CN104111464A - Ground surface movement and deformation automation monitoring system for exploitation of coal mine - Google Patents

Abstract

An automatic monitoring system for coal mining surface movement and deformation, in which the CORS special receiver of the GNSS reference station subsystem collects GNSS satellite data in real time and transmits it to the data monitoring center subsystem. The real-time monitoring station subsystem includes GNSS continuous operation monitoring station and non-continuous real-time monitoring station. The GNSS monitoring dedicated receiver of the GNSS continuous operation monitoring station uploads the observation data to the GNSS reference station subsystem in real time and receives the differential data provided by the GNSS reference station subsystem, and uploads the observed data to the GNSS reference station through the network communication subsystem subsystem. The discontinuous real-time monitoring station is the field acquisition terminal system; the data monitoring center subsystem and the GNSS reference station subsystem are connected by signal feeders, and the real-time monitoring station subsystem is connected through the network communication subsystem. The invention has the advantages that it can collect the movement and deformation information of the monitoring points in real time, and send the data information in real time to guide and predict the subsidence of the mining area, thereby greatly increasing the efficiency of subsidence monitoring in the mining area.

Description

Coal Mining Surface Movement and Deformation Automatic Monitoring System

technical field

The invention relates to a monitoring system, in particular to an automatic monitoring system for coal mining surface movement and deformation.

Background technique

With the continuous improvement of coal mining technology and the continuous intensification of coal mining activities, coal mining has caused great harm to the environment. The surface subsidence caused by coal mining and mining will cause a series of disastrous consequences, such as water accumulation in flat land, reduced farmland production, road cracks, house collapse, etc., which are not only important reasons for the reduction of cultivated land, but also It is also one of the bottlenecks restricting mine production. Traditional coal mining subsidence monitoring data collection is through the establishment of observation stations, using total stations and levels for regular observations. Accuracy, reliability and timeliness. If there is an automatic monitoring system for coal mining surface movement and deformation that can collect monitoring points in real time, and send data information in real time to guide and predict the subsidence of the mining area, a sound safety management system will be of great significance to the protection of national property security.

With the development of satellite navigation and positioning technology, Internet technology, and mobile technology, it is possible to integrate mining subsidence monitoring data acquisition terminal system based on GIS total station, digital level, GPS and other advanced technologies.

Contents of the invention

The technical problem to be solved by the present invention is to provide an automatic monitoring system for coal mining surface movement and deformation that can collect monitoring points in real time and send data information in real time to guide and predict the subsidence of the mining area.

The present invention adopts the following technical solutions to solve the above-mentioned technical problems: an automatic monitoring system for surface movement and deformation in coal mining, including a GNSS reference station subsystem, a real-time monitoring station subsystem, a data monitoring center subsystem, and a network communication subsystem;

The GNSS reference station subsystem includes a CORS dedicated receiver, a CORS dedicated antenna, a feeder, a lightning rod, a feeder arrester, a power supply arrester, a forced centering device, an observation pier, and a feeder for the CORS special antenna of the forced centering device on the top of the observation pier Connect the GNSS interface of the CORS special receiver, the feeder arrester connects the lightning rod and the power arrester, the CORS special receiver tracks, collects, transmits and stores GNSS satellite data in real time, and transmits the results to the data monitoring center subsystem, which is the real-time monitoring station subsystem The reverse network RTK provides differential data, and also provides a deformation analysis reference for the real-time monitoring station subsystem;

Described real-time monitoring station subsystem comprises GNSS continuous operation monitoring station and discontinuous real-time monitoring station;

The GNSS continuous operation monitoring station includes GNSS monitoring special receiver, geodetic antenna, UPS power supply, feeder, inclinometer, lightning rod, feeder arrester, power arrester, solar panel, forced centering device, network camera, instrument and equipment box and Related instrument support, observation pier, CORS dedicated antenna erected on the forced centering device on the top of the observation pier is connected to the GNSS interface of the CORS special receiver with a feeder, the feeder arrester is connected to the lightning rod and the power arrester, and the special receiver for GNSS monitoring provides 24-hour uninterrupted Monitoring service, uploading observation data to the GNSS reference station subsystem in real time and uninterruptedly, the continuous operation monitoring stations are arranged in the key parts of the ground surface movement and deformation, tracking, collecting, transmitting and storing GNSS satellite data in real time, and receiving the GNSS reference station subsystem in real time Provide differential data to realize network RTK, and upload the data observed by the receiver to the GNSS reference station subsystem through the network communication subsystem;

The discontinuous real-time monitoring station is a field collection terminal system that uses a mobile platform as a control terminal and integrates GPS, a total station, and a digital level;

The data monitoring center subsystem is mainly composed of servers, monitors, routers, firewalls, software, etc., and is connected with the GNSS reference station subsystem by signal feeders to obtain the data provided by the reference station and forward it to the real-time monitoring station subsystem. The monitoring center subsystem and the real-time monitoring station subsystem are connected through the network communication subsystem. The data monitoring center subsystem manages the GNSS reference station subsystem and the real-time monitoring station subsystem, and performs data processing, analysis, and output of the obtained data.

