High-precision surrounding rock deformation dynamic monitoring device and method based on data calibration

Abstract

The invention relates to a high-precision surrounding rock deformation dynamic monitoring device and method based on data calibration, and belongs to the technical field of coal mine surrounding rock deformation monitoring. Each monitoring device comprises a fixing device and a monitoring part, and the fixing device is arranged on a roadway anti-impact hydraulic support and used for fixing the monitoring part; the monitoring part is installed on the fixing device and the roadway anti-impact hydraulic support and used for monitoring data in a roadway. And the fixing devices and the monitoring parts of the two sets of monitoring devices are arranged in mirror symmetry relative to the middle vertical planes of the two sets of monitoring devices. The fixing device comprises a fixed connecting plate and a cantilever beam; the monitoring part is mounted at the cantilever end of the cantilever beam; the fixing devices are arranged close to the left side or the right side of the roadway, and the fixing devices of the front monitoring device and the rear monitoring device are arranged close to different side walls. According to the invention, high-precision measurement of roadway deformation can be realized, and data calibration can be carried out in the monitoring process.

Description

Technical Field

[0001] The present invention belongs to the technical field of coal mine surrounding rock deformation monitoring, and in particular relates to a high-precision surrounding rock deformation dynamic monitoring device and method based on data calibration. Background Art

[0002] The stability of roadway surrounding rock is of great significance to ensuring safe production in coal mines and improving economic benefits. Therefore, during coal mining, great attention should be paid to the stability of roadway surrounding rock. By monitoring the surface deformation of roadway surrounding rock, it is possible to predict the occurrence of danger in advance and take effective support measures to resolve it.

[0003] Some existing tunnel surface displacement monitoring methods based on the laser ranging principle have the following main problems: first, there is a lack of automatic calibration function, and there is no way to eliminate the accumulated errors caused by long-term use; second, it is impossible to continuously monitor and record the tunnel surface displacement in real time; third, the cost of using high-precision equipment to fully cover the tunnel is too high. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the present invention provides a high-precision surrounding rock deformation dynamic monitoring device and method based on data calibration, which can measure the surrounding rock dynamics with high precision and perform data calibration during the monitoring process.

[0005] A high-precision dynamic monitoring device for surrounding rock deformation based on data calibration, comprising two monitoring devices arranged front and back along the direction of the roadway;

[0006] Each set of the monitoring device includes a fixing device and a monitoring part. The fixing device is arranged on the tunnel anti-collision hydraulic support and is used to fix the monitoring part; the monitoring part is installed on the fixing device and the tunnel anti-collision hydraulic support and is used for data monitoring in the tunnel; the fixing devices and monitoring parts of the two sets of monitoring devices are arranged in a mirror-symmetrical manner relative to the median vertical plane of the two sets of monitoring devices.

[0007] The fixing device includes a fixed connecting plate and a cantilever beam, the fixed connecting plate is fixed to one end of the cantilever beam and is installed on the side column of the tunnel anti-collision hydraulic support to form a cantilever structure, and the monitoring unit is installed at the cantilever end of the cantilever beam;

[0008] The fixing device is arranged close to the left side or the right side of the tunnel, and the fixing devices of the front and rear monitoring devices are arranged close to different side walls.

[0009] The cantilever beam is a right-angle cantilever beam.

[0010] The monitoring unit includes a balancing platform mounted on the cantilever end of the fixing device and two laser rangefinders symmetrically connected to the balancing platform for measurement and calibration respectively; the two laser rangefinders are equipped with a data transmission module and a central processing module; during the measurement process, the laser rangefinders rotate between the top and bottom plates within the same longitudinal cross section of the tunnel;

[0011] It also includes a reflector, which is installed on the tunnel anti-collision hydraulic support, located between the upper end beam and the lower end beam of the tunnel anti-collision hydraulic support, and arranged close to the side wall in the tunnel away from the fixed device.

[0012] The two laser rangefinders are connected to the balancing platform via a transmission mechanism, and the transmission mechanism drives the two laser rangefinders to rotate synchronously and symmetrically.

[0013] The initial positions of the two laser rangefinders are the two sides of the horizontal projection of the laser.

[0014] The reflective plate is vertically suspended between the upper end cross beam and the lower end cross beam of the tunnel anti-collision hydraulic support through a connecting piece.

[0015] The connecting part includes a connecting end a connected to the crossbeam at the upper end of the tunnel anti-collision hydraulic support and a connecting end b connected to the crossbeam at the lower end of the tunnel anti-collision hydraulic support, wherein the connecting end a is U-shaped, installed on the crossbeam at the upper end of the tunnel anti-collision hydraulic support, and connected to one end of the reflector through two bolts, and the connecting end b is U-shaped, installed on the crossbeam at the lower end of the tunnel anti-collision hydraulic support; a plug-in slot is provided on the connecting end b, the reflector is inserted into the plug-in slot, and the plug-in slot only limits the horizontal displacement of the reflector.

