Coal body damage online monitoring system and monitoring method

Abstract

A coal body damage on-line monitoring system comprises a three-dimensional scanning subsystem used for scanning a coal body to obtain coal body surface three-dimensional data and generating a plurality of monitoring areas based on the coal body surface three-dimensional data; the infrared irradiation detection subsystem is used for performing infrared irradiation detection on the coal body based on the monitoring area to obtain infrared irradiation data, and generating coal body damage omen data based on the infrared irradiation data; the sound wave detection subsystem is used for carrying out sound wave detection on the coal body based on the coal body damage omen data to obtain sound wave echo data and generating coal body damage condition data based on the sound wave echo data; and the damage prompt subsystem is used for carrying out damage prompt based on the coal body damage condition data. According to the invention, the damage condition of the coal body is monitored based on the cooperation of the infrared irradiation detection subsystem and the sound wave detection subsystem, the accuracy of the result is higher, and the timeliness is stronger.

Description

Technical Field

[0001] This invention relates to the field of coal damage monitoring technology, specifically to an online coal damage monitoring system and method. Background Technology

[0002] Under external loads, coal develops internal cracks that gradually initiate, expand, and penetrate, leading to damage and destruction. This is the root cause of mine disasters such as water inrush, rock bursts, and roof collapses. Accurately and effectively monitoring and quantifying the coal damage evolution process is crucial for ensuring safe and efficient mine production. With continuous advancements in science and technology, numerous damage detection methods have been rapidly developed that reflect the degree of coal damage and are easy to analyze. These methods characterize coal damage factors by obtaining specific physical parameters, including optical microscopy, scanning electron microscopy (SEM), CT methods, acoustic wave methods, and acoustic emission detection methods.

[0003] Among the above methods, optical microscopy, SEM electron microscopy, and CT require multiple scans to evaluate the overall damage of coal, making it difficult to monitor the damage evolution process in real time and unable to be applied in engineering sites, thus having significant limitations; acoustic wave methods and acoustic emission detection technology are easily affected by mechanical vibrations and cannot achieve remote sensing detection of the damage evolution of coal bearing the load.

[0004] Chinese patent application number 202111345528.9 discloses an infrared radiation quantitative evaluation method for the degree of damage to coal and rock mass. The infrared radiation monitoring method used is non-contact and can realize infrared remote sensing detection of the evolution of coal and rock mass damage. It is simpler and faster than the above methods. However, compared with the acoustic method which directly calculates the damage based on the echo, the accuracy is difficult to control. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an online coal damage monitoring system and method. Based on the cooperation of an infrared irradiation detection subsystem and an acoustic detection subsystem, the system monitors the damage status of the coal body. The infrared irradiation detection subsystem can determine whether there are signs of damage in the coal body. Then, when signs of damage are present, the acoustic detection subsystem is used to detect the precise damage status of the coal body, resulting in higher accuracy and faster timeliness.

[0006] To achieve the above objectives, the specific solution adopted by the present invention is as follows:

[0007] An online coal seam damage monitoring system, comprising:

[0008] A three-dimensional scanning subsystem is used to scan the coal body to obtain three-dimensional data of the coal body surface, and to generate multiple monitoring areas based on the three-dimensional data of the coal body surface;

[0009] An infrared irradiation detection subsystem is used to perform infrared irradiation detection on the coal body based on the monitoring area to obtain infrared irradiation data, and to generate coal body damage prediction data based on the infrared irradiation data.

[0010] The acoustic detection subsystem is used to perform acoustic detection on the coal body based on the coal body damage precursor data to obtain acoustic echo data, and to generate coal body damage data based on the acoustic echo data.

[0011] The damage indication subsystem is used to provide damage indications based on the coal body damage data.

[0012] Preferably, after generating the monitoring area, the three-dimensional scanning subsystem generates multiple location indicator markers based on the monitoring area, and generates a three-dimensional indicator model based on the three-dimensional data of the coal surface and the location indicator markers. The damage indicator subsystem includes a first indicator device, which is used to provide damage indicator based on the three-dimensional indicator model and the coal damage data.

[0013] Preferably, the damage indication subsystem includes a second indication device for indicating the monitoring area on the coal surface to guide the infrared irradiation detection subsystem and the acoustic detection subsystem.

[0014] A method for online monitoring of coal body damage, based on the aforementioned online monitoring system for coal body damage, includes the following steps:

[0015] The three-dimensional scanning subsystem is used to scan the coal body to obtain three-dimensional data of the coal body surface, and multiple monitoring areas are generated based on the three-dimensional data of the coal body surface.

