Real-time deformation monitoring and early warning system based on surrounding rock protection of coal mine tunnels

Abstract

The present invention relates to the field of tunnel monitoring and is used to solve the problem that a mine car generates vibration when moving, thereby affecting the measurement accuracy of a rangefinder. The present invention specifically relates to a real-time deformation monitoring and early warning system based on surrounding rock protection of coal mine tunnels. In the present invention, vibration information of the mine car is collected through a preset reference point, and at the same time, the interior of the tunnel is collected through a laser rangefinder on the mine car. The collected distance measurement data in the tunnel is corrected by the vibration information to obtain real distance data in the tunnel. The deformation in the tunnel is evaluated based on the actual distance data, thereby realizing high-precision deformation monitoring of the inner wall of the tunnel. At the same time, the occurrence position and frequency of the tunnel deformation are analyzed, the distribution of the deformation position and the distribution density in the tunnel are judged, and the settlement position and settlement trend of the tunnel are analyzed based on the distribution condition and distribution density in the tunnel.

Description

Technical Field

[0001] The present invention relates to the field of tunnel monitoring, and in particular to a real-time deformation monitoring and early warning system based on surrounding rock protection of coal mine tunnels. Background Art

[0002] At present, the underground deformation monitoring method of coal mines adopts the roof separation meter method and the tape measure. A section is taken every 50m in the tunnel, and four points are set on the section to measure the distance between the two sides and the top and bottom plate points. The data of different periods are compared to obtain the deformation. When the deformation of a certain area is found to be large, it is encrypted and the curve of the convergence of the two sides and the roof, that is, the convergence rate over time, is drawn through the measurement data. The law of tunnel deformation is obtained through analysis.

[0003] Since manual measurement is inefficient, in related technologies, tracks and mining cars are set in the tunnels, and rangefinders are installed on the mining cars. The rangefinders are set to facilitate monitoring of mine tunnels, which can improve the efficiency of tunnel deformation monitoring. The existing patent application CN116182728A discloses a technical solution, which realizes tunnel monitoring by setting a monitoring component on the mining car. At the same time, a push plate is set in front of the mining car to prevent the mine car from crushing stones, thereby preventing the mine car from derailing. However, in actual applications, the accuracy of the mine car and the mine car track will not be set too precisely, which will cause the car body to vibrate when the mine car is traveling, and then cause the rangefinder itself to continue to move when measuring while moving, causing the rangefinder data to fluctuate, affecting the accuracy and precision of the data.

[0004] In response to the above technical problems, this application proposes a solution. Summary of the Invention

[0005] In the present invention, the vibration information of the mine car is collected through a preset reference point, and the interior of the tunnel is collected through a laser rangefinder on the mine car. The collected distance measurement data in the tunnel is corrected by the vibration information to obtain the real distance data in the tunnel. The deformation in the tunnel is evaluated according to the actual distance data, thereby realizing high-precision deformation monitoring of the inner wall of the tunnel, solving the problem that the mine car generates vibration when moving, thereby affecting the measurement accuracy of the rangefinder, and proposing a real-time deformation monitoring and early warning system based on surrounding rock protection of coal mine tunnels.

[0006] The purpose of the present invention can be achieved through the following technical solutions: a real-time deformation monitoring and early warning system based on coal mine tunnel surrounding rock protection, including a reference positioning unit, a mobile scanning unit, a fusion processing unit, a monitoring and analysis unit and a graded early warning unit. The reference positioning unit is used to collect the laser position received by the laser beam receiving surface on the mining trolley and generate a vibration position change curve.

[0007] The mobile scanning unit is used to scan the tunnel and obtain multiple sets of point data.

[0008] The fusion processing unit is used to perform fusion correction processing on the data acquired by the mobile scanning unit and the reference positioning unit, and obtain the actual distance data of the lane according to the fusion correction processing result.

[0009] The monitoring and analysis unit obtains actual distance data, judges the actual distance data, obtains the deformation of the tunnel, and then analyzes the deformation of the tunnel to obtain the density of deformation points and judge the distribution of the tunnel deformation.