[0016] The transmission mechanism adopts a gear transmission mechanism, including mutually meshing gears, the driving gear is connected to the output shaft of the motor through a transmission shaft and is driven by the motor, and the two laser rangefinders are respectively fixed to the driving gear and the driven gear through connecting rods;

[0017] The transmission mechanism also includes an angular velocity module and a timing device, which are electrically connected to the central processing module and are packaged together with the motor in a connection box, and the connection box is installed on the balancing platform.

[0018] A high-precision dynamic monitoring method for surrounding rock deformation based on data calibration, using the above-mentioned high-precision dynamic monitoring device for surrounding rock deformation based on data calibration, specifically includes:

[0019] Install the fixing device on the side column of the tunnel anti-collision hydraulic support;

[0020] Install the monitoring unit on the fixed device and the tunnel anti-collision hydraulic support;

[0021] Turn on the laser rangefinder so that the horizontal distance data obtained by the laser rangefinders in the front and rear monitoring devices projecting horizontally on both sides of the roadway are equal;

[0022] The transmission mechanism is activated to rotate the laser rangefinder from its initial position where the laser is projected horizontally onto the sides of the tunnel to its working position where the laser is projected onto the tunnel roof. The laser rangefinder then rotates 180° at a preset time to the tunnel floor where the laser is projected vertically, and then reverses 180° to return to the tunnel roof where the laser is projected vertically.

[0023] The method for the monitoring device to monitor and calculate the displacement of the left or right side of the tunnel is as follows:

[0024] Assume that the laser rangefinder near the side wall in one group of monitoring devices scans the projection points of the side wall at two adjacent times in the i-th interval time, and the measured data are n i (i=1,2,3,...),n i+1 , (i=1,2,3,...) The laser rangefinder scans the projection points of the reflector at the same time, namely X' and Y', and the measured data are n i '(i=1,2,3,...),n i+1 '(i=1,2,3,...); The angle of rotation of the laser rangefinder during this time interval is α, and the formula c i 2 =n i 2 +n i+1 2 -2n i n i+1 cosα(i=1,2,3,...) calculate to get c i (i=1, 2, 3, ...); the data measured by the laser rangefinder close to the side wall during the i+1th time interval are n i+1 (i=1,2,3,...),n i+2 (i=1,2,3,...), the laser rangefinder scans the reflector and measures the data in the same time respectively. i+1 '(i=1,2,3,...),n i+2 '(i=1,2,3,...); The angle of rotation of the laser rangefinder during this time interval is still α, using the formula

[0025] c i+1 2 =n i+1 2 +n i+2 2 -2n i+1 n i+2cosα(i=1,2,3,...) calculates c i+1 (i=1,2,3,...);

[0026] Using formula c i-i+1 2 =n i 2 +n i+2 2 -2n i n i+2 cos(2α)(i=1,2,3,...) calculates c i-i+1 (i=1,2,3,...), if (c i +c i+1 )≠c i-i+1 , it is judged that the side of the current lane has been displaced, otherwise it is judged that one side of the lane has not been displaced;

[0027] Calculation method of displacement:

[0028] θ is the initial angle of the laser rangefinder near the side wall in one set of monitoring devices from vertically upward to the top plate to the first point on the side wall where it hits. i =(n i+1 '-n i+1 )sin(iα+θ) can be used to calculate the horizontal displacement value s of point Y on the left side of the tunnel i , (where i = 1, 2, 3, ...);

[0029] Determination of displacement of top and bottom plates:

[0030] When the laser rangefinder scans the top and bottom plates in the i-th measurement, the initial vertical distance measurement value is h i +h i+1 , when measuring next time, the vertical distance measured when rotating to the same position is h i '+h i+1 ', if h i +h i+1 ≠h i '+h i+1 ', it indicates that the top and bottom plates of the tunnel have been displaced, otherwise no displacement has occurred;

[0031] The calculation method of the top and bottom plate displacement is:

[0032] The measurement value of the laser rangefinder when it scans the top plate for the first time is h i , the scanned bottom plate is measured as h i+1 , the next time the laser rangefinder starts scanning the top plate, that is, the measurement value of h i ', the scanned bottom plate is measured as h i+1', using the formula Δh=(h i +h i+1 )-(h i '+h i+1 ') Calculate the displacement of the top and bottom plates;

[0033] During the rotation of the laser rangefinder, the central processing module stores the data collected and calculated by the monitoring device;

[0034] The above steps are repeated as the tunnel is excavated.

[0035] The beneficial effects of the present invention are:

[0036] The present invention utilizes a cantilever structure fixing device to fix the monitoring device on the tunnel anti-collision hydraulic support, which is beneficial to the front and back arrangement of two groups of identical equipment, and facilitates the overall arrangement, installation and disassembly of the equipment, thereby realizing recycling.