[0016] The infrared irradiation detection subsystem is used to perform infrared irradiation detection on the coal body based on the monitoring area to obtain infrared irradiation data, and coal body damage prediction data is generated based on the infrared irradiation data;

[0017] The acoustic detection subsystem is used to perform acoustic detection on the coal body based on the coal body damage precursor data to obtain acoustic echo data, and coal body damage data is generated based on the acoustic echo data.

[0018] The damage indication subsystem is used to provide damage indications based on the coal body damage data.

[0019] Preferably, after the three-dimensional scanning subsystem generates the monitoring area, it generates multiple location indicator markers based on the monitoring area, and generates a three-dimensional indicator model based on the three-dimensional data of the coal surface and the location indicator markers. The damage indicator subsystem then provides damage indicators based on the three-dimensional indicator model and the coal damage data.

[0020] Preferably, when using the infrared irradiation detection subsystem and the acoustic detection subsystem for detection, the damage indication subsystem is used to indicate the monitoring area on the coal surface to guide the infrared irradiation detection subsystem and the acoustic detection subsystem.

[0021] Preferably, the method for generating multiple monitoring areas after the three-dimensional scanning subsystem scans the coal body to obtain three-dimensional data of the coal body surface includes:

[0022] The three-dimensional scanning subsystem generates a coal body surface curved surface based on the three-dimensional data of the coal body surface, and the coal body surface curved surface includes multiple base points;

[0023] The three-dimensional scanning subsystem performs the first segmentation of the curved surface of the coal body to obtain multiple basic regions;

[0024] The three-dimensional scanning subsystem determines the protruding points in each of the base regions and corrects the base regions based on the number of protruding points to obtain the monitoring region.

[0025] Preferably, the method by which the three-dimensional scanning subsystem determines the convex point includes:

[0026] The three-dimensional scanning subsystem calculates the average depth of all base points in each base region;

[0027] When the depth of the base point exceeds the average depth, the base point is determined as the convex point.

[0028] The method by which the three-dimensional scanning subsystem corrects the base region based on the number of convex points includes:

[0029] When the number of protrusions in the base region exceeds a preset threshold, the base region is marked as a region to be corrected.

[0030] The base region adjacent to the region to be corrected is identified as the adjacent region;

[0031] If the number of protrusions in the adjacent region does not reach the threshold, the area of ​​the adjacent region is expanded and the area of ​​the region to be corrected is reduced, so as to correct some of the protrusions in the region to be corrected to the adjacent region.

[0032] If the number of protrusions in all adjacent regions reaches a threshold, the area of ​​the region to be corrected and the area of ​​the adjacent regions are reduced.

[0033] Preferably, when the damage indication subsystem guides the infrared irradiation detection subsystem and the acoustic detection subsystem, it generates a scanning plane based on the convex point in the monitoring area, and the infrared irradiation detection subsystem and the acoustic detection subsystem move based on the scanning plane.

[0034] Preferably, after the damage indication subsystem generates the scanning plane, it projects at least one positioning light point in the monitoring area, and the positioning light point is located in the scanning plane.

[0035] This invention monitors coal damage through the combined use of an infrared irradiation detection subsystem and an acoustic detection subsystem. The infrared irradiation detection subsystem can detect any signs of damage in the coal, and then, when signs of damage are present, the acoustic detection subsystem can precisely detect the extent of the damage. Because the infrared irradiation detection subsystem is a passive detection method, it can be deployed for extended periods, improving timeliness, and it does not require active energy emission, thus making the overall system more energy-efficient. This invention utilizes a three-dimensional scanning subsystem to scan the coal surface, thereby determining the monitoring area and detection location, ensuring that the infrared irradiation detection subsystem and the acoustic detection subsystem can detect the coal in stable positions, guaranteeing the accuracy of the detected data. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a structural block diagram of the system of the present invention;

[0038] Figure 2 This is a flowchart of the method of the present invention. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] like Figure 1 As shown, an online coal damage monitoring system includes a three-dimensional scanning subsystem, an infrared irradiation detection subsystem, an acoustic detection subsystem, and a damage indication subsystem.

[0041] The three-dimensional scanning subsystem is used to scan the coal body to obtain three-dimensional data of the coal body surface, and to generate multiple monitoring areas based on the three-dimensional data of the coal body surface.

[0042] The infrared irradiation detection subsystem is used to obtain infrared irradiation data by performing infrared irradiation detection on the coal body based on the monitoring area, and to generate coal body damage precursor data based on the infrared irradiation data.

[0043] The acoustic detection subsystem is used to perform acoustic detection on the coal body based on the early signs of coal damage to obtain acoustic echo data, and to generate coal body damage data based on the acoustic echo data.

