predicted, and the support methods and plans can be adjusted in time to reduce losses.

[0081] Therefore, when the cycle length of the Doppler laser vibrometer cyclic detection is reached, steps S2 to S4 are repeated to allow the Doppler laser vibrometer to re-detect cracks at the same position to obtain model 2; model 2 is overlapped and compared with model 1 to obtain crack changes and surrounding rock deformation offset;

[0082] The detailed operation of calculating the surrounding rock crack distribution position parameters and surrounding rock offset according to the angle in the spatial coordinate system is as follows:

[0083] The forward direction of the tunnel boring machine is the positive direction of the y-axis, the positive direction of the x-axis is 90 degrees counterclockwise (i.e., the left side of the tunnel boring machine), the positive direction of the z-axis is vertically upward, and the center point of the base is the origin of the spatial coordinate system (i.e., the coordinate value is (0, 0, 0)). The point being measured by the Doppler laser vibrometer is set as point A.

[0084] Parameter definition (taking point A as an example):

[0085] L 1 is the length of the first mechanical arm (i.e. the straight-line distance from the center of the first rotating mechanism to the center of the third rotating mechanism);

[0086] L 2 is the length of the second mechanical arm (i.e. the straight-line distance from the center of the third rotating mechanism to the center of the fourth rotating mechanism);

[0087] L 3 is the length of the third mechanical arm (i.e. the straight-line distance from the center of the fourth rotating mechanism to the center of the base);

[0088] L 4 is the length obtained by measuring the distance from the Doppler laser vibrometer to point A along the x-axis (i.e., the distance between the Doppler laser vibrometer and point A on the tunnel surface is measured by the Doppler laser vibrometer);

[0089] L 5 is the distance the tunnel boring machine moves along the positive direction of the y-axis;

[0090] β 1 is the angle between the second robot arm and the negative direction of the y-axis in the xoy plane (i.e., the angle the base rotates from the initial position to the end position, and the initial position is β along the positive direction of the y-axis 1 is the position when 0);

[0091] β 2 is the angle (in acute angle) between the Doppler laser vibrometer and the first robotic arm when the Doppler laser vibrometer measures point A for the first time in the xoy plane;

[0092] β 2 ′ is the angle between the Doppler laser vibrometer and the first robotic arm when the Doppler laser vibrometer measures point A for the second time in the xoy plane;

[0093] β 3 is the difference between the angles between the Doppler laser vibrometer and the first mechanical arm calculated when measuring point A for the first time and the second time in the xoy plane (β 3 Is β2 ′ and β 2 The difference between the two values ​​is the second measurement of point A by the Doppler laser vibrometer. When point A is found accurately, β 2 Change to β 2 ′, the angle that needs to be rotated further);

[0094] θ 1 is the angle between the second robot arm and the negative direction of the y-axis in the yoz plane (the end of the second robot arm connected to the first robot arm is upward along the z-axis when θ 1 >0, downward θ 1 <0);

[0095] θ 2 is the angle between the first robot arm and the negative direction of the y-axis in the yoz plane (the end of the second robot arm connected to the Doppler laser vibrometer is upward along the z-axis when θ 1 >0, downward θ 1 <0);

[0096] like Fig. 9 , Fig.10 As shown, when measuring point A for the first time, you can use:

[0097] When the base rotates counterclockwise from the initial position to the end position in the range of 0°-180° (i.e. point A is measuring the surrounding rock on the left rear side of the tunnel boring machine):

[0098] X A =(L 2 *cosθ 1 +L 1 *cosθ 2 )sinβ 1 +L 4 ;

[0099] Y A =(L 2 *cosθ 1 +L 1 *cosθ 2 )cosβ 1 ;

[0100] Z A =(L 3 +L 2 *sinθ 1 +L 1 *sinθ 2 );

[0101] When the base rotates clockwise from the initial position to the end position in the range of 0°-180° (i.e. point A is on the right side of the surrounding rock of the tunnel boring machine):

[0102] X A =-((L2 *cosθ 1 +L 1 *cosθ 2 )sinβ 1 +L 4 );