[0037] The present invention utilizes a balancing platform to omit the leveling step of the laser rangefinder, and can ensure that the laser rangefinder projects lasers to the arranged measuring points at the same position, with high measurement accuracy, and can achieve high-precision measurement of tunnel deformation.

[0038] The present invention collects, calculates and stores multiple measurement data through a monitoring device, omitting manual calculation process and improving efficiency.

[0039] The present invention adopts a transmission mechanism to drive the two laser rangefinders of each monitoring device to rotate symmetrically, which can achieve the purpose of real-time monitoring, and can monitor whether the tunnel top and bottom plates and the two sides of the tunnel are deformed, as well as monitor the vertical distance of the tunnel top and bottom plates and the deformation amount of the two sides of the tunnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A schematic diagram of the monitoring status of one of the monitoring devices in the high-precision dynamic monitoring device for surrounding rock deformation based on data calibration provided by the present invention;

[0041] Figure 2 A schematic diagram of the monitoring state of another monitoring device of the high-precision surrounding rock deformation dynamic monitoring device based on data calibration provided by the present invention;

[0042] Figure 3 A schematic diagram of the monitoring unit in the high-precision surrounding rock dynamic monitoring device provided by the present invention;

[0043] Figure 4 A schematic diagram of the transmission mechanism of the high-precision surrounding rock dynamic monitoring device provided by the present invention;

[0044] Figure 5 for Figure 1 The middle portion A is a schematic diagram of the connection end a of the connection member for fixing the reflector;

[0045] Figure 6 for Figure 1 The middle portion B is a schematic diagram of the connection end b of the connection member for fixing the reflector;

[0046] Figure 7 This is a schematic diagram showing the principle of measuring the displacement value of the left side of a roadway using the high-precision surrounding rock dynamic monitoring device provided by the present invention;

[0047] Figure 8 for Figure 7 A partial enlarged view of the K portion in FIG;

[0048] in,

[0049] 1-tunnel anti-collision hydraulic support, 2-fixed connecting plate, 3-cantilever beam, 4-balancing pan / tilt, 5-laser rangefinder, 6-transmission mechanism, 6-1-angular velocity module, 6-2-timing device, 6-3-driving gear, 6-4-transmission shaft, 6-5-driven gear, 6-6-motor, 6-7-connecting box, 7-reflector, 8-connecting piece, 8-1-connecting end a, 8-2-connecting end b, 9-data transmission module, 10-central processing module. DETAILED DESCRIPTION

[0050] In order to better explain the present invention and facilitate understanding, the technical solutions and effects of the present invention are described in detail below with reference to the accompanying drawings through specific implementation methods.

[0051] A high-precision dynamic monitoring device for surrounding rock deformation based on data calibration includes two sets of monitoring devices arranged in front and behind along the direction of the tunnel. Each set of the monitoring devices includes a fixing device and a monitoring part. The fixing device is set on the tunnel anti-collision hydraulic support 1 and is used to fix the monitoring part; the monitoring part is installed on the fixing device and the tunnel anti-collision hydraulic support 1 and is used for data monitoring in the tunnel.

[0052] Combine Figure 1-8 As shown, this embodiment provides a high-precision surrounding rock dynamic monitoring device, including a fixing device for fixing the monitoring part to achieve the installation and fixation of the monitoring part in the tunnel. The fixing device is arranged close to the left or right side of the tunnel, and the positions of the fixing devices in the front and rear monitoring devices are different, and are respectively arranged close to the left and right sides of the tunnel. The fixing device includes a fixed connecting plate 2 and a cantilever beam 3. The fixed connecting plate 2 is welded to one end of the cantilever beam 3 and is installed on the side column of the tunnel anti-collision hydraulic support 1 by bolts. The cantilever beam 3 is a cantilever structure, and the monitoring part is installed at the cantilever end of the cantilever beam 3. In this embodiment, the cantilever beam 3 is a right-angle cantilever beam.

[0053] The monitoring unit includes a balancing platform 4 mounted on the cantilever end of the fixing device and two laser rangefinders 5 symmetrically connected to the balancing platform 4. The two laser rangefinders 5 are equipped with a data transmission module 9 and a central processing module 10, respectively, for measurement and calibration, to facilitate data measurement of the tunnel in the later stage. During the measurement process, the laser rangefinders 5 rotate between the top plate and the bottom plate within the longitudinal cross-section of the same tunnel. The two laser rangefinders 5 are connected to the balancing platform 4 via a transmission mechanism 6. The transmission mechanism 6 includes mutually meshing gears. The driving gear 6-3 is connected to the output shaft of the motor 6-6 via a transmission shaft 6-4 and is driven by the motor 6-6. The two laser rangefinders 5 are respectively fixed to the driving gear 6-3 and the driven gear 6-5 via a right-angle connecting rod. Under the drive of the motor 6-6, the two laser rangefinders 5 rotate between the top plate and the bottom plate along with the driving gear 6-3 and the driven gear 6-5. The transmission mechanism 6 also includes an angular velocity module 6-1 and a timing device 6-2, which are electrically connected to the central processing module 10 (the electrical connections are not shown in the diagram). Together with the motor 6-6, they are enclosed within a connection box 6-7, which is mounted on the balancing platform 4 and protects against dust. The monitoring unit also includes a reflector 7, which is mounted on the roadway anti-collision hydraulic support 1, located between the upper end counterweight and the lower end crossbeam of the roadway anti-collision hydraulic support 1, and positioned near the side of the roadway away from the fixed device.