[0044] The damage indication subsystem is used to provide damage indications based on coal seam damage data.

[0045] When monitoring coal damage, the three-dimensional scanning subsystem is first used to scan the coal surface to obtain three-dimensional data. Based on this data, multiple monitoring areas are generated, and the detection positions of the infrared irradiation detection subsystem and the acoustic detection subsystem are determined for each area. Next, the infrared irradiation detection subsystem detects the coal. During damage, some of the accumulated elastic energy within the coal is released as heat, generating infrared electromagnetic waves. This subsystem detects these waves to obtain infrared irradiation data, thus determining the potential for damage and providing early warning data. When this data indicates potential damage, the monitoring area is identified. The acoustic detection subsystem then detects the coal, using echo data to determine the location and width of cracks, generating damage data. Finally, a damage alert subsystem provides warnings near or far from the coal based on the damage data, enabling staff to promptly assess the coal's damage status. When using the infrared irradiation detection subsystem and the acoustic detection subsystem for detection, the detection position determined by the three-dimensional scanning subsystem can ensure that the detection is performed at the same position each time, thereby ensuring the accuracy of the data, and in particular avoiding errors in the data of the acoustic detection subsystem caused by different detection positions.

[0046] This invention monitors coal damage through the combined use of an infrared irradiation detection subsystem and an acoustic detection subsystem. The infrared irradiation detection subsystem can detect any signs of damage in the coal, and then, when signs of damage are present, the acoustic detection subsystem can precisely detect the extent of the damage. Because the infrared irradiation detection subsystem is a passive detection method, it can be deployed for extended periods, improving timeliness, and it does not require active energy emission, thus making the overall system more energy-efficient. This invention utilizes a three-dimensional scanning subsystem to scan the coal surface, thereby determining the monitoring area and detection location, ensuring that the infrared irradiation detection subsystem and the acoustic detection subsystem can detect the coal in stable positions, guaranteeing the accuracy of the detected data.

[0047] It should also be noted that the infrared irradiation detection subsystem and the acoustic wave detection subsystem are both conventional technologies in this field, and their specific structures and working principles will not be described in detail here.

[0048] To accurately determine the detection location, the 3D scanning subsystem generates multiple location markers based on the monitoring area after generation, and then generates a 3D warning model based on the 3D data of the coal surface and the location markers. The damage warning subsystem includes a first warning device, which provides damage warnings based on the 3D warning model and coal damage data. This first warning device can be a standard computer paired with a large display screen. The large display screen shows the 3D warning model and coal damage data; specifically, it marks the damage in the 3D warning model to provide a warning. The display of the 3D warning model and coal damage data can be achieved using existing digital twin technology, which is a mature technology and will not be elaborated further here.

[0049] Furthermore, the damage indication subsystem includes a second indication device, which is used to indicate the monitoring area on the coal surface to guide the infrared irradiation detection subsystem and the acoustic detection subsystem. The second indication device is positioned near the coal body and uses indicator lights to project a specific color spot onto the coal body, thereby indicating the monitoring area and guiding the infrared irradiation detection subsystem and the acoustic detection subsystem. Accordingly, the second indication device should include a support and several indicator lights mounted on the support via universal joints. The indicator lights can adopt a structure similar to existing laser pointers. The support and universal joints are conventional mechanical components and will not be described in detail here.

[0050] like Figure 2 As shown, the present invention further provides a method for online monitoring of coal damage, based on the above-mentioned online monitoring system for coal damage, the method comprising S1 to S4.

[0051] S1. The 3D scanning subsystem scans the coal body to obtain 3D surface data, and generates multiple monitoring areas based on this data. More specifically, after generating the monitoring areas, the 3D scanning subsystem generates multiple location markers based on these areas, and then generates a 3D warning model based on the coal surface 3D data and the location markers. The damage warning subsystem then provides damage warnings based on the 3D warning model and coal damage data. The specific methods are as described in the system section above and will not be repeated here.

[0052] Furthermore, the method for generating multiple monitoring areas after the three-dimensional scanning subsystem scans the coal body to obtain three-dimensional data of the coal surface includes S11 to S13.

[0053] S11. The 3D scanning subsystem generates a coal surface curve based on the 3D data of the coal surface. The coal surface curve includes multiple base points. More specifically, the 3D scanning subsystem first generates a 3D prompting model based on the 3D data of the coal surface, and then generates the coal surface curve based on the 3D prompting model. The coal surface curve has multiple grids, and the grid points are the base points.

[0054] S12, the 3D scanning subsystem performs the first segmentation of the coal body surface to obtain multiple basic regions. Specifically, the coal body surface can be uniformly segmented so that the area of ​​each basic region is the same or substantially the same.

