A roadway full-face deformation solving system and method based on a suspension four-way ranging

Abstract

The application discloses a kind of roadway full-face deformation solving system and method based on suspension four-way ranging, it is related to roadway monitoring: suspension reference component includes suspension anchoring component anchored in the strata above roadway roof, and reference range finder host connected with suspension anchoring component;Attitude holding module is set to the lower part of reference range finder host;Four-way laser detection component is set to reference range finder host, and includes four laser probes;Mobile tracking module is connected with at least part laser probe, corresponding laser probe is driven to track corresponding surrounding rock measuring point, and the distance data and the included angle data of corresponding laser ray are acquired;Data processing module is according to the distance data and the included angle data of four laser rays, solves the subsidence of roadway roof, floor bulging, right-hand side moves close and left-hand side moves close.The application aims at solving the coupling distortion of full-face deformation caused by the movement of traditional ranging device measurement reference with surrounding rock deformation in mining roadway.

Description

Technical Field

[0001] This application relates to the field of roadway monitoring, and in particular to a roadway full-section deformation calculation system and method based on suspended four-way ranging. Background Technology

[0002] During excavation and mining, underground mine roadways are subjected to the combined effects of multiple factors, including in-situ rock stress, tectonic stress, mining disturbance, and support reaction forces. The stress and displacement fields of the surrounding rock are constantly adjusting, easily leading to deformation phenomena such as roof subsidence, floor bulging, sidewall convergence, and cross-sectional convergence. Especially in roadways significantly affected by mining, the roof, floor, and sidewalls often do not deform in a single direction, but rather exhibit multi-location, multi-directional, and asynchronous coupled deformation. If the deformation patterns of the surrounding rock across the entire roadway cross-section cannot be grasped in a timely and accurate manner, it will be difficult to determine the stability of the surrounding rock and the stress state of the support structure, thus affecting roadway maintenance decisions and mine safety production.

[0003] Current methods for monitoring roadway deformation typically employ manual total station measurements, convergence meter measurements, or continuous monitoring using automatic distance measuring devices installed on the roadway floor, sidewall supports, or local fixed points. While these methods can obtain some distance change data, their measurement benchmarks largely depend on the floor, sidewalls, or local surrounding rock support points within the roadway. In mining-affected roadways, the floor may heave, the roof may subside, and the sidewalls may move asymmetrically or asynchronously. The floor or local surrounding rock serving as the installation foundation is not itself a stable benchmark. When the distance measuring device moves synchronously with the floor heave or with local surrounding rock deformation, the measured distance change does not simply reflect the actual displacement of the measured point in the surrounding rock but also incorporates the displacement component of the measurement benchmark itself.

[0004] Therefore, existing bottom-mounted or partially fixed ranging devices suffer from the problem of reference drift with surrounding rock deformation. Particularly during vertical ranging, the roof subsidence and floor bulge are easily coupled in the same ranging result, obscuring the true floor bulge and making accurate separation of roof subsidence difficult. Simultaneously, the convergence of the two sidewalls under asynchronous deformation conditions makes independent calculation based on a single or partial ranging result difficult. Consequently, existing monitoring methods struggle to obtain independent absolute deformation of the surrounding rock in all directions (roof, floor, and left and right sidewalls) within the same cross-section, necessitating an effective monitoring system and method. Summary of the Invention

[0005] This application addresses the problem of coupling distortion of the full-section deformation caused by the movement of the measurement benchmark of traditional ranging devices in mining roadways as the surrounding rock deforms. It provides a roadway full-section deformation calculation system and method based on deep benchmark suspended vertical benchmark, four-way dynamic tracking ranging and geometric projection decoupling, so as to achieve independent and accurate acquisition of roof subsidence, floor bulge and sidewall convergence.

[0006] One aspect of this application provides a tunnel full-section deformation calculation system based on suspended four-way ranging, including a suspended reference component, an attitude maintaining module, a four-way laser detection component, a motion tracking module, and a data processing module, comprising:

[0007] The suspended reference assembly includes a suspended anchoring assembly anchored in the rock strata above the roadway roof, and a reference rangefinder main unit connected to the suspended anchoring assembly;

[0008] The attitude maintenance module is located at the bottom of the reference rangefinder main unit and is used to keep the reference rangefinder main unit in a vertical attitude.

[0009] The four-way laser detection component is installed on the main unit of the reference rangefinder and includes four laser probes that emit rays a, b, c and d to the upper measuring point on the right side of the tunnel, the middle measuring point on the right side, the bottom measuring point and the middle measuring point on the left side, respectively.

[0010] The motion tracking module is connected to at least some of the laser probes to drive the corresponding laser probes to track the corresponding surrounding rock measuring points and to acquire the distance and angle data of the corresponding laser beams.

[0011] The data processing module is electrically connected to the four-way laser detection component and the motion tracking module, respectively, and is used to calculate the subsidence of the roadway roof, the bulging of the floor, the right side movement, and the left side movement based on the distance and angle data of the four laser beams.

[0012] Another aspect of this application provides a method for calculating the full-section deformation of a roadway based on suspended four-way ranging, including:

[0013] Acquire four-way distance measurement data, which includes the distance data of rays a, b, c, and d corresponding to the measuring points on the upper right side, middle right side, floor, and middle left side of the roadway, respectively.

[0014] Obtain the angle data of rays a, b, and d relative to the main unit of the reference rangefinder, respectively;

[0015] Based on ray a and the corresponding included angle data, determine the subsidence of the roadway roof;

[0016] Based on ray b and the corresponding included angle data, determine the approach amount of the right side of the roadway;

[0017] Based on ray d and the corresponding included angle data, determine the approach amount of the left side of the roadway;

[0018] Based on the distance data of ray c and the subsidence of the tunnel roof, the amount of bulging of the tunnel floor is determined.