[0054] Each measurement by the two laser rangefinders 5 begins with the laser projected vertically onto the tunnel roof and ends with the laser projected vertically onto the tunnel floor after being rotated 180°. During this rotation, the sides of the tunnel are scanned. At preset intervals, the two laser rangefinders 5 are rotated by a motor 6-6 by a predetermined angle. After rotating 180°, the laser rangefinders 5 rotate 180° in the opposite direction of their original trajectory, completing a single scan of the tunnel surface. This process is then repeated along the same trajectory. During each measurement, the difference in data measured by the two laser rangefinders 5 at different times is compared to determine the deformation of the surrounding rock.

[0055] In this embodiment, the monitoring unit includes a balancing platform 4, which is fixed to the cantilever end of the cantilever beam 3 of the fixing device; two laser rangefinders 5 are installed on the balancing platform 4, and the two laser rangefinders 5 are symmetrically arranged on the balancing platform 4, respectively carrying a data transmission module 9 and a central processing module 10 electrically connected thereto (not shown in the electrical connection diagram), to measure, analyze and store the monitored data. Specifically, the two laser rangefinders 5 are connected to the balancing platform 4 via a transmission mechanism 6. The transmission mechanism 6 includes intermeshing gears enclosed within a connecting housing 6-7, which is mounted on the balancing platform 4. A driving gear 6-3 is connected to the output shaft of a motor 6-6 via a transmission shaft 6-4, driven by the motor 6-6. The transmission shaft 6-4 extends from the output end of the motor 6-6 to the exterior of the connecting housing 6-7, with a bearing disposed between the transmission shaft 6-4 and the connecting housing 6-7. The rotating shaft of the driven gear 6-5 is fixed to the connecting housing 6-7, with a bearing disposed between the driven gear 6-5 and the rotating shaft. The two laser rangefinders 5 are respectively fixed to the driving gear 6-3 and the driven gear 6-5 via right-angle connecting rods. Driven by the motor 6-6, they rotate between the top and bottom plates along with the driving gear 6-3 and the driven gear 6-5. Driven by the motor 6-6, the driving gear 6-3 rotates, and under the engagement of the driving gear 6-3 and the driven gear 6-5, the laser rangefinder 5 rotates synchronously. The two laser rangefinders 5 rotate symmetrically and synchronously, scanning and measuring between the top plate and the bottom plate, and between the bottom plate and the top plate.

[0056] The transmission mechanism 6 also includes an angular velocity module 6-1 and a timing device 6-2 enclosed within a connection housing 6-7, which are electrically connected to the central processing module 10 (not shown in the electrical connection diagram). The angular velocity module 6-1 is used to monitor the stable rotation of the driving gear 6-3; the timing device 6-2 is used to ensure that the driving gear 6-3 rotates according to a preset time. The central processing module 10 receives data from the angular velocity module 6-1 and the timing device 6-2, and drives the motor 6-6 to rotate at a predetermined angle at a fixed time, and then reverses after rotating 180 degrees from the tunnel roof to the tunnel floor.

[0057] In this embodiment, Figure 1 As shown, the two monitoring devices are arranged front and back along the lane, the fixing device of the first set of laser rangefinders 5 is arranged near the left side of the lane, and the corresponding reflector 7 is arranged near the right side of the lane; Figure 2As shown, the second set of laser rangefinders 5 has its fixtures positioned near the right side of the tunnel, and its corresponding reflector 7 is positioned near the left side. The two monitoring devices, front and rear, are arranged in mirror-image symmetry about the mid-vertical plane between them. The two laser rangefinders 5 in each monitoring set initially project their lasers horizontally onto the sides of the tunnel. After leveling, the laser rangefinders 5 rotate to project their lasers vertically onto the tunnel roof. Then, at predetermined intervals, the two laser rangefinders 5 rotate symmetrically, rotating 180° before projecting their lasers vertically onto the tunnel floor. The laser rangefinders 5 then move 180° in the opposite direction along their original paths, returning to their original position where the lasers project their lasers vertically onto the tunnel roof again, completing a single measurement. During their rotation, the laser rangefinders 5 scan the tunnel sides: the laser rangefinders 5 of the first monitoring set scan the left side of the tunnel and its corresponding reflector 7, while the laser rangefinders 5 of the second monitoring set scan the right side of the tunnel and its corresponding reflector 7. During a single measurement, the deformation of the surrounding rock mass is determined by comparing the difference in data measured by the two laser rangefinders 5 at the same moment.