[0055] S13. The three-dimensional scanning subsystem determines the convex points in each base region and corrects the base region based on the number of convex points to obtain the monitoring region.

[0056] Furthermore, the method for determining the convex point in the three-dimensional scanning subsystem includes S131 to S132.

[0057] S131. The 3D scanning subsystem calculates the average depth of all base points in each base region. When calculating the average depth, the specific calculation method is determined based on the orientation of the coal surface. If an XYZ 3D coordinate system is established using the absolute horizontal plane as the XY plane, and the coal surface is approximately parallel to the XY plane, then the average depth is calculated based on the Z coordinate. If the coal surface is approximately parallel to the XZ plane, then the average depth is calculated based on the Y coordinate. If the coal surface is approximately parallel to the YZ plane, then the average depth is calculated based on the X coordinate.

[0058] S132. When the depth of the base point exceeds the average depth, the base point is determined as the convex point.

[0059] The methods for correcting the base region based on the number of convex points in the 3D scanning subsystem include S133 to S136.

[0060] S133. When the number of protrusions in the base region exceeds a preset threshold, the base region is marked as a region to be corrected.

[0061] S134. Determine the base region adjacent to the region to be corrected as the adjacent region.

[0062] S135. If the number of protrusions in the adjacent region does not reach the threshold, expand the area of ​​the adjacent region and shrink the area of ​​the region to be corrected, so as to correct some of the protrusions in the region to be corrected to the adjacent region.

[0063] S136. If the number of protrusions in all adjacent regions reaches the threshold, then reduce the area of ​​the region to be corrected and the area of ​​the adjacent regions.

[0064] By adjusting the correction area and adjacent areas, the number of protrusions in each monitoring area can be made approximately the same, which facilitates the determination of the detection position based on the monitoring area. This allows the infrared irradiation detection subsystem and the acoustic detection subsystem to bypass all protrusions and avoid interference from protrusions on the coal surface.

[0065] Furthermore, when the damage indication subsystem guides the infrared irradiation detection subsystem and the acoustic detection subsystem, it generates a scanning plane based on the protruding points in the monitoring area, ensuring that all protruding points in the monitoring area are located on the side of the scanning plane closest to the coal body. The infrared irradiation detection subsystem and the acoustic detection subsystem move based on the scanning plane; specifically, the sensing heads of the infrared irradiation detection subsystem and the acoustic detection subsystem move within the scanning plane. This method effectively avoids obstruction by protruding parts on the coal body surface during the detection process, ensuring smooth detection. Especially for the acoustic detection subsystem, it avoids significant errors in acoustic echo data during different detection processes, ensuring data accuracy. In addition, during the generation of the monitoring area, the monitoring area was adjusted based on the protruding points. The number of protruding points in each monitoring area is roughly the same. The protruding parts on the coal body corresponding to the protruding points will affect the infrared irradiation data and acoustic echo data, mainly causing the infrared irradiation data and acoustic echo data to shrink. In the subsequent data processing, the infrared irradiation data and acoustic echo data can be segmented based on the monitoring area according to the influence of the protruding points, thereby improving the accuracy of damage location.

[0066] Furthermore, when using the infrared irradiation detection subsystem and the acoustic detection subsystem for detection, a damage indication subsystem is used to indicate the monitoring area on the coal surface to guide the infrared irradiation detection subsystem and the acoustic detection subsystem. Specifically, after the damage indication subsystem generates a scanning plane, it projects at least one positioning light point in the monitoring area, and the positioning light point is located in the scanning plane.

[0067] S2. The infrared irradiation detection subsystem is used to perform infrared irradiation detection on the coal body based on the monitoring area to obtain infrared irradiation data, and coal body damage prediction data is generated based on the infrared irradiation data.

[0068] S3. Using the acoustic detection subsystem, acoustic wave detection is performed on the coal body based on the early signs of coal damage to obtain acoustic echo data, and coal body damage data is generated based on the acoustic echo data.

[0069] It should be noted that the processing procedures for infrared irradiation data and acoustic echo data in S2 and S3 are existing technologies and will not be described in detail here.

[0070] S4. Utilize the damage indication subsystem to provide damage indication based on coal body damage data. Specifically, mark the damage conditions in a three-dimensional indication model to provide indication.