[0019] Compared to existing technologies, the advantages of this application are:

[0020] To address the problem in existing technologies where, in the case of simultaneous floor bulging, roof subsidence, and sidewall convergence in mining roadways, the measurement benchmark of floor-mounted or locally fixed ranging devices tends to move synchronously with the floor or surrounding rock. This leads to the coupling of roof subsidence and floor bulging in the vertical ranging results, obscuring the true floor bulging and making it difficult to independently obtain the deformation of the surrounding rock in each direction across the entire cross-section. This application provides a roadway full-section deformation calculation system and method based on deep benchmark suspension, vertical attitude maintenance, four-way dynamic tracking ranging, and spatial geometric projection decoupling. It can establish a stable suspended vertical measurement benchmark without relying on the floor or locally deformed surrounding rock in the roadway. It uses four-way laser beams to dynamically track and measure the measuring points of the roof, floor, and left and right sides of the same cross-section. Combining distance and angle data, it physically decouples the roof subsidence, floor bulging, and asynchronous sidewall convergence, thereby obtaining the independent deformation of the surrounding rock in each direction across the entire cross-section of the roadway. Attached Figure Description

[0021] This application will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting; in these embodiments, the same reference numerals denote the same structures, wherein:

[0022] Figure 1 This is a schematic diagram of the suspended four-way dynamic tracking system of this application;

[0023] Figure 2 This is a schematic diagram of the external three-dimensional structure of the reference rangefinder main unit of this application;

[0024] Figure 3 This is an enlarged view of the dynamic tracking probe and automatic tracking movement module of this application;

[0025] Figure 4 This is a technical roadmap of this application;

[0026] Figure 5 This is a schematic diagram of a system structure according to this application;

[0027] Figure 6 This is an exemplary flowchart of a method for calculating the deformation of the entire cross-section of a roadway based on suspended four-way ranging;

[0028] Figure 7 This is a projection diagram of the top slab settlement solution in this application;

[0029] Figure 8 This is a right-side displacement calculation projection diagram of this application;

[0030] Figure 9 This is a projection diagram of the left side displacement solution in this application;

[0031] Figure 10This is a projection diagram of the base plate bulge solution in this application.

[0032] Explanation of the labels in the diagram:

[0033] 11. Top anchor rod; 12. Universal lifting ring; 13. Main suspension rigid measuring rod;

[0034] 2. Data processing module;

[0035] 31. Movable laser probe a; 32. Movable laser probe b; 33. Fixed laser probe c; 34. Movable laser probe d; 35. U-shaped bracket;

[0036] 41. Counterweight ring;

[0037] 51. Miniature vision sensor; 52. Direct drive servo motor; 53. Pitch and rotation axis. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments.

[0039] This application provides a system and method for calculating the full-section deformation of roadways based on suspended four-way ranging, applicable to monitoring the full-section deformation of underground mine roadways affected by mining. These roadways typically exhibit deformation phenomena such as roof subsidence, floor bulging, and asynchronous convergence of the sidewalls under the combined effects of mining disturbance, tectonic stress, and support reaction forces.

[0040] Traditional base plate mounted rangefinders or locally fixed rangefinders rely on the base plate or local surrounding rock as the measurement benchmark. When the base plate bulges or the local surrounding rock moves, the measurement benchmark will move along with the surrounding rock, thus mixing the displacement component of the measurement benchmark itself into the measured distance change. In particular, this causes the amount of top plate subsidence and the amount of base plate bulge to be coupled in the vertical distance measurement results.

[0041] This application establishes a suspended vertical measurement benchmark by deep foundation point suspension, and obtains the independent deformation of the top plate, bottom plate and two sides by four-way laser dynamic tracking distance measurement and spatial geometric projection decoupling.

[0042] like Figure 1 As shown, the tunnel full-section deformation calculation system based on suspended four-way ranging provided in this application embodiment includes a suspended reference component, an attitude maintaining module, a four-way laser detection component, a motion tracking module, and a data processing module 2.

[0043] Figure 1The diagram illustrates the overall layout of the system within the tunnel cross-section. The main unit of the reference rangefinder is suspended below the tunnel roof, with rays a, b, c, and d pointing to measuring points on the upper right side, the middle right side, the floor, and the middle left side, respectively. Through synchronous four-directional ranging under the same suspended reference, the system can obtain spatial deformation information of the roof, floor, and both sides within the same cross-section.

[0044] The suspended benchmark assembly is used to establish a suspended measurement benchmark in the rock strata above the tunnel roof. The suspended benchmark assembly includes a suspended anchoring assembly anchored in the rock strata above the tunnel roof, and a benchmark rangefinder main unit connected to the suspended anchoring assembly. The rock strata above the tunnel roof can be a relatively stable area of ​​rock strata above the tunnel roof that is less affected by excavation disturbance and mining damage; it can also be referred to as a deep benchmark or stable rock strata.

[0045] By anchoring the suspension anchoring assembly into the stable rock strata, the measurement benchmark no longer needs to directly rely on the base plate, tripod, or local support platform, thereby reducing the impact of bottom heave or local surrounding rock deformation on the measurement benchmark.

[0046] In one embodiment, such as Figure 1 and Figure 2 As shown, the suspension anchoring assembly includes a top anchoring rod 11, a connecting universal lifting ring 12, and a main suspension rigid measuring rod 13 connected in sequence, with the reference rangefinder main unit connected to the lower end of the main suspension rigid measuring rod 13.

[0047] The top anchor rod 11 can be anchored in the stable rock strata above the roadway roof using resin anchoring agent. The main suspended rigid measuring rod 13 is connected to the top anchor rod 11 via a connecting universal joint 12. The connecting universal joint 12 provides a certain degree of rotational freedom, allowing the main suspended rigid measuring rod 13 and the reference rangefinder main unit to hang naturally under gravity, thereby isolating the direct transmission of the attitude of the reference rangefinder main unit to local uneven deformation of the roof. The main suspended rigid measuring rod 13 is a rigid component used to suspend the reference rangefinder main unit at a preset measurement position within the roadway cross-section.