[0010] As a preferred embodiment of the present invention, when the mobile scanning unit scans the tunnel surrounding rock protection, i collection points are set on a section of the tunnel surrounding rock protection. The mobile scanning unit scans the tunnel at fixed intervals through a laser rangefinder to obtain the distance between the laser rangefinder and the collection point, thereby obtaining multiple sets of distance data.

[0011] The mobile scanning unit collects the depth distance and the collection time at the same time, and records multiple sets of distance data, the depth distance during scanning, and the collection time during scanning as one set of data, thereby obtaining y sets of point data.

[0012] As a preferred embodiment of the present invention, the reference positioning unit continuously collects the laser position received by the laser beam receiving surface, records it as an initial position and a vibration position, and simultaneously records the time.

[0013] The reference positioning unit uses the initial position as the origin, creates a Y-axis and Z-axis plane rectangular coordinate system on the laser beam receiving surface, represents the collected vibration position with coordinates (Y, Z), then establishes a spatial three-dimensional coordinate system with time as the X-axis, and draws a vibration position change curve in the spatial three-dimensional coordinate system.

[0014] As a preferred embodiment of the present invention, the fusion processing unit selects point data from the detection data group, obtains the vibration position coordinates (Y, Z) on the vibration position change curve according to the acquisition time in the point data, and the fusion processing unit selects the distance data in the point data, corrects the distance data through the vibration position coordinates (Y, Z) to obtain the actual tunnel distance.

[0015] As a preferred embodiment of the present invention, the method for the fusion processing unit to correct the distance data is as follows.

[0016] Step 1: Mark the vibration position in the plane rectangular coordinate system according to the vibration position coordinate (Y, Z).

[0017] Step 2: Mark the i sets of distance data in the form of vectors in the plane rectangular coordinate system.

[0018] Step 3: Read the end point coordinates of each vector in the plane rectangular coordinate system and re-obtain the actual roadway distance. The distance data of the actual roadway distance is the length from the origin of the plane rectangular coordinate system to the end point of the vector.

[0019] As a preferred embodiment of the present invention, the monitoring and analysis unit uses the first detection data group as the initial lane data.

[0020] The monitoring and analysis unit compares the actual lane distances in the two detection data groups, the latest acquired detection data group and the initial lane data, to obtain the actual lane distance difference. The monitoring and analysis unit compares each group of actual lane distance difference with the set threshold. If a group of actual lane distance difference is greater than the set threshold, a lane deformation signal is generated in the scanning direction corresponding to the group of lane distances; otherwise, a lane normal signal is generated.

[0021] As a preferred embodiment of the present invention, the monitoring and analysis unit sends the tunnel deformation signal, the difference between the actual tunnel distance and the depth distance to the graded warning unit. The graded warning unit obtains the tunnel deformation position according to the depth distance for generating the tunnel deformation signal, and takes the tunnel deformation position as the midpoint to extend a high-risk monitoring area with a length of L to both sides, and sends the high-risk monitoring area to the mobile scanning unit.

[0022] When the mobile scanning unit subsequently passes through the high-risk monitoring area for detection, the fixed scanning interval of the laser rangefinder is shortened.

[0023] The monitoring and analysis unit compares the difference between the actual lane distances with the set difference gear, determines the gear to which the difference between the actual lane distances belongs, and generates a low-risk warning signal or a high-risk warning signal according to the gear.

[0024] As a preferred embodiment of the present invention, the monitoring and analysis unit classifies all deformation locations as deformation points. The monitoring and analysis unit performs statistics on all deformation points to obtain the density of the deformation points. If the deformation point density is greater than the set density threshold, a stage deformation signal is generated. If the deformation point density is not greater than the set density threshold, a single-point deformation signal is generated.

[0025] As a preferred embodiment of the present invention, the method for the monitoring and analysis unit to calculate the deformation point density is: the monitoring and analysis unit selects a group of deformation points, and marks all deformation points in the high-risk monitoring area on both sides of the deformation points, and records the number of occurrences of the deformation points as the deformation point density.

[0026] Compared with the prior art, the present invention has the following beneficial effects.

[0027] 1. In the present invention, when using a mobile mine car to detect the surrounding rock protection of the tunnel, the vibration information of the mine car is collected through a preset reference point. At the same time, the interior of the tunnel is collected through a laser rangefinder on the mine car. The collected distance measurement data in the tunnel is corrected by the vibration information to obtain the real distance data in the tunnel. The deformation situation in the tunnel is evaluated based on the actual distance data, thereby realizing high-precision deformation monitoring of the inner wall of the tunnel.