[0071] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0072] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An online monitoring system for coal seam damage, characterized in that, include: A three-dimensional scanning subsystem is used to scan the coal body to obtain three-dimensional data of the coal body surface, and to generate multiple monitoring areas based on the three-dimensional data of the coal body surface; An infrared irradiation detection subsystem is used to perform infrared irradiation detection on the coal body based on the monitoring area to obtain infrared irradiation data, and to generate coal body damage prediction data based on the infrared irradiation data. The acoustic detection subsystem is used to perform acoustic detection on the coal body based on the coal body damage precursor data to obtain acoustic echo data, and to generate coal body damage data based on the acoustic echo data. The damage indication subsystem is used to provide damage indications based on the coal body damage data.

2. The online coal seam damage monitoring system as described in claim 1, characterized in that, After generating the monitoring area, the three-dimensional scanning subsystem generates multiple location indicator markers based on the monitoring area, and generates a three-dimensional indicator model based on the three-dimensional data of the coal surface and the location indicator markers. The damage indicator subsystem includes a first indicator device, which is used to provide damage indicator based on the three-dimensional indicator model and the coal damage data.

3. The online coal seam damage monitoring system as described in claim 2, characterized in that, The damage indication subsystem includes a second indication device for indicating the monitoring area on the coal surface to guide the infrared irradiation detection subsystem and the acoustic detection subsystem.

4. A method for online monitoring of coal body damage, based on an online monitoring system for coal body damage as described in any one of claims 1-3, characterized in that, The method includes the following steps: The three-dimensional scanning subsystem is used to scan the coal body to obtain three-dimensional data of the coal body surface, and multiple monitoring areas are generated based on the three-dimensional data of the coal body surface. The infrared irradiation detection subsystem is used to perform infrared irradiation detection on the coal body based on the monitoring area to obtain infrared irradiation data, and coal body damage prediction data is generated based on the infrared irradiation data; The acoustic detection subsystem is used to perform acoustic detection on the coal body based on the coal body damage precursor data to obtain acoustic echo data, and coal body damage data is generated based on the acoustic echo data. The damage indication subsystem is used to provide damage indications based on the coal body damage data.

5. The online monitoring method for coal body damage as described in claim 4, characterized in that, After the three-dimensional scanning subsystem generates the monitoring area, it generates multiple location indicator markers based on the monitoring area, and generates a three-dimensional indicator model based on the three-dimensional data of the coal surface and the location indicator markers. The damage indicator subsystem provides damage indicators based on the three-dimensional indicator model and the coal damage data.

6. The online monitoring method for coal body damage as described in claim 4, characterized in that, When using the infrared irradiation detection subsystem and the acoustic detection subsystem for detection, the damage indication subsystem is used to indicate the monitoring area on the coal surface to guide the infrared irradiation detection subsystem and the acoustic detection subsystem.

7. The online monitoring method for coal body damage as described in claim 4, characterized in that, The method for generating multiple monitoring areas after the three-dimensional scanning subsystem scans the coal body to obtain three-dimensional data of the coal body surface includes: The three-dimensional scanning subsystem generates a coal body surface curved surface based on the three-dimensional data of the coal body surface, and the coal body surface curved surface includes multiple base points; The three-dimensional scanning subsystem performs the first segmentation of the curved surface of the coal body to obtain multiple basic regions; The three-dimensional scanning subsystem determines the protruding points in each of the base regions and corrects the base regions based on the number of protruding points to obtain the monitoring region.

8. The online monitoring method for coal body damage as described in claim 7, characterized in that, The method by which the three-dimensional scanning subsystem determines the convex point includes: The three-dimensional scanning subsystem calculates the average depth of all base points in each base region; When the depth of the base point exceeds the average depth, the base point is determined as the convex point. The method by which the three-dimensional scanning subsystem corrects the base region based on the number of convex points includes: When the number of protrusions in the base region exceeds a preset threshold, the base region is marked as a region to be corrected. The base region adjacent to the region to be corrected is identified as the adjacent region; If the number of protrusions in the adjacent region does not reach the threshold, the area of ​​the adjacent region is expanded and the area of ​​the region to be corrected is reduced, so as to correct some of the protrusions in the region to be corrected to the adjacent region. If the number of protrusions in all adjacent regions reaches a threshold, the area of ​​the region to be corrected and the area of ​​the adjacent regions are reduced.

9. The online monitoring method for coal body damage as described in claim 7, characterized in that, When the damage indication subsystem guides the infrared irradiation detection subsystem and the acoustic detection subsystem, it generates a scanning plane based on the convex point in the monitoring area, and the infrared irradiation detection subsystem and the acoustic detection subsystem move based on the scanning plane.

10. The online monitoring method for coal body damage as described in claim 9, characterized in that, After generating the scanning plane, the damage indication subsystem projects at least one positioning light point in the monitoring area, and the positioning light point is located in the scanning plane.

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