[0048] Furthermore, such as Figure 2 As shown, the reference rangefinder main unit can be installed at the lower end of the main suspended rigid measuring rod 13, and is arranged coaxially or approximately coaxially with the main suspended rigid measuring rod 13. The connecting universal joint 12 is located between the top anchor rod 11 and the main suspended rigid measuring rod 13, enabling the suspension system to form a self-correcting structure similar to a pendulum. When the roadway roof tilts locally, cracks expand, or the support components experience slight misalignment, the connecting universal joint 12 allows the lower main suspended rigid measuring rod 13 and the reference rangefinder main unit to automatically return to center under gravity, avoiding tilting errors caused by the main unit's outer shell directly following the local deformation of the roof.

[0049] In actual installation, a deep hole can be drilled upwards from the center of the tunnel roof or a preset position on the section to be monitored, so that the deep hole reaches the stable rock layer that has not been significantly damaged. Then, the top anchor rod 11 is anchored in the deep hole with resin anchoring agent, and then the main suspension rigid measuring rod 13 is connected by the connecting universal lifting ring 12. Finally, the reference rangefinder main unit is installed at the lower end of the main suspension rigid measuring rod 13. In this way, the reference rangefinder main unit is in a suspended installation state, which does not require support from the base plate, nor does it require the local support points on both sides as the measurement reference.

[0050] The attitude maintenance module is located at the bottom of the reference rangefinder main unit and is used to keep the reference rangefinder main unit in a vertical attitude. Here, vertical attitude refers to the reference rangefinder main unit maintaining a stable suspended attitude in the direction of gravity, so that the ranging ray on the bottom plate of the main unit can point vertically to the tunnel floor, and the included angle data of the laser probe on the side of the main unit can be interpreted in the relatively stable coordinate system of the main unit.

[0051] In one embodiment, such as Figure 2 As shown, the attitude maintaining module includes a center-of-gravity lowering component located at the bottom of the reference rangefinder main unit. This center-of-gravity lowering component can be a counterweight ring 41, which is fixedly connected to the bottom of the housing of the reference rangefinder main unit.

[0052] The counterweight ring 41 provides a restoring torque by lowering the overall center of gravity of the system, enabling it to cooperate with the connecting universal joint ring 12 to maintain the vertical attitude of the reference rangefinder host. In the underground environment, there may be airflow disturbances, blasting vibrations, or support construction disturbances. The center-of-gravity lowering component can improve the attitude stability of the suspension system and reduce the impact of host swaying and tilting on the ranging results.

[0053] Furthermore, such as Figure 2 As shown, the counterweight ring 41 can be installed around the bottom circumference of the cuboid explosion-proof and dustproof housing 21, or fixed to the middle of the bottom end of the housing, so that the overall center of gravity of the reference rangefinder main unit is lower than the installation height of the four-way laser detection component. Therefore, when the main unit is slightly deflected by airflow disturbance, the counterweight ring 41 can generate a restoring torque, causing the main unit to return to a vertical state, thus ensuring that the ray c emitted by the fixed laser probe c33 always points vertically towards the base plate.

[0054] In one embodiment, the reference rangefinder main unit includes a housing, which can be a rectangular explosion-proof and dustproof housing 21. For example... Figure 2 As shown, the rectangular explosion-proof and dustproof housing 21 constitutes the main mounting platform of the reference rangefinder host, and its right side, left side and bottom side are used to arrange different laser probes in the four-way laser detection assembly.

[0055] The reference rangefinder main unit can be equipped with a data acquisition unit 22, a data storage unit 23, a data transmission unit 24, and a power supply unit 25. The data acquisition unit 22 receives distance data measured by each laser probe and angle data output by the motion tracking module; the data storage unit 23 stores measurement data, initial measurement data, historical incremental data, and cumulative deformation data; the data transmission unit 24 uploads the calculation results to the underground monitoring substation or the ground control center; and the power supply unit 25 supplies power to the laser probe, vision sensor, servo motor, encoder, and data processing module. The explosion-proof and dustproof housing 21 is designed to adapt to complex environments such as dust, humidity, and methane in underground mines.

[0056] The four-directional laser detection assembly is installed on the main unit of the reference rangefinder and includes four laser probes that emit rays a, b, c, and d to measuring points on the upper right side, middle right side, floor, and middle left side of the tunnel, respectively. The four-directional laser detection assembly is used to acquire distance measurement information in four directions within the same tunnel cross-section, thereby providing basic data for calculating roof subsidence, floor bulging, and the convergence of the left and right sides.

[0057] In one embodiment, such as Figure 2 and Figure 3 As shown, the four-way laser detection assembly includes a movable laser probe a31, a movable laser probe b32, a fixed laser probe c33, a movable laser probe d34, and a U-shaped bracket 35.

[0058] The movable laser probes a31 and b32 are fixed to the right side of the cuboid explosion-proof and dustproof housing 21 via U-shaped brackets 35, the movable laser probe d34 is fixed to the left side of the cuboid explosion-proof and dustproof housing 21 via U-shaped brackets 35, and the fixed laser probe c33 is fixedly installed on the bottom surface of the cuboid explosion-proof and dustproof housing 21.

[0059] Specifically, movable laser probes a31 and b32 are arranged vertically at intervals on the right side of the cuboid explosion-proof and dust-proof housing 21, with movable laser probe a31 positioned above movable laser probe b32, allowing ray a to point obliquely towards the upper measuring point on the right side and ray b to point towards the middle measuring point on the right side. Movable laser probe d34 is positioned on the left side of the cuboid explosion-proof and dust-proof housing 21 to emit ray d towards the middle measuring point on the left side. Fixed laser probe c33 is positioned on the bottom surface of the cuboid explosion-proof and dust-proof housing 21 to emit ray c along the vertical direction of the reference rangefinder main unit. Through the above arrangement, the four laser rays form four measuring directions—upper right, middle right, lower bottom, and middle left—within the tunnel cross-section, constituting a four-directional ranging geometric framework.