[0028] 2. In the present invention, after internal deformation is detected, the location and frequency of the deformation are analyzed to determine the distribution of the deformation location and distribution density in the tunnel. The settlement location and settlement trend of the tunnel are analyzed based on the distribution and distribution density in the tunnel, so that the deformation situation in the tunnel is presented in a digital manner, thereby improving the timeliness of monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] To facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0030] Figure 1 This is a system block diagram of the present invention.

[0031] Figure 2 It is a system flow chart of the present invention.

[0032] Figure 3 Schematic diagram of the detection of the present invention. DETAILED DESCRIPTION

[0033] The following is a clear and complete description of the technical solutions of the present invention in conjunction with the embodiments. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0034] Example 1: Please refer to Figure 1 - Figure 3As shown in the figure, the real-time deformation monitoring and early warning system based on the surrounding rock protection of coal mine tunnels includes a reference positioning unit, a mobile scanning unit, a fusion processing unit, a monitoring and analysis unit and a graded early warning unit. The mobile scanning unit realizes the end face scanning of the tunnel by laser ranging. The laser ranging device is installed on the mining trolley. The mining trolley travels on the track in the tunnel, thereby realizing the collection of multiple end faces in the tunnel. The reference positioning unit sets a reference point on the ground at one end of the tunnel, and sends a laser beam to the mining trolley with a laser transmitter at the reference point. A laser beam receiving surface is set on the mining trolley, and the position of the laser received on the laser beam receiving surface is collected.

[0035] When the mobile scanning unit scans the tunnel surrounding rock protection, i collection points are set on a section of the tunnel surrounding rock protection, where i is a natural number and the i collection points are distributed on both sides and the top of the tunnel. When the mining trolley moves, the mobile scanning unit scans the tunnel at fixed intervals through the laser rangefinder, and returns data to the laser rangefinder through the collection points to obtain the distance between the laser rangefinder and the collection points, thereby obtaining multiple sets of distance data.

[0036] When the mobile scanning unit collects distance data, it also collects the depth distance and collection time, and records multiple sets of distance data, the depth distance during scanning, and the collection time during scanning as one set of data, thereby obtaining y sets of point data.

[0037] Before the mining trolley starts to move, the reference positioning unit collects the position of the laser received by the laser beam receiving surface and records it as the initial position. After the mining trolley starts to move, the position of the laser received by the laser beam receiving surface is continuously collected and recorded as the vibration position. When obtaining each set of vibration positions, the time is also recorded.

[0038] The reference positioning unit uses the initial position as the origin to create a Y-axis and Z-axis plane rectangular coordinate system on the laser beam receiving surface. The collected vibration position is represented by coordinates (Y, Z), thereby establishing a three-dimensional spatial coordinate system with time as the X-axis. In this three-dimensional spatial coordinate system, a vibration position change curve is drawn according to the time X of the collected vibration position and the vibration position coordinates (Y, Z).

[0039] The mobile scanning unit and the reference positioning unit perform one detection in each detection cycle.

[0040] The fusion processing unit obtains y groups of point data through the mobile scanning unit and obtains the vibration position change curve through the reference positioning unit.

[0041] The fusion processing unit selects a group of point data from the detection data group, and obtains the vibration position coordinates (Y, Z) based on the acquisition time contained in the point data through the same acquisition time on the vibration position change curve. The fusion processing unit selects the distance data in the point data, corrects the distance data through the vibration position coordinates (Y, Z), and obtains the actual tunnel distance. The actual tunnel distance and depth distance are used as data groups, and a period stamp is added to the data group. The period stamp is based on the detection period, and the first detection data group, the second detection data group..., and the nth detection data group are obtained.

[0042] The method for the fusion processing unit to correct the distance data is:

[0043] Step 1: Obtain the Y-axis and Z-axis plane rectangular coordinate system created by the reference positioning unit, and mark the vibration position in the plane rectangular coordinate system according to the vibration position coordinates (Y, Z).