[0103] Y A =(L 2 *cosθ 1 +L 1 *cosθ 2 )cosβ 1 ;

[0104] Z A =(L 3 +L 2 *sinθ 1 +L 1 *sinθ 2 );

[0105] When the angle of the base rotating counterclockwise from the initial position to the end position is 0°-360° (i.e. point A is on the top rock of the tunnel boring machine):

[0106] X A =(L 2 *cosθ 1 +L 1 *cosθ 2 )sinβ 1 ;

[0107] Y A =(L 2 *cosθ 1 +L 1 *cosθ 2 )cosβ 1 ;

[0108] Z A =(L 3 +L 2 *sinθ 1 +L 1 *sinθ 2 )+L 4 ;

[0109] From this, we can determine the spatial coordinate parameters of point A as (X A , Y A , Z A ), and so on, all the points detected by the Doppler laser vibrometer can be obtained, and the posture of the robot arm when detecting the point can be sorted out and recorded (that is, the angle between the robot arm and the coordinate axis in each plane when measuring different points each time).

[0110] The data is output in the form of coordinate parameters to accurately determine the distribution position of point A on the three-dimensional model. Similarly, all detected points can be processed and output in the form of (X, Y, Z), and then accurately distributed on the three-dimensional model. In this way, the length, direction, and distribution of cracks on the surface of the surrounding rock can be obtained, and the first measurement model is recorded as Model 1.

[0111] When performing the second measurement operation on point A, if Fig.11 As shown, the position of the tunnel boring machine has moved forward along the positive direction of the y axis by L 5 , when the first robot arm, the second robot arm, and the third robot arm are deployed again in the same posture as the first measurement of point A, the spatial coordinate parameters of the Doppler laser vibrometer are (X A -L 4 , Y A , Z A ), which is consistent with the coordinate parameters of point A when it was first measured. However, the coordinates of point A change as the tunnel boring machine moves forward along the positive direction of the y axis. 5 Change to (X A , Y A -L 5 , Z A ), according to the relevant spatial coordinate formula, β can be obtained 3 :

[0112] tanβ 3 =L 5 / L 4 ;

[0113] β 3 =tan -1 (L 5 / L 4 );

[0114] Find β 3 After the angle of β, we can know that the Doppler laser vibrometer is 2 Become β 2 'The angle required to increase:

[0115] β 2 ′=β 2 +β 3 ;

[0116] According to the angle β between the first manipulator and the Doppler laser vibrometer when measuring point A for the first time in the xoy plane 2 and β 3 The Doppler laser vibrometer can quickly find the position of point A and perform a secondary measurement of point A, and measure the distance L between the Doppler laser vibrometer and point A during the secondary measurement. 6'; Similarly, a secondary measurement operation is performed on all points detected by the Doppler laser vibrometer, and the second measurement result of the surrounding rock surface is recorded as model 2;

[0117] Model 2 and Model 1 are placed in a unified spatial coordinate system for comparison. During the comparison, the actual calculated value L between the Doppler laser vibrometer and point A is calculated. 6 , and its calculation formula is:

[0118] (L 4 ) 2 +(L 5 ) 2 =(L 6 ) 2 ;

[0119]

[0120] L 6 ′ and L 6 For comparison:

[0121] That is L 6 / L 6 ′;

[0122] And judge

[0123] L 6 / L 6 ′ is equal to 1. If not, the surrounding rock has shifted.

[0124] Similarly, the deviation conditions of all points detected by the Doppler laser vibrometer are compared and judged. Through the comparison, it can be concluded whether the surrounding rock is deflected, whether the cracks are proliferating, and their latest trend and distribution status.

[0125] The above comparison and judgment information can provide a solid scientific basis for the subsequent prediction of surrounding rock fall.