[0060] Among them, the moving laser probe a31 emits ray a, which is directed towards the measuring point on the upper part of the right side of the roadway; the moving laser probe b32 emits ray b, which is directed towards the measuring point in the middle of the right side of the roadway; the fixed laser probe c33 emits ray c, which is directed towards the measuring point on the floor of the roadway; and the moving laser probe d34 emits ray d, which is directed towards the measuring point in the middle of the left side of the roadway.

[0061] The measuring points on the upper right side, the middle right side, and the middle left side can be fixed measuring points pre-arranged on the surface of the surrounding rock, such as fluorescent targets, reflective targets, coded targets, or other markers that can be identified by visual sensors. The measuring points on the bottom plate can be measuring points formed by ray c shining vertically onto the bottom plate, or they can be reflective markers set on the bottom plate.

[0062] In this embodiment, rays a, b, and d are used to dynamically track fixed measuring points in the surrounding rock at different locations on the sidewall; ray c is used to measure the distance between the reference rangefinder host and the roadway floor along the vertical direction. Since the reference rangefinder host is suspended and the attitude maintenance module keeps it vertical, ray c can be used as the floor distance measuring ray in the vertical direction.

[0063] The motion tracking module is connected to at least some of the laser probes and is used to drive the corresponding laser probes to track the corresponding surrounding rock measuring points and acquire the distance and angle data of the corresponding laser rays. These at least some laser probes may include motion laser probe a31, motion laser probe b32, and motion laser probe d34. Since rays a, b, and d need to track fixed measuring points located on both sides of the rock respectively, when the surrounding rock deformation causes spatial displacement of the measuring points, the motion tracking module can drive the corresponding laser probes to rotate, ensuring that the laser rays always point to the corresponding measuring points.

[0064] In one embodiment, such as Figure 3 As shown, the motion tracking module includes a visual sensor for identifying the surrounding rock measuring points, a servo motor for driving the corresponding laser probe to rotate, and an encoder for outputting the rotation angle.

[0065] Specifically, the motion tracking module may include a miniature vision sensor 51, a direct-drive servo motor 52, and a pitch rotation axis 53. The miniature vision sensor 51 is fixedly connected to one side arm of the U-shaped bracket 35, used to capture the position of the corresponding surrounding rock measuring point in real time, and output the recognition result to the direct-drive servo motor 52. The direct-drive servo motor 52 is fixedly connected to the same side wall of the U-shaped bracket 35, used to receive the signal from the miniature vision sensor 51, and drives a rotor that rotates coaxially with the laser probe through its internal stator, causing the moving laser probe a31, moving laser probe b32, or moving laser probe d34 to rotate around the pitch rotation axis 53. The pitch rotation axis 53 is fixedly connected between the two side walls of the U-shaped bracket 35, used to provide rotational support for the corresponding laser probe.

[0066] Furthermore, such as Figure 3 As shown, the U-shaped bracket 35 includes two opposing side walls and a bottom connecting part connecting the two side walls, with a pitch rotation shaft 53 laterally positioned between the two side walls. A corresponding movable laser probe is mounted on the pitch rotation shaft 53 and can rotate with it. A miniature vision sensor 51 can be positioned on one side of the movable laser probe, allowing its field of view to cover the surrounding rock measurement point area in front of the laser probe; a direct-drive servo motor 52 is positioned on the other side of the U-shaped bracket 35 or on the same side wall, and is connected to the pitch rotation shaft 53. Therefore, when the miniature vision sensor 51 detects that the measurement point has moved upward, downward, or inward due to surrounding rock deformation, the direct-drive servo motor 52 drives the pitch rotation shaft 53 to rotate according to the detection result, thereby causing the corresponding laser probe to adjust its pitch angle, ensuring the laser beam remains continuously aligned with the measurement point.

[0067] The encoder can be installed inside the direct-drive servo motor 52 or coaxially with the pitch and rotation axis 53, and is used to output the rotation angle of the laser probe. This rotation angle can be used as the angle data of the corresponding laser ray relative to the reference rangefinder host. For example, the moving laser probe a31 outputs the distance data of ray a and outputs the angle data of ray a relative to the side wall of the reference rangefinder host or the host coordinate system through the encoder; the moving laser probe b32 outputs the distance data and angle data of ray b; the moving laser probe d34 outputs the distance data and angle data of ray d. Since the fixed laser probe c33 points to the base plate in the vertical direction, it usually only needs to output the distance data of ray c.

[0068] The data processing module is electrically connected to the four-way laser detection component and the motion tracking module, respectively, and is used to calculate the subsidence of the roadway roof, the bulging of the floor, the right side movement, and the left side movement based on the distance and angle data of the four laser beams.

[0069] The data processing module can be integrated into the reference rangefinder host or set up as an independent processing unit that communicates with the reference rangefinder host. The data processing module receives the length values ​​of laser rays a, b, c, and d, as well as the included angle values ​​of rays a, b, and d, and performs incremental calculations using a spatial geometric projection algorithm.

[0070] The following is combined Figures 4 to 10 This paper describes the method for calculating the full-section deformation of a roadway based on suspended four-way ranging, as provided in the embodiments of this application. This method can be applied to the data processing module in any of the above embodiments.

[0071] Figure 4The flowchart of the method for calculating the full-section deformation of the roadway in this embodiment is shown. Based on two consecutive measurements, the flowchart first acquires four-directional distance data and included angle data, and then performs incremental calculations for roof subsidence, right flank approach, left flank approach, and floor bulging. The floor bulging amount is not directly equivalent to the change in distance of ray c; instead, the roof subsidence needs to be subtracted from the change in vertical distance of ray c to achieve physical decoupling between roof subsidence and floor bulging.

[0072] Figure 5 The geometric arrangement of the four-way ranging system is shown. The main unit of the reference rangefinder is located in the middle of the tunnel cross-section and remains vertical. Ray a is projected from the upper right side of the main unit to the measuring point on the upper right side; ray b is projected from the middle right side of the main unit to the measuring point in the middle of the right side; ray c is projected from the bottom of the main unit vertically towards the floor; and ray d is projected from the left side of the main unit to the measuring point in the middle of the left side. The vertical plane containing the side wall of the reference rangefinder is used as the reference plane for calculating the angle between rays a, b, and d, and the vertical direction of the main unit is used as the reference direction for measuring the distance of ray c.