[0058] The method for monitoring surrounding rock using the high-precision dynamic monitoring device for surrounding rock deformation based on data calibration specifically includes the following steps:

[0059] Step 1: According to the layout position of the anti-collision hydraulic support 1 in the underground tunnel, fix the fixing device to the side column of the tunnel anti-collision hydraulic support 1, specifically connect the fixed connecting plate 2 at one end of the cantilever beam 3 with the side column bolts of the tunnel anti-collision hydraulic support 1.

[0060] Step 2: Assemble the monitoring part: encapsulate the angular velocity sensor 6-1, timer 6-2, driving gear 6-3, and driven gear 6-5 in the connecting box 6-7 to form a transmission mechanism 6; then connect the two laser rangefinders 5 equipped with the transmission mechanism 6 to the balancing pan-tilt head 4 to form the monitoring part. The initial position of the laser rangefinder 5 is the horizontal projection of the laser on both sides of the lane.

[0061] Step 3: Connect the balancing platform 4 to the end of the cantilever beam 3, and use the connector 8 to connect the reflector 7 to the tunnel anti-collision hydraulic support 1, and arrange it close to the side wall away from the fixing device. Turn on the laser rangefinder 5, use the balancing platform 4 to automatically level the monitoring part, and use the laser rangefinder 5 in the initial position to horizontally project the horizontal distance data obtained from the tunnel side wall and the distance from the laser rangefinder 5 to the reflector to determine the fixing position of the reflector 7 with the connector 8. The leveling method of the front and rear groups of measuring devices is the same. Make sure that the distance between the reflector 7 and the side wall close to the monitoring part and the laser rangefinder 5 is equal at this time, which is used for calibration and as reference data; the reflector 7 is hung vertically in the tunnel.

[0062] The connecting member 8 includes a connecting end a 8-1 connected to the crossbeam at the upper end of the tunnel anti-collision hydraulic support 1 and a connecting end b 8-2 connected to the crossbeam at the lower end of the tunnel anti-collision hydraulic support 1. The connecting end a 8-1 is U-shaped and installed on the crossbeam at the upper end of the tunnel anti-collision hydraulic support 1. It is connected to one end of the reflector 7 by two bolts. The connecting end b 8-2 is U-shaped and installed on the crossbeam at the lower end of the tunnel anti-collision hydraulic support 1. The connecting end b 8-2 is provided with a plug-in slot, and the reflector 7 is inserted into the plug-in slot. The plug-in slot can limit the horizontal displacement of the reflector 7. At the same time, the connecting end b 8-2 provides space for the reflector 7 to move and naturally droop. Even if the tunnel anti-collision hydraulic support 1 is deformed, the reflector 7 can still remain vertical, thereby ensuring the accuracy of operation calibration and measurement. The U-shaped configuration of the connecting ends a 8-1 and b 8-2 ensures that it is firm and stable and is not affected by vibration.

[0063] Step 4: Start the transmission mechanism 6, and under the drive of the motor 6-6, rotate the laser rangefinder 5 from its initial position where the laser is projected horizontally onto the sides of the roadway to its operating position where the laser is projected onto the roadway roof. Then, the laser rangefinder 5 equipped with the transmission mechanism 6 is rotated 180° at a preset time to the roadway floor where the laser is projected vertically, and then reversed 180° back to the roadway roof where the laser is projected vertically.

[0064] The two laser rangefinders 5 in the first monitoring system measure and record the distance from the monitoring point to the left side of the lane and to the reflector 7, respectively. The data transmission module 9 on the laser rangefinder 5 near the reflector 7 transmits the data measured by it and the distance to the reflector 7 as a standard to the central processing module 10 on the laser rangefinder 5 on the other side near the left side of the lane. The two laser rangefinders 5 in the second monitoring system measure and record the distance from the monitoring point to the right side of the lane and to the reflector 7, respectively. The data transmission module 9 on the laser rangefinder 5 near the reflector 7 transmits the data measured by it and the distance to the reflector 7 as a standard to the central processing module 10 on the laser rangefinder 5 on the other side near the left side of the lane.

[0065] Step 5: As the laser rangefinders 5 rotate, the two opposing laser rangefinders 5 simultaneously scan the tunnel sidewall and reflector 7. With each rotation, the laser rangefinder 5 scanning the reflector 7 transmits accurate and unchanging data via the data transmission module 9 to the central processing module 10 of the laser rangefinder 5 scanning the tunnel sidewall on the opposite side for comparison and calculation. The central processing module 10 analyzes the data recorded by the laser rangefinders 5 and calculates the displacement. In the first monitoring group, the data from the laser rangefinder 5 near the left side of the tunnel projecting vertically onto the top and bottom plates are recorded as h1 and h2, respectively. As the laser rangefinders 5 rotate, the data from scanning the left side of the tunnel at each time point is recorded as n1, n2, n3, n4, n5, ..., and the data from the corresponding laser rangefinders 5 scanning the reflector 7 at the same time point is recorded as n1', n2', n3', n4', n5', ..., respectively. The initial vertical distance measurement for the first measurement is h1 + h2.