[0126] S5. Analyze the direction of surrounding rock cracks according to the crack changes and surrounding rock deformation offset, and estimate the surrounding rock parts that are about to fall off. The staff can design a more effective support plan for the tunnel based on the model, or implement an early removal plan to solve the hidden dangers according to the shedding rate of the surrounding rock at a certain location;

[0127] S6. When the Doppler laser vibrometer 11 directly finds that there is a surrounding rock block 8 that is about to fall off or a sudden increase in rock cracks during the detection process, the data processing module 193 transmits the surrounding rock block information to the well dispatch room through the 5G wireless communication module 192 and issues a warning. The workers in the well dispatch room can respond immediately, dispatch rescue and notify relevant technical personnel to check the site as soon as possible; at the same time, the data processing module 193 will transmit the surrounding rock block information to the second control circuit board 26 of the light alarm 2, control the buzzer light alarm 24 to sound an alarm through the sound outlet 25, and remind the staff to stay away from this place;

[0128] S7, the second control circuit board 26 synchronously transmits the surrounding rock block information to the spotlight irradiator 21, and the spotlight irradiator 21 moves the irradiation position to the surrounding rock block 8 that is about to fall off through the positioning seat 23 and the fifth rotating device 22, and lights up the specific lamp beads on the rectangular light path panel 211 to form a pattern 9 similar to the surrounding rock block that is about to fall off, and the pattern 9 surrounds the surrounding rock block 8 that is about to fall off (such as Figure 7 As shown in the figure, light warning is used to remind surrounding workers to stay away from this place to reduce casualties and equipment damage.

[0129] The invention discloses a device for detecting the displacement state and surface crack distribution of tunnel surrounding rock, which is mainly composed of a mechanical arm, a Doppler laser vibrometer, a base, and a light alarm. The mechanical arm and the base can be rotated and matched to transport the Doppler laser vibrometer to a position 0.5m-1.0m away from the surface of the tunnel surrounding rock. The Doppler laser vibrometer can detect the vibration state and cracks of the surrounding rock, output data after detection and form a 3D tunnel model, and then a ground dispatching room can make a detailed anchor support plan (anchor drilling position, installation quantity, orientation and other planning) according to the formed 3D tunnel model, and the Doppler laser vibrometer can detect the parts with high risk of falling off in the top wall and side wall during the crack detection process, and can break them in advance to prevent the possibility of falling off in the later stage to injure people and damage equipment.

[0130] On the other hand, the detection device can set a cyclic detection period to provide the dispatching center with the latest status and crack information of the surrounding rock in real time. The dispatching center can calculate the pressure distribution of the surrounding rock at a certain location based on the established 3D stereoscopic tunnel model, and then combine the distribution of the surrounding rock cracks at that location, the distribution area and the previous big data statistics of the same situation to predict the future crack direction and the rock shedding rate at a certain location when the impact ground pressure comes, break the rock parts with high shedding rate in advance, and provide relevant support for the rock with low shedding rate, thereby improving the safety of coal mine construction operations; and the entire detection process of the detection device does not require drilling operations, and will not cause any damage to the tunnel surrounding rock structure. The entire detection process is simple and fast, saving time and effort, and has excellent practicality; at the same time, the detection device can be combined with the mine's intelligent monitoring system to achieve remote real-time detection of the tunnel surrounding rock, providing strong support for the digital and intelligent development of mines.

Claims

1. A device for detecting the displacement state and surface crack distribution of surrounding rock in a tunnel, comprising a Doppler laser vibrometer and a base, wherein the Doppler laser vibrometer is connected to the base; characterized in that: A first arm mechanism capable of causing the Doppler laser vibrometer to perform a pitching motion and a self-rotating motion, a second arm mechanism capable of causing the first arm mechanism to perform a pitching motion, and a third arm mechanism capable of causing the second arm mechanism to perform a pitching motion are arranged between the Doppler laser vibrometer and the base; the Doppler laser vibrometer is connected to one end of the second arm mechanism via the first arm mechanism, and the other end of the second arm mechanism is rotatably connected to the base via the third arm mechanism.