[0073] like Figure 6 As shown, the method includes the following steps.

[0074] Step S100: Obtain four-way ranging data.

[0075] The four-way distance measurement data includes the distance data of rays a, b, c, and d corresponding to the measuring points on the upper right side, middle right side, floor, and middle left side of the tunnel, respectively. The distance data can be obtained by measuring four laser probes and is used to represent the laser ray length between the reference distance measuring instrument main unit and the corresponding surrounding rock or floor measuring point.

[0076] Specifically, in the nth measurement, the distance data of ray a is denoted as... The distance data of ray b is denoted as The distance data of ray c is denoted as The distance data of ray d is denoted as The distance data of ray a during the (n+1)th measurement is denoted as... The distance data of ray b is denoted as The distance data of ray c is denoted as The distance data of ray d is denoted as .

[0077] Step S200: Obtain the angle data of ray a, ray b and ray d relative to the main unit of the reference rangefinder.

[0078] The included angle data can be output by the encoder in the motion tracking module. This included angle data is used to represent the angle formed by the corresponding laser ray relative to the reference rangefinder's main body shell, main body side wall, or reference direction in the main body coordinate system. In this embodiment, the included angles between rays a, b, and d and the vertical plane containing the main body side wall are denoted as θ, α, and β, respectively.

[0079] Specifically, in the nth measurement, the included angle data corresponding to ray a is denoted as... The included angle data corresponding to ray b is denoted as The included angle data corresponding to ray d is denoted as The included angle data corresponding to ray a in the (n+1)th measurement is denoted as... The included angle data corresponding to ray b is denoted as The included angle data corresponding to ray d is denoted as .

[0080] In this embodiment, the four-way ranging data may include measurement data obtained from two consecutive measurements, which include the nth measurement data and the (n+1)th measurement data. Both the nth and (n+1)th measurement data include distance data for rays a, b, c, and d, as well as angle data between rays a, b, and d and the reference rangefinder host.

[0081] The subsidence of the tunnel roof, the convergence of the right and left flanks, and the bulge of the tunnel floor represent the deformation increments between two consecutive measurements. By continuously acquiring data from two consecutive measurements and accumulating the increments, the cumulative deformation of the tunnel cross-section during the monitoring period can be obtained.

[0082] Step S300: Determine the subsidence of the roadway roof based on ray a and the corresponding included angle data.

[0083] In this embodiment, ray a is directed towards a measuring point on the upper right side of the tunnel. This measuring point on the upper right side can serve as a geometric reference point reflecting the subsidence of the main unit relative to the roof within a short measurement period or in an area not directly affected by the floor heave. Since the main unit of the reference rangefinder is connected to the rock strata above the roof via a suspension system, the relative vertical projection distance between the main unit and the measuring point on the upper right side will change when the roof subsides. Therefore, the vertical projection of ray a can be calculated based on the distance and angle data of ray a, and the subsidence of the tunnel roof can be determined by the difference between two adjacent vertical projections.

[0084] Specifically, based on the distance data and corresponding angle data of ray a in the nth measurement, the vertical projection of ray a in the nth measurement is determined; based on the distance data and corresponding angle data of ray a in the (n+1)th measurement, the vertical projection of ray a in the (n+1)th measurement is determined; based on the difference between the vertical projection of ray a in the nth and (n+1)th measurements, the subsidence of the roadway roof is determined.

[0085] like Figure 7 As shown, the projection of ray a in the vertical direction during the nth measurement is:

[0086] ;

[0087] The projection of ray a in the vertical direction during the (n+1)th measurement is:

[0088] ;

[0089] The increase in roof subsidence between two adjacent measurements is:

[0090] ;

[0091] in, This indicates the amount of subsidence of the roadway roof or the increment of roof subsidence between two adjacent measurements. This represents the distance data of ray a during the nth measurement. This represents the distance data of ray a during the (n+1)th measurement. This represents the angle between ray a and the reference rangefinder main unit during the nth measurement. This represents the angle between ray a and the reference rangefinder host during the (n+1)th measurement.

[0092] Furthermore, Figure 7 In the diagram, ray a forms an angle θ with the vertical plane containing the side wall of the host machine. The measured length of ray a is the length of its hypotenuse. The vertical projection is obtained. When the roof subsidence causes a vertical relative displacement between the suspended main unit and the upper measuring point on the right side, the vertical projection at the (n+1)th time changes compared to the nth time, and this change is taken as the roof subsidence increment. This avoids the problem of being unable to distinguish between the reference movement and the surrounding rock movement based solely on a single vertical distance measurement.

[0093] Step S400: Determine the approach amount of the right side of the roadway based on ray b and the corresponding included angle data.

[0094] Ray b is directed towards a measuring point in the middle of the right side of the tunnel. As the surrounding rock of the right side moves into the tunnel, the horizontal projected distance between the reference rangefinder and the measuring point in the middle of the right side changes. Since the motion tracking module can keep ray b aligned with the measuring point in the middle of the right side and simultaneously acquire the length and angle of ray b, the amount of movement of the right side can be determined by the change in the horizontal projection of ray b.

[0095] Specifically, based on the distance data and corresponding angle data of ray b in the nth measurement, the horizontal projection of ray b in the nth measurement is determined; based on the distance data and corresponding angle data of ray b in the (n+1)th measurement, the horizontal projection of ray b in the (n+1)th measurement is determined; based on the difference between the horizontal projection of ray b in the nth and (n+1)th measurements, the approach amount of the right side of the roadway is determined.