[0044] Step 2: Mark i sets of distance data in the plane rectangular coordinate system as vectors. The direction of the vector is the corresponding laser return direction, the length of the vector is the distance data, and the starting point of all vectors is the vibration position coordinate (Y, Z).

[0045] Step 3: Read the end point coordinates of each vector in the plane rectangular coordinate system to re-obtain i groups of actual lane distances. The distance data of the actual lane distance is the length from the origin of the plane rectangular coordinate system to the end point of the vector.

[0046] Example 2: Please refer to Figure 1 - Figure 3 As shown, the fusion processing unit sends the data group obtained from each detection to the monitoring and analysis unit, and the monitoring and analysis unit uses the first detection data group as the initial lane data.

[0047] The monitoring and analysis unit obtains the latest set of detection data groups, and compares the actual tunnel distances within the two detection data groups of the latest acquired detection data group and the initial tunnel data to obtain i groups of actual tunnel distance differences. The monitoring and analysis unit compares each group of actual tunnel distance differences with the set threshold value. If a group of actual tunnel distance differences is greater than the set threshold value, a tunnel deformation signal is generated in the scanning direction corresponding to the tunnel distance of this group. If the actual tunnel distance difference is not greater than the set threshold value, a tunnel normal signal is generated in the scanning direction corresponding to the tunnel distance of this group.

[0048] After generating a normal tunnel signal or a tunnel deformation signal, the monitoring and analysis unit sends it to the management device through the network. The management device outputs the signal through the display device. When outputting the signal, it also outputs the depth distance corresponding to the signal.

[0049] Example 3: Please refer to Figure 1 - Figure 3 As shown, the monitoring and analysis unit sends the tunnel deformation signal, the difference between the actual tunnel distance and the depth distance to the graded warning unit. The graded warning unit obtains the tunnel deformation position according to the depth distance that generates the tunnel deformation signal, and extends a high-risk monitoring area with a length of L to both sides with the tunnel deformation position as the midpoint, and sends the high-risk monitoring area to the mobile scanning unit.

[0050] When the mobile scanning unit passes through the high-risk monitoring area during subsequent detection, the fixed scanning interval of the laser rangefinder is shortened, thereby performing high-density monitoring of the high-risk monitoring area.

[0051] The monitoring and analysis unit compares the difference between the actual tunnel distance and the set difference gear, determines the gear to which the actual tunnel distance difference belongs, and generates a low-risk warning signal or a high-risk warning signal according to the gear.

[0052] The monitoring and analysis unit sends a low-risk warning signal or a high-risk warning signal to the management device through the network, and the management device displays a reminder through the display device.

[0053] The monitoring and analysis unit obtains the depth distance of all low-risk warning signals or high-risk warning signals, and classifies the locations where deformation occurs as deformation points. The monitoring and analysis unit counts all deformation points, obtains the density of deformation points, and compares the deformation point density with the set density threshold. If the deformation point density is greater than the set density threshold, a stage deformation signal is generated. If the deformation point density is not greater than the set density threshold, a single-point deformation signal is generated.

[0054] The method for calculating the deformation point density by the monitoring and analysis unit is as follows: the monitoring and analysis unit selects a group of deformation points, marks all deformation points in the high-risk monitoring area on both sides of the deformation points, and records the number of deformation points as the deformation point density.

[0055] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to specific embodiments. Obviously, many modifications and variations are possible based on the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A real-time deformation monitoring and early warning system based on surrounding rock protection in coal mine tunnels is characterized by: It includes a reference positioning unit, a mobile scanning unit, a fusion processing unit, a monitoring and analysis unit, and a graded early warning unit. The reference positioning unit is used to collect the laser position received by the laser beam receiving surface on the mining trolley and generate a vibration position change curve; The mobile scanning unit is used to scan the tunnel and obtain multiple sets of point data; The fusion processing unit is used to perform fusion correction processing on the data obtained by the mobile scanning unit and the reference positioning unit, and obtain the actual distance data of the lane according to the fusion correction processing result; The monitoring and analysis unit obtains actual distance data, judges the actual distance data, obtains the roadway deformation, and then analyzes the roadway deformation to obtain the deformation point density and judge the roadway deformation distribution; The reference positioning unit continuously collects the laser position received by the laser beam receiving surface, records it as the initial position and the vibration position, and records the time at the same time; The reference positioning unit uses the initial position as the origin to create a Y-axis and Z-axis plane rectangular coordinate system on the laser beam receiving surface, represents the collected vibration position with coordinates (Y, Z), then establishes a spatial three-dimensional coordinate system with time as the X-axis, and draws a vibration position change curve in the spatial three-dimensional coordinate system; The fusion processing unit selects point data from the detection data group, obtains the vibration position coordinates (Y, Z) on the vibration position change curve according to the acquisition time in the point data, and the fusion processing unit selects the distance data in the point data, corrects the distance data according to the vibration position coordinates (Y, Z), and obtains the actual tunnel distance.