2. The device for detecting the deviation state and surface crack distribution of surrounding rock in a tunnel according to claim 1, characterized in that: The first arm mechanism includes a first mechanical arm, a second rotating device, and a first rotating device. One end of the first mechanical arm is connected to the second arm mechanism, and the other end of the first mechanical arm is fixedly connected to the second rotating device. The axial direction of the output shaft of the second rotating device is consistent with the length direction of the first mechanical arm. The output shaft of the second rotating device is fixedly connected to the first rotating device. The length direction of the output shaft of the first rotating device is perpendicular to the axial direction of the output shaft of the second rotating device. The outer periphery of the output shaft of the first rotating device is fixedly connected to the Doppler laser vibrometer so that the Doppler laser vibrometer can perform a pitch angle adjustment action.

3. The device for detecting the deviation state and surface crack distribution of surrounding rock in a tunnel according to claim 2, characterized in that: The second arm mechanism includes a second robotic arm and a third rotating device. One end of the second robotic arm is connected to the third arm mechanism, and the other end of the second robotic arm is fixedly connected to the third rotating device. The axial direction of the output shaft of the third rotating device is perpendicular to the length direction of the first robotic arm and the second robotic arm. The outer periphery of the output shaft of the third rotating device is fixedly connected to one end of the first robotic arm so that the first robotic arm can perform a pitch angle adjustment action.

4. The device for detecting the deviation state and surface crack distribution of surrounding rock in a tunnel according to claim 3, characterized in that: The third arm mechanism includes a third robotic arm and a fourth rotating device. The third robotic arm is arranged vertically on the ground. The top end of the third robotic arm is fixedly connected to the fourth rotating device. The axial direction of the output shaft of the fourth rotating device is consistent with the axial direction of the output shaft of the third rotating device. The outer periphery of the output shaft of the fourth rotating device is fixedly connected to one end of the second robotic arm so that the second robotic arm can perform a pitch angle adjustment action; the bottom end of the third robotic arm is rotatably connected to the base; the base is a rotatable base with its own rotation function and can drive the third robotic arm to rotate around the axis of the third robotic arm.

5. The device for detecting the deviation state and surface crack distribution of surrounding rock in a tunnel according to claim 4, characterized in that: The third robotic arm is provided with an electronic component installation chamber which can be opened and closed. The electronic component installation chamber is layered and respectively provided with a first control circuit board for controlling the working state of each rotating device, a data processing module for processing the monitoring data of the Doppler laser vibrometer, and a 5G wireless communication module for transmitting the processing results of the data processing module to the host computer through the network; the first control circuit board is electrically connected to the second rotating device, the first rotating device, the third rotating device, the fourth rotating device, the base, and the data processing module, the data processing module is electrically connected to the Doppler laser vibrometer, and the 5G wireless communication module is electrically connected to the data processing module.

6. The device for detecting the deviation state and surface crack distribution of surrounding rock in a tunnel according to claim 5, characterized in that: The device also includes a light alarm; the light alarm includes an alarm housing, a positioning seat, a fifth rotating device, a buzzing light alarm, a spotlight illuminator, and a second control circuit board, the buzzing light alarm is fixed in the alarm housing, the top of the alarm housing is fixedly connected to the positioning seat, the top of the positioning seat is rotatably connected to the fourth mechanical arm, the fourth mechanical arm is arranged vertically to the ground, the positioning seat is a rotatable positioning seat with a built-in rotation function and can drive the fourth mechanical arm to rotate around the axis of the fourth mechanical arm; the top of the fourth mechanical arm is fixedly connected to the fifth rotating device, the axis direction of the output shaft of the fifth rotating device is perpendicular to the length direction of the fourth mechanical arm, and the outer periphery of the output shaft of the fifth rotating device is fixedly connected to the spotlight illuminator so that the spotlight illuminator can perform a pitch angle adjustment action; the second control circuit board is arranged in the alarm housing, and the second control circuit board is respectively connected to the spotlight illuminator, the positioning seat, the fifth rotating device, the buzzing light alarm, and the data processing module circuit.

7. The device for detecting the deviation state and surface crack distribution of surrounding rock in a tunnel according to claim 6, characterized in that: The spotlight illuminator is provided with a rectangular light path panel, in which lamp beads arranged in a matrix are arranged and specific lamp beads can be lit according to the control of the second control circuit board to form different light patterns. The lamp beads in the rectangular light path panel are connected to the second control circuit board circuit.