[0096] like Figure 8 As shown, the projection of ray b in the horizontal direction during the nth measurement is:

[0097] ;

[0098] The projection of ray b in the horizontal direction during the (n+1)th measurement is:

[0099]

[0100] The right-side approach increment between two adjacent measurements is:

[0101] ;

[0102] in, This indicates the amount of right-side approach of the roadway, or the increment of right-side approach between two adjacent measurements. This represents the distance data of ray b during the nth measurement. This represents the distance data of ray b during the (n+1)th measurement. This represents the angle between ray b and the reference rangefinder main unit during the nth measurement. This represents the angle between ray b and the reference rangefinder host during the (n+1)th measurement.

[0103] Furthermore, Figure 8 In the middle, ray b forms an angle α with the vertical plane containing the side wall of the reference rangefinder main unit, passing through... The horizontal projection of ray b is obtained. As the right side moves closer to the interior of the tunnel, this horizontal projection decreases. Therefore, the right side's approach increment is obtained by subtracting the (n+1)th horizontal projection from the nth horizontal projection.

[0104] Step S500: Determine the approach amount of the left side of the roadway based on the ray d and the corresponding included angle data.

[0105] Ray d is directed towards a measuring point in the middle of the left side of the tunnel. As the surrounding rock of the left side moves into the tunnel, the horizontal projected distance between the reference rangefinder and the measuring point in the middle of the left side changes. Since the motion tracking module can keep ray d aligned with the measuring point in the middle of the left side and simultaneously acquire the length and angle of ray d, the amount of the left side moving closer can be determined by the change in the horizontal projection of ray d.

[0106] Specifically, based on the distance data and corresponding angle data of ray d in the nth measurement, the horizontal projection of ray d in the nth measurement is determined; based on the distance data and corresponding angle data of ray d in the (n+1)th measurement, the horizontal projection of ray d in the (n+1)th measurement is determined; based on the difference between the horizontal projection of ray d in the nth and (n+1)th measurements, the approach amount of the left side of the roadway is determined.

[0107] like Figure 9 As shown, the projection of ray d in the horizontal direction during the nth measurement is:

[0108] ;

[0109] The projection of ray d in the horizontal direction during the (n+1)th measurement is:

[0110] ;

[0111] The left approach increment between two adjacent measurements is:

[0112] ;

[0113] in, This indicates the amount of approach of the left side of the roadway, or the increment of the left side approach between two adjacent measurements. This represents the distance data of ray d at the nth measurement. This represents the distance data of ray d at the (n+1)th measurement. This represents the angle between ray d and the reference rangefinder main unit during the nth measurement. This represents the angle between ray d and the reference rangefinder host during the (n+1)th measurement.

[0114] Furthermore, Figure 9 In the middle, ray d forms an angle β with the vertical plane containing the side wall of the reference rangefinder main unit, passing through... The horizontal projection is obtained. As the left side moves closer to the interior of the roadway, this horizontal projection decreases accordingly. Therefore, the difference between the nth and (n+1)th horizontal projections is used as the left side's approach increment. The right and left side approach amounts are calculated independently, which can reflect the asynchronous and asymmetric deformation characteristics of the two sides.

[0115] Step S600: Determine the amount of bulging of the roadway floor based on the distance data of ray c and the amount of subsidence of the roadway roof.

[0116] Ray c is emitted by a fixed laser probe c33 and, with the attitude-maintaining module keeping the reference rangefinder host in a vertical position, is directed vertically towards the tunnel floor. Since the reference rangefinder host is not mounted on the floor but connected to the rock strata above the roof via a suspension reference assembly, the distance change of ray c between adjacent measurements reflects not only the upward movement of the measuring point on the floor caused by floor bulging but may also include the vertical displacement component of the reference rangefinder host as the roof sinks. To obtain the true amount of floor bulging, the amount of roof sinking needs to be separated from the vertical distance change of ray c.

[0117] Specifically, based on the distance data of ray c in two adjacent measurements, the change in vertical distance of ray c in two adjacent measurements is determined; based on the change in vertical distance and the subsidence of the roadway roof, the bulging of the roadway floor is determined.

[0118] like Figure 10 As shown, the change in vertical distance of ray c between two consecutive measurements is:

[0119] ;

[0120] in, This represents the change in vertical distance of ray c between two consecutive measurements. This represents the distance data of ray c during the nth measurement. This represents the distance data of ray c during the (n+1)th measurement.

[0121] In vertical distance measurement, This includes the reference displacement component generated by the main unit of the reference rangefinder as the roof sinks, and the floor displacement component generated by the bulging of the roadway floor. Since the amount of roof sinking has been obtained through the vertical projection of ray a, the amount of bulging of the roadway floor can be determined by the following formula:

[0122] ;

[0123] Right now:

[0124] ;

[0125] in, This indicates the amount of bulging in the tunnel floor or the increase in floor bulging between two adjacent measurements. This represents the change in vertical distance of ray c between two consecutive measurements. This represents the amount of subsidence of the tunnel roof. Using this formula, the reference displacement component caused by roof subsidence can be subtracted from the vertical distance measurement results, thereby separating the actual floor bulge and avoiding the coupling problem between roof subsidence and floor bulge in traditional floor-mounted distance measurement methods.

[0126] Furthermore, Figure 10 In the process, ray c always travels vertically towards the base plate along the main body of the reference rangefinder. When the distance measured by ray c changes between two consecutive measurements... Become At that time, its difference This represents the reduction in the vertical distance between the main unit and the base plate. This reduction is not directly equal to the base plate bulge, but rather includes the effect of the main unit's position change caused by the top plate subsidence. Therefore, this application first calculates this using ray a. , and then from deducting from This allows us to obtain the actual upward bulge increment of the base plate itself. .

[0127] In a specific implementation process, the system can operate according to the following workflow.

[0128] The system is deployed at the section to be monitored in the tunnel. Construction workers drill a deep hole upwards from the center of the tunnel roof, allowing the hole to reach the stable rock strata, and install the top anchor rod 11. Then, the main body of the reference rangefinder is connected to the main suspension rigid measuring rod 13 via a universal lifting ring 12, suspending the main unit of the reference rangefinder below the main suspension rigid measuring rod 13. The main body of the reference rangefinder is encased in a rectangular explosion-proof and dustproof shell 21, with a fixed counterweight ring 41 at the bottom to maintain a vertical posture under the action of gravity and restoring torque.