[0066] Combine Figure 7 As shown, the method of using the first set of monitoring devices to monitor and calculate the displacement of the left side of the tunnel is as follows:

[0067] Judgment of left gang displacement:

[0068] Assume that the laser rangefinder 5 near the left side of the first monitoring device scans the projection points of the left side at points A and B in two consecutive times during the first interval, and the measured lengths are n1 and n2 respectively; the laser rangefinder 5 near the reflector 7 scans the projection points of the reflector 7 at points A' and B' at the same time, and the measured lengths are n1' and n2' respectively. The angle of rotation of the laser rangefinder 5 during this time interval is α. Using formula c1 2 =n1 2 +n2 2 -2n1n2cosα is calculated to obtain c1.

[0069] The laser rangefinder 5 near the left side scans the projection points of the left side at points B and C in the next adjacent time interval, i.e., the second time interval, and measures the lengths n2 and n3 respectively. The laser rangefinder 5 near the reflector 7 scans the projection points of the reflector 7 at points B' and C' in the next adjacent time interval, and measures the lengths n2' and n3' respectively. The angle of rotation of the laser rangefinder 5 in this time interval is still α. Using the formula c2 2 =n2 2 +n3 2 -2n2n3cosα is calculated to give c2.

[0070] Using formula c 1-2 2 =n1 2 +n32 -2n1n3cos(2α) is calculated to get c 1-2 , if (c1+c2)≠c 1-2 , it is judged that the position of point A-point C on the left side of the current lane has shifted, otherwise it is judged that the left side of the lane has not shifted.

[0071] That is, suppose the laser rangefinder 5 near the left side in the first monitoring device scans the projection points of the left side at point X and point Y in two adjacent time intervals in the i-th interval, and the measured data are n i 、n i+1 , where i = 1, 2, 3, ...; the projection points of the laser rangefinder 5 scanning the reflector 7 in the same time are X' and Y' respectively, and the measured data are n i '、n i+1 '. The angle of rotation of the laser rangefinder 5 during this time interval is α, and using formula c i 2 =n i 2 +n i+1 2 -2n i n i+1 cosα is calculated to obtain c i The laser rangefinder 5 near the left side scans the left side in i+1 adjacent time intervals and the measured data are n i+1 、n i+2 , the data measured by the laser rangefinder 5 when scanning the reflector 7 in the same time are n i+1 '、n i+2 '. During this time interval, the laser rangefinder 5 rotates at an angle of α. Using formula c i+1 2 =n i+1 2 +n i+2 2 -2n i+1 n i+2 cosα is calculated to get c i+1 .

[0072] Using formula c i-i+1 2 =n i 2 +n i+2 2 -2n i n i+2 cos(2α) is calculated to get c i-i+1 , if (c i +c i+1 )≠c i-i+1, it is judged that the left side of the current lane has been displaced, otherwise it is judged that the left side of the lane has not been displaced.

[0073] Calculation method of left side displacement:

[0074] The horizontal displacement value s1 of point B on the left side of the tunnel can be calculated using the formula s1 = (n2'-n2)sin(α+θ), where θ is the initial angle of the laser rangefinder 5 from its vertical upward rotation toward the roof to the first point it hits on the side wall. In this embodiment, the first point is point A on the tunnel side, and θ is the initial angle just before hitting point A. Similarly, the horizontal displacement value of point C on the left side of the tunnel can be calculated using the formula s2 = (n3'-n3)sin(2α+θ).

[0075] That is, using formula s i =(n i+1 '-n i+1 )sin(iα+θ) can be used to calculate the horizontal displacement value s of point Y on the left side of the tunnel i , where i = 1, 2, 3, ....

[0076] Determination of displacement of top and bottom plates:

[0077] In the first measurement, when the laser rangefinder 5 scans the top and bottom plates, the initial vertical distance measurement value is h1+h2. In the second measurement, when it is rotated to the same position, the vertical distance measurement value measured is h1'+h2'. If h1+h2≠h1'+h2', it means that the top and bottom plates of the tunnel have been displaced, otherwise no displacement has occurred.

[0078] That is, when the laser rangefinder 5 scans the top and bottom plates in the i-th measurement, the initial vertical distance measurement value is h i +h i+1 , where i = 1, 2, 3, ..., the vertical distance measured when rotating to the same position in the next measurement is h i '+h i+1 ', if h i +h i+1 ≠h i '+h i+1 ', it indicates that the top and bottom plates of the tunnel have been displaced, otherwise no displacement has occurred.