2. The real-time deformation monitoring and early warning system based on coal mine tunnel surrounding rock protection according to claim 1 is characterized in that: When the mobile scanning unit scans the tunnel surrounding rock protection, i collection points are set on a section of the tunnel surrounding rock protection. The mobile scanning unit scans the tunnel at fixed intervals using a laser rangefinder to obtain the distance between the laser rangefinder and the collection points, thereby obtaining multiple sets of distance data; The mobile scanning unit collects the depth distance and the collection time at the same time, and records multiple sets of distance data, the depth distance during scanning, and the collection time during scanning as one set of data, thereby obtaining y sets of point data.

3. The real-time deformation monitoring and early warning system based on coal mine tunnel surrounding rock protection according to claim 1 is characterized in that: The method for the fusion processing unit to correct the distance data is: Step 1: Mark the vibration position in the plane rectangular coordinate system according to the vibration position coordinate (Y, Z); Step 2: Mark the i sets of distance data in the rectangular coordinate system as vectors; Step 3: Read the end point coordinates of each vector in the plane rectangular coordinate system and re-obtain the actual roadway distance. The distance data of the actual roadway distance is the length from the origin of the plane rectangular coordinate system to the end point of the vector.

4. The real-time deformation monitoring and early warning system based on coal mine tunnel surrounding rock protection according to claim 1 is characterized in that: The monitoring and analysis unit uses the first detection data group as initial lane data; The monitoring and analysis unit compares the actual lane distances in the two detection data groups, the latest acquired detection data group and the initial lane data, to obtain the actual lane distance difference. The monitoring and analysis unit compares each group of actual lane distance difference with the set threshold. If a group of actual lane distance difference is greater than the set threshold, a lane deformation signal is generated in the scanning direction corresponding to the group of lane distances; otherwise, a lane normal signal is generated.

5. The real-time deformation monitoring and early warning system based on coal mine tunnel surrounding rock protection according to claim 4 is characterized in that: The monitoring and analysis unit sends the tunnel deformation signal, the difference between the actual tunnel distance and the depth distance to the graded warning unit. The graded warning unit obtains the tunnel deformation position based on the depth distance used to generate the tunnel deformation signal, and extends a high-risk monitoring area of length L to both sides with the tunnel deformation position as the midpoint, and sends the high-risk monitoring area to the mobile scanning unit. The mobile scanning unit shortens the fixed scanning interval of the laser rangefinder when passing through the high-risk monitoring area during subsequent detection; The monitoring and analysis unit compares the difference between the actual lane distances with the set difference gear, determines the gear to which the difference between the actual lane distances belongs, and generates a low-risk warning signal or a high-risk warning signal according to the gear.

6. The real-time deformation monitoring and early warning system based on coal mine tunnel surrounding rock protection according to claim 5 is characterized in that: The monitoring and analysis unit classifies all locations where deformation occurs as deformation points. The monitoring and analysis unit performs statistics on all deformation points to obtain the density of the deformation points. If the deformation point density is greater than the set density threshold, a stage deformation signal is generated. If the deformation point density is not greater than the set density threshold, a single-point deformation signal is generated.

7. The real-time deformation monitoring and early warning system based on coal mine tunnel surrounding rock protection according to claim 5 is characterized in that: The method for calculating the deformation point density by the monitoring and analysis unit is as follows: the monitoring and analysis unit selects a group of deformation points, marks all deformation points in the high-risk monitoring area on both sides of the deformation points, and records the number of deformation points as the deformation point density.

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