[0129] Measuring points are arranged on the surface of the surrounding rock. A first fixed measuring point can be arranged on the upper part of the right side of the tunnel, a second fixed measuring point on the middle part of the right side, and a third fixed measuring point on the middle part of the left side. These fixed measuring points can be fluorescent or reflective targets for identification by the miniature vision sensor 51. A movable laser probe a31 is aligned with the measuring point on the upper part of the right side and emits ray a; a movable laser probe b32 is aligned with the measuring point on the middle part of the right side and emits ray b; a fixed laser probe c33 is directed vertically towards the floor and emits ray c; and a movable laser probe d34 is aligned with the measuring point on the middle part of the left side and emits ray d.

[0130] The system performs initial measurements. Data acquisition unit 22 records the initial distance. , , , and the initial included angle , , When mining causes spatial displacement of the measuring points in the surrounding rock, the miniature vision sensor 51 captures the change in the measuring point's position and outputs the recognition result to the direct-drive servo motor 52. The direct-drive servo motor 52 drives the corresponding laser probe to rotate around the pitch axis 53, ensuring that rays a, b, and d always point to the corresponding fixed measuring point, while simultaneously outputting real-time angle data through the encoder.

[0131] Data processing module 2 performs continuous measurement and incremental calculation according to a preset sampling period. Assume the nth measurement obtains... , , , as well as , , The (n+1)th measurement obtained , , , as well as , , Then data processing module 2 will solve the following in sequence:

[0132] Roof slab subsidence increment:

[0133] ;

[0134] Right side moves closer to increment:

[0135] ;

[0136] Left side moves closer to increment:

[0137] ;

[0138] Increase in base plate bulge:

[0139] ;

[0140] Data processing module 2 accumulates the increments to obtain the cumulative subsidence of the roadway roof, the cumulative bulge of the floor, the cumulative approach of the right flank, and the cumulative approach of the left flank. This data is then transmitted to the underground monitoring substation or the ground control center via data transmission unit 24. Thus, the system can perform continuous, high-precision iterative monitoring throughout the entire lifecycle of the roadway, providing a data foundation for adjusting roadway support parameters, evaluating surrounding rock stability, and issuing disaster early warnings.

[0141] In a further embodiment, to facilitate long-term monitoring and data management, the data processing module 2 can use the first measurement data as the initial reference data, and each subsequent measurement is incrementally calculated with the previous measurement, and the incremental results are accumulated to obtain the cumulative deformation. The cumulative top plate subsidence, cumulative right sidewall movement, cumulative left sidewall movement, and cumulative bottom plate bulge can be expressed as follows:

[0142] ;

[0143] ;

[0144] ;

[0145] ;

[0146] in, , , and These represent the cumulative subsidence of the top plate, the cumulative approach of the right side, the cumulative approach of the left side, and the cumulative bulge of the bottom plate from the initial measurement time to the Nth measurement time, respectively. , , , These represent the corresponding deformation increments between the i-th and (i+1)-th measurements, respectively.

[0147] In this embodiment, the naming of rays a, b, c, and d is only used to distinguish laser rays from different directions and does not constitute a limitation on the number of laser probes, their installation direction, or the specific location of the measuring points. Provided that the four-way ranging and geometric projection decoupling relationship is satisfied, the locations of the measuring points on the upper right side, the middle right side, the floor, and the middle left side can be adaptively adjusted according to the tunnel cross-section shape, support structure, and site layout conditions.

[0148] In this embodiment, the motion tracking module can use a miniature vision sensor 51 to identify fluorescent target points, or an image sensor to identify reflective marks, QR code marks, geometric targets, or other identifiable measurement points. The direct-drive servo motor 52 can be replaced with a stepper motor, servo motor, or other actuator capable of driving the laser probe to rotate and output angle information. The encoder can be an absolute encoder, an incremental encoder, or a motor-embedded angle feedback unit. As long as it can drive rays a, b, and d to track the corresponding surrounding rock measurement points and obtain the corresponding included angle data, the distance calculation function of this application can be realized.

[0149] In this embodiment, the attitude maintenance module can be a counterweight ring 41, or a counterweight block, a hammer, a damping pendulum, a liquid damping structure, or other components that lower the center of gravity. The attitude maintenance module cooperates with the connecting universal joint 12 to keep the reference rangefinder host in a vertical attitude, thereby ensuring that the vertical distance measurement properties of ray c and the angle data between rays a, b, and d have stable geometric meaning.

[0150] In this embodiment, the data processing module 2 can perform measurements at fixed time intervals, or increase the sampling frequency when mining disturbance intensifies, surrounding rock displacement rate increases, or support monitoring is required. The data storage unit 23 can save raw distance data, included angle data, projection, incremental deformation, and cumulative deformation for subsequent trend analysis and anomaly early warning. The data transmission unit 24 can connect to the ground control center using wired communication, intrinsically safe wireless communication for mining, or fiber optic communication.

[0151] Through the above embodiments, this application establishes a tunnel full-section deformation calculation scheme based on deep foundation point suspension, constrained by vertical attitude maintenance, using four-way dynamic tracking distance measurement as the data source, and using spatial geometric projection as the decoupling method. Compared with traditional floor-mounted distance measuring devices, this application does not use the floor or local surrounding rock support points as measurement benchmarks, which can reduce the benchmark drift caused by floor heave and local surrounding rock movement; at the same time, by combining the distance and angle projection of rays a, b, and d and subtracting the roof subsidence from the vertical difference of ray c, physical decoupling of roof subsidence, floor heave, and left and right sidewall movement is achieved, thereby obtaining the independent deformation of the surrounding rock in each direction within the same cross-section.

[0152] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of this application.