[0079] The calculation method of the top and bottom plate displacement is:

[0080] In the first measurement, the laser rangefinder 5 starts to scan the top plate with a measurement value of h1, and scans to the bottom plate with a measurement value of h2. In the next measurement, that is, the second measurement, the laser rangefinder 5 starts to scan the top plate with a measurement value of h1', and scans to the bottom plate with a measurement value of h2'. The displacement of the top and bottom plates is calculated using the formula Δh = ((h1 + h2) - (h1' + h2').

[0081] That is, the measurement value of the laser rangefinder 5 when it scans the top plate for the i-th time is h i , the scanned bottom plate is measured as h i+1 , where i = 1, 2, 3, ..., the next time the laser rangefinder 5 starts scanning the top plate, that is, the measurement value of h i ', the scanned bottom plate is measured as h i+1 ', using the formula (h i +h i+1 )-(h i '+h i+1 ') Calculate the displacement of the top and bottom plates.

[0082] Step 6: During the rotation of the laser rangefinder 5, the central processing module 10 stores the data collected and calculated by the monitoring device for subsequent retrieval when needed;

[0083] Step 7: Repeat steps 1 to 6 during tunnel excavation.

[0084] Since the second set of monitoring devices and the first set of monitoring devices are used to monitor the deformation of the surrounding rock and act anti-symmetrically on the tunnel anti-collision hydraulic support 1, the steps and methods for the second set of monitoring devices to measure the displacement of the right side of the tunnel are the same as above.

[0085] In the present invention, unless otherwise specified or limited, the terms "connect" and "fix" should be understood in a broad sense. For example, "fix" can mean fixed connection, detachable connection, or integration; it can mean mechanical connection or electrical connection; it can mean direct connection or connection through an intermediate medium; it can mean internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. A high-precision dynamic monitoring device for surrounding rock deformation based on data calibration, characterized by: Including monitoring devices, 2 sets of monitoring devices are arranged front and back along the direction of the tunnel; Each set of the monitoring device includes a fixing device and a monitoring part. The fixing device is arranged on the tunnel anti-collision hydraulic support and is used to fix the monitoring part; the monitoring part is installed on the fixing device and the tunnel anti-collision hydraulic support and is used for data monitoring in the tunnel; the fixing devices and monitoring parts of the two sets of monitoring devices are arranged in a mirror-symmetrical manner relative to the median vertical plane of the two sets of monitoring devices.

2. The high-precision dynamic monitoring device for surrounding rock deformation based on data calibration according to claim 1 is characterized in that: The fixing device includes a fixed connecting plate and a cantilever beam, the fixed connecting plate is fixed to one end of the cantilever beam and is installed on the side column of the tunnel anti-collision hydraulic support to form a cantilever structure, and the monitoring unit is installed at the cantilever end of the cantilever beam; The fixing device is arranged close to the left side or the right side of the tunnel, and the fixing devices of the front and rear monitoring devices are arranged close to different side walls.

3. The high-precision dynamic monitoring device for surrounding rock deformation based on data calibration according to claim 2 is characterized in that: The cantilever beam is a right-angle cantilever beam.

4. The high-precision dynamic monitoring device for surrounding rock deformation based on data calibration according to claim 1 is characterized in that: The monitoring unit includes a balancing platform mounted on the cantilever end of the fixing device and two laser rangefinders symmetrically connected to the balancing platform for measurement and calibration respectively; the two laser rangefinders are equipped with a data transmission module and a central processing module; during the measurement process, the laser rangefinders rotate between the top and bottom plates within the same longitudinal cross section of the tunnel; It also includes a reflector, which is installed on the tunnel anti-collision hydraulic support, located between the upper end beam and the lower end beam of the tunnel anti-collision hydraulic support, and arranged close to the side wall in the tunnel away from the fixed device.

5. The high-precision dynamic monitoring device for surrounding rock deformation based on data calibration according to claim 4 is characterized in that: The two laser rangefinders are connected to the balancing platform via a transmission mechanism, and the transmission mechanism drives the two laser rangefinders to rotate synchronously and symmetrically.

6. The high-precision dynamic monitoring device for surrounding rock deformation based on data calibration according to claim 4 is characterized in that: The initial positions of the two laser rangefinders are the two sides of the horizontal projection of the laser.

7. The high-precision dynamic monitoring device for surrounding rock deformation based on data calibration according to claim 4 is characterized in that: The reflective plate is vertically suspended between the upper end cross beam and the lower end cross beam of the tunnel anti-collision hydraulic support through a connecting piece.