8. The device for detecting the deviation state and surface crack distribution of tunnel surrounding rock according to claim 7, characterized in that: The base is fixed on the cover plate of the conveying part of the tunnel boring machine. There are two light warning devices, and the warning device shells of the two light warning devices are fixed on the top of the machine boxes on both sides of the tunnel boring machine.

9. A method for using the device for detecting the displacement state and surface crack distribution of surrounding rock in a tunnel as claimed in claim 8, characterized in that: The following steps are involved: S1. Install the Doppler laser vibrometer on the base through the first arm mechanism, the second arm mechanism, and the third arm mechanism, and fix the base on the cover plate of the conveying part of the tunnel boring machine; at the same time, install the light warning device on the chassis on both sides of the tunnel boring machine; S2, setting the detection path, detection range, and movement speeds of the first mechanical arm, the second mechanical arm, and the third mechanical arm for the first control circuit board, so that the Doppler laser vibrometer performs crack detection operations in the space; and setting the cycle length of the Doppler laser vibrometer cyclic detection; S3, Doppler laser vibrometer transmits the detection data to the data processing module in real time, and the data processing module processes the data and transmits the detection data back to the upper computer in the well dispatching room through the 5G wireless communication module; S4. The dispatching room on the well will sort out the detection data, and after FLAC3D simulation data and model, establish a three-dimensional model of the surrounding rock of the underground tunnel and a spatial coordinate system, and reproduce the crack distribution, crack length, and crack direction on the three-dimensional model of the surrounding rock of the underground tunnel in the form of spatial coordinates, and mark the coordinates in the spatial coordinate system to obtain Model 1; when the cycle length of the Doppler laser vibrometer cyclic detection is reached, repeat steps S2 to S4, and let the Doppler laser vibrometer re-perform crack detection operations on the same position to obtain Model 2; Model 2 is overlapped and compared with Model 1 to obtain the crack change situation and surrounding rock deformation offset; S5. Analyze the direction of surrounding rock cracks according to the crack changes and surrounding rock deformation offset, estimate the surrounding rock parts that are about to fall off, improve the support plan for the tunnel according to the direction of surrounding rock cracks, and remove the surrounding rock parts that are about to fall off in advance; S6. When the Doppler laser vibrometer directly finds a surrounding rock block that is about to fall off during the detection process, the data processing module transmits the surrounding rock block information to the well dispatching room through the 5G wireless communication module and issues a warning. At the same time, the data processing module transmits the surrounding rock block information to the second control circuit board of the light alarm to control the buzzer light alarm to sound an alarm; S7. The second control circuit board synchronously transmits the surrounding rock block information to the spotlight illuminator, which moves the irradiation position to the surrounding rock block that is about to fall off through the positioning seat and the fifth rotating device, and lights up specific lamp beads on the rectangular light road panel to enclose the surrounding rock block that is about to fall off, and uses light warnings to remind surrounding workers to stay away from this place, thereby reducing casualties and equipment damage.