Claims

1. A tunnel full-section deformation calculation system based on suspended four-way ranging, comprising a suspended reference component, an attitude maintaining module, a four-way laser detection component, a motion tracking module, and a data processing module, characterized in that, include: The suspended reference assembly includes a suspended anchoring assembly anchored in the rock strata above the roadway roof, and a reference rangefinder main unit connected to the suspended anchoring assembly; The attitude maintenance module is located at the bottom of the reference rangefinder main unit and is used to keep the reference rangefinder main unit in a vertical attitude. The four-way laser detection component is installed on the main unit of the reference rangefinder and includes four laser probes that emit rays a, b, c and d to the upper measuring point on the right side of the tunnel, the middle measuring point on the right side, the bottom measuring point and the middle measuring point on the left side, respectively. The motion tracking module is connected to at least some of the laser probes to drive the corresponding laser probes to track the corresponding surrounding rock measuring points and to acquire the distance and angle data of the corresponding laser beams. The data processing module is electrically connected to the four-way laser detection component and the motion tracking module, respectively, and is used to calculate the subsidence of the roadway roof, the bulging of the floor, the right side movement, and the left side movement based on the distance and angle data of the four laser beams.

2. The tunnel full-section deformation calculation system based on suspended four-way ranging according to claim 1, characterized in that: The suspension anchoring assembly includes a top anchor rod, a connecting universal lifting ring, and a main suspension rigid measuring rod connected in sequence, with the main unit of the reference rangefinder connected to the lower end of the main suspension rigid measuring rod; The attitude maintenance module includes a center-of-gravity lowering component located at the bottom of the reference rangefinder main unit, which cooperates with the connecting universal joint to maintain the vertical attitude of the reference rangefinder main unit.

3. The tunnel full-section deformation calculation system based on suspended four-way ranging according to claim 1 or 2, characterized in that: The reference rangefinder main unit includes a housing, with four laser probes respectively located on the right, bottom, and left sides of the housing; The motion tracking module includes a visual sensor for identifying measuring points in the surrounding rock, a servo motor for driving the rotation of the corresponding laser probe, and an encoder for outputting the rotation angle.

4. A method for calculating the full-section deformation of a roadway based on suspended four-way ranging, applied to the data processing module of any one of claims 1 to 3, characterized in that, include: Acquire four-way distance measurement data, which includes the distance data of rays a, b, c, and d corresponding to the measuring points on the upper right side, middle right side, floor, and middle left side of the roadway, respectively. Obtain the angle data of rays a, b, and d relative to the main unit of the reference rangefinder, respectively; Based on ray a and the corresponding included angle data, determine the subsidence of the roadway roof; Based on ray b and the corresponding included angle data, determine the approach amount of the right side of the roadway; Based on ray d and the corresponding included angle data, determine the approach amount of the left side of the roadway; Based on the distance data of ray c and the subsidence of the tunnel roof, the amount of bulging of the tunnel floor is determined.

5. The method for calculating the full-section deformation of a roadway based on suspended four-way ranging according to claim 1, characterized in that: Four-way distance measurement data includes measurement data obtained from two consecutive measurements, and the measurement data obtained from two consecutive measurements includes the nth and n+1th measurement data; The data from the nth and n+1th measurements both include the distance data of rays a, b, c, and d, as well as the angle data of rays a, b, and d relative to the main unit of the reference rangefinder. The subsidence of the roadway roof, the convergence of the right side of the roadway, the convergence of the left side of the roadway, and the bulging of the roadway floor are the deformation increments between two adjacent measurements.

6. The method for calculating the full-section deformation of a roadway based on suspended four-way ranging according to claim 5, characterized in that: Based on ray a and the corresponding included angle data, the subsidence of the roadway roof is determined, including: Based on the distance data and corresponding angle data of ray a in the nth measurement, determine the vertical projection of ray a in the nth measurement; Based on the distance data and corresponding angle data of ray a in the (n+1)th measurement, determine the vertical projection of ray a in the (n+)th measurement. The subsidence of the roadway roof is determined by the difference in the vertical projection of ray a at the nth and n+1th measurements.

7. The method for calculating the full-section deformation of a roadway based on suspended four-way ranging according to claim 5, characterized in that: Based on ray b and the corresponding included angle data, determine the approach amount of the right side of the roadway, including: Based on the distance data and corresponding angle data of ray b in the nth measurement, determine the horizontal projection of ray b in the nth measurement; Based on the distance data and corresponding angle data of ray b at the (n+1)th measurement, determine the horizontal projection of ray b at the (n+)th measurement; The approach amount of the right side of the roadway is determined by the difference in the horizontal projection of ray b at the nth and n+1th measurements.

8. The method for calculating the full-section deformation of a roadway based on suspended four-way ranging according to claim 5, characterized in that: Based on ray d and the corresponding included angle data, the approach amount of the left side of the roadway is determined, including: Based on the distance data and corresponding angle data of ray d at the nth measurement, determine the horizontal projection of ray d at the nth measurement; Based on the distance data and corresponding angle data of ray d at the (n+1)th measurement, determine the horizontal projection of ray d at the (n+)th measurement; The approach amount of the left side of the roadway is determined by the difference in the horizontal projection of ray d at the nth and n+1th measurements.

9. The method for calculating the full-section deformation of a roadway based on suspended four-way ranging according to any one of claims 5 to 8, characterized in that: Based on the distance data of ray c and the subsidence of the roadway roof, the bulging of the roadway floor is determined, including: Based on the distance data of ray c in two adjacent measurements, determine the change in the vertical distance of ray c between two adjacent measurements; The amount of bulging of the roadway floor is determined based on the change in vertical distance and the subsidence of the roadway roof.

10. The method for calculating the full-section deformation of a roadway based on suspended four-way ranging according to claim 9, characterized in that: The amount of bulging in the tunnel floor is determined using the following formula: ； in, Indicates the amount of bulging in the tunnel floor. This represents the change in vertical distance of ray c between two consecutive measurements. This indicates the amount of subsidence of the tunnel roof; ； in, This represents the distance data of ray c during the nth measurement. This represents the distance data of ray c during the (n+1)th measurement.

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