8. The high-precision dynamic monitoring device for surrounding rock deformation based on data calibration according to claim 7 is characterized in that: The connecting part includes a connecting end a connected to the crossbeam at the upper end of the tunnel anti-collision hydraulic support and a connecting end b connected to the crossbeam at the lower end of the tunnel anti-collision hydraulic support, wherein the connecting end a is U-shaped, installed on the crossbeam at the upper end of the tunnel anti-collision hydraulic support, and connected to one end of the reflector through two bolts, and the connecting end b is U-shaped, installed on the crossbeam at the lower end of the tunnel anti-collision hydraulic support; a plug-in slot is provided on the connecting end b, the reflector is inserted into the plug-in slot, and the plug-in slot only limits the horizontal displacement of the reflector.

9. The high-precision dynamic monitoring device for surrounding rock deformation based on data calibration according to claim 5, characterized in that: The transmission mechanism adopts a gear transmission mechanism, including mutually meshing gears, the driving gear is connected to the output shaft of the motor through a transmission shaft and is driven by the motor, and the two laser rangefinders are respectively fixed to the driving gear and the driven gear through connecting rods; The transmission mechanism also includes an angular velocity module and a timing device, which are electrically connected to the central processing module and are packaged together with the motor in a connection box, and the connection box is installed on the balancing platform.

10. A high-precision dynamic monitoring method for surrounding rock deformation based on data calibration, using a high-precision dynamic monitoring device for surrounding rock deformation based on data calibration according to any one of claims 1 to 7, characterized in that: Specifically include: Install the fixing device on the side column of the tunnel anti-collision hydraulic support; Install the monitoring unit on the fixed device and the tunnel anti-collision hydraulic support; Turn on the laser rangefinder so that the horizontal distance data obtained by the laser rangefinders in the front and rear monitoring devices projecting horizontally on both sides of the roadway are equal; The transmission mechanism is activated to rotate the laser rangefinder from its initial position where the laser is projected horizontally onto the sides of the tunnel to its working position where the laser is projected onto the tunnel roof. The laser rangefinder then rotates 180° at a preset time to the tunnel floor where the laser is projected vertically, and then reverses 180° to return to the tunnel roof where the laser is projected vertically. The method for the monitoring device to monitor and calculate the displacement of the left or right side of the tunnel is as follows: Assume that the laser rangefinder near the side wall in one group of monitoring devices scans the projection points of the side wall at two adjacent times in the i-th interval time, and the measured data are n i (i=1,2,3,...),n i+1 , (i=1,2,3,...) The laser rangefinder scans the projection points of the reflector at the same time, namely X' and Y', and the measured data are n i '(i=1,2,3,...),n i+1 '(i=1,2,3,...); The angle of rotation of the laser rangefinder during this time interval is α, and the formula c i 2 =n i 2 +n i+1 2 -2n i n i+1 cosα(i=1,2,3,...) calculate to get c i (i=1, 2, 3, ...); the data measured by the laser rangefinder close to the side wall during the i+1th time interval are n i+1 (i=1,2,3,...),n i+2 (i=1,2,3,...), the laser rangefinder scans the reflector and measures the data in the same time respectively. i+1 '(i=1,2,3,...),n i+2 ' (i=1,2,3,...); The angle of rotation of the laser rangefinder during this time interval is still α, and the formula c i+1 2 =n i+1 2 +n i+2 2 -2n i+1 n i+2 cosα(i=1,2,3,...) calculates c i+1 (i=1,2,3,...); Using formula c i-i+1 2 =n i 2 +n i+2 2 -2n i n i+2 cos(2α)(i=1,2,3,...) calculates c i-i+1 (i=1,2,3,...), if (c i +c i+1 )≠c i-i+1 , it is judged that the side of the current lane has been displaced, otherwise it is judged that one side of the lane has not been displaced; Calculation method of displacement: θ is the initial angle of the laser rangefinder near the side wall in one set of monitoring devices from vertically upward to the top plate to the first point on the side wall where it hits. i =(n i+1 '-n i+1 )sin(iα+θ) can be used to calculate the horizontal displacement value s of point Y on the left side of the tunnel i , (where i = 1, 2, 3, ...); Determination of displacement of top and bottom plates: When the laser rangefinder scans the top and bottom plates in the i-th measurement, the initial vertical distance measurement value is h i +h i+1 , when measuring next time, the vertical distance measured when rotating to the same position is h i '+h i+1 ', if h i +h i+1 ≠h i '+h i+1 ', it indicates that the top and bottom plates of the tunnel have been displaced, otherwise no displacement has occurred; The calculation method of the top and bottom plate displacement is: The measurement value of the laser rangefinder when it scans the top plate for the first time is h i , the scanned bottom plate is measured as h i+1 , the next time the laser rangefinder starts scanning the top plate, that is, the measurement value of h i ', the scanned bottom plate is measured as h i+1 ', using the formula Δh=(h i +h i+1 )-(h i '+h i+1 ') Calculate the displacement of the top and bottom plates; During the rotation of the laser rangefinder, the central processing module stores the data collected and calculated by the monitoring device; The above steps are repeated as the tunnel is excavated.

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