10. The method for using the device for detecting the deviation state and surface crack distribution of tunnel surrounding rock as claimed in claim 9, characterized in that: The step S4 specifically comprises the following steps: S41, establish a spatial rectangular coordinate system with the forward direction of the tunnel boring machine as the positive direction of the y-axis, the left side direction of the tunnel boring machine as the positive direction of the x-axis, the vertically upward direction as the positive direction of the z-axis, and the center point of the base as the origin; set the point being measured by the Doppler laser vibrometer as point A, and perform the first measurement operation on point A; S42, when point A is on the left side of the tunnel boring machine; the spatial coordinate value of point A (X A , Y A , Z A ) is calculated as: X A =(L2*cosθ1+L1*cosθ2)sinβ1+L4; Y A =(L2*cosθ1+L1*cosθ2)cosβ1; <h2 style=";text-align:left;direction:ltr">Z<h2 style=";text-align:left;direction:ltr"> A <h2 style=";text-align:left;direction:ltr"> (L3+L2*sinθ1+L1*sinθ2) When point A is on the right side of the surrounding rock of the tunnel boring machine; the spatial coordinate value of point A (X A , Y A , Z A ) is calculated as: X A =-((L2*cosθ1+L1*cosθ2)sinβ1+L4); Y A =(L2*cosθ1+L1*cosθ2)cosβ1; <h2 style=";text-align:left;direction:ltr">Z<h2 style=";text-align:left;direction:ltr"> A <h2 style=";text-align:left;direction:ltr"> (L3+L2*sinθ1+L1*sinθ2) When point A is on the top rock of the tunnel boring machine, the spatial coordinate value of point A (X A , Y A , Z A ) is calculated as: X A =(L2*cosθ1+L1*cosθ2)sinβ1; Y A =(L2*cosθ1+L1*cosθ2)cosβ1; <h2 style=";text-align:left;direction:ltr">Z<h2 style=";text-align:left;direction:ltr"> A <h2 style=";text-align:left;direction:ltr"> (L3+L2*sinθ1+L1*sinθ2)+L4) Wherein, L1 is the length of the first robotic arm; L2 is the length of the second robotic arm; L3 is the length of the third robotic arm; L4 is the distance from the Doppler laser vibrometer to point A measured by the Doppler laser vibrometer in the X-axis direction; β1 is the angle between the second robotic arm and the negative direction of the y-axis in the xoy plane; θ1 is the angle between the second robotic arm and the negative direction of the y-axis in the yoz plane; θ2 is the angle between the first robotic arm and the negative direction of the y-axis in the yoz plane; S43, determining the spatial coordinate value of point A according to step S4, and so on, outputting all the points detected by the Doppler laser vibrometer in the form of spatial coordinate values, and then accurately distributing them on the three-dimensional model of the surrounding rock of the underground tunnel to obtain the length, direction and distribution of the cracks on the surrounding rock surface, and recording the first measurement result of the surrounding rock surface as model 1; S44, perform a second measurement operation on point A. At this time, the position of the roadheader has moved forward by L5 along the positive direction of the y-axis. When the first mechanical arm, the second mechanical arm, and the third mechanical arm are deployed again in the posture of the first measurement of point A, the spatial coordinate parameters of the Doppler laser vibrometer are (X A -L4,Y A , Z A ), the coordinates of point A change to (X A , Y A -L5, Z A ), according to the spatial coordinate formula, β3 can be obtained as: tanβ3=L5 / L4; <h2 style=";text-align:left;direction:ltr">β3=tan<h2 style=";text-align:left;direction:ltr"> -1 <h2 style=";text-align:left;direction:ltr"> (L5 / L4); Wherein, L5 is the distance that the tunnel boring machine moves in the positive direction of the y-axis; β3 is the difference between the angle between the Doppler laser vibrometer and the first manipulator arm when measuring point A twice in the xoy plane; S45, according to the angle values ​​β2 and β3 between the Doppler laser vibrometer and the first mechanical arm when the Doppler laser vibrometer first measures the point A in the xoy plane, the Doppler laser vibrometer can quickly find the position of the point A and perform a secondary measurement operation on the point A, and measure the distance L6′ between the Doppler laser vibrometer and the point A during the secondary measurement; and so on, perform a secondary measurement operation on all the points detected by the Doppler laser vibrometer, and record the second measurement result of the surrounding rock surface as model 2; S46, comparing model 2 with model 1, during the comparison, calculating the actual calculated value L6 between the Doppler laser vibrometer and point A, the calculation formula is: <h2 style=";text-align:left;direction:ltr">(L4)<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> +(L5)<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> (L6)<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> ; S47, comparing L6′ with L6, if L6 / L6′ is equal to 1, the position of point A has not shifted; if L6 / L6′ is not equal to 1, the position of point A has shifted; S48. Similarly, the offset conditions of all points detected by the Doppler laser vibrometer are judged, and the crack changes on the detected surrounding rock surface and the deformation offset of the surrounding rock are analyzed.

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