As a further solution, the observation pier of the GNSS reference station subsystem is erected on the upper part of the load-bearing beam, fixed and welded with expansion screws at a uniform position at the bottom, the observation pier is installed with a forced centering device, and the GNSS special antenna is fixed on the forced centering Center point of the base plate of the unit

Optimally, the observation pier of the GNSS reference station subsystem is a stainless steel pipe.

Optimally, the observation pier of the GNSS continuous operation monitoring station subsystem of the surface mobile automatic monitoring system is kept vertical and erected in the foundation pit, and a PVC pipe is placed on its side to store the inclinometer, and then poured with cement and sand, The forced centering device is installed on the top of the cement pole, and the center point of the base plate of the forced centering device has a rotating thread or bayonet. The GNSS special antenna is fixed on the center point of the base plate of the forced centering device, and is installed next to the forced centering device. Network cameras, supporting solar panels, UPS power supply and GNSS monitoring receivers, drill a round hole on the top and bottom of the concrete utility pole and PVC pipe respectively, for burying the cable of the inclinometer sensor.

Optimally, the observation pier of the GNSS continuous operation monitoring station subsystem is made of concrete poles poured with concrete.

Optimized, the main modules and the workflow of the software of the data monitoring center of the surface mobile automatic monitoring system of the present invention are as follows:

①Reference station serial port communication module realizes the real-time connection between the data monitoring center subsystem and the GNSS reference station subsystem, receives the original observation data and differential information of the real-time monitoring station subsystem in real time, and classifies and compresses the data to the surface mobile in real time A comprehensive database of monitoring information;

②Based on the NTRIP protocol monitoring station network communication module, realize the real-time connection between the data monitoring center subsystem and the GNSS continuous operation monitoring station, and forward the differential information received from the real-time GNSS reference station to the GNSS continuous operation monitoring station to enable GNSS continuous operation The monitoring station realizes RTK positioning, and transmits the positioning results to the comprehensive database of surface mobile monitoring information in NMEA data format;

③The operation monitoring module of reference station and monitoring station, through the serial port communication and network cable network, conducts integrity monitoring on the GNSS reference station subsystem and real-time monitoring station subsystem in real time, mainly monitoring the integrity of observation data, signal-to-noise ratio, precision factor, etc. Indicators and equipment operating conditions;

④Data processing and analysis module, which performs data processing and quality analysis on the GNSS measurement of the continuous operation monitoring station subsystem and the GNSS measurement, traverse survey and leveling measurement of the non-continuous operation monitoring station subsystem. ;

⑤The ground movement and deformation analysis module uses the accurate position of the GNSS reference station subsystem and the real-time positioning results of the real-time monitoring station subsystem to calculate the relative displacement, slope rate, deformation curvature and other surface movement and deformation information, and store it in the surface movement monitoring comprehensive information database;

⑥The coal mine mining subsidence parameter calculation module, using the surface movement deformation data and geological condition parameters, solves the mining subsidence parameters and stores them in the comprehensive database of surface movement monitoring information, providing a reliable basis for mining subsidence prediction under similar geological mining conditions ;

⑦The prediction module of surface movement and deformation, using the probability integral method to predict the model, realizes static prediction, dynamic prediction and prediction at a certain time point of the surface movement and deformation caused by single or multiple mining face mining;

⑧ GIS spatial information management and analysis module realizes efficient management and operation of data, provides high-reliability and high-quality data processing results, and provides safe production for coal mines, properly arranges the time and sequence of relocation of villages above the mining area, and safely saves Set up protective coal pillars to save coal resources and provide basic information for ecological environment management in mining areas;

⑨The report output module is used to output the high-quality data processing results into a report in a certain format for storage.

The advantages of the present invention are:

(1) It is based on GNSS CORS/sensor/total station/leveling instrument/PDA integrated in the integrated deformation monitoring information acquisition technology and network communication technology, based on multi-mode monitoring data processing technology and method, it can collect monitoring point movement in real time Deformation information, and send data information in real time to guide and predict the subsidence of the mining area, improve the stability, real-time and security of network communication, and greatly increase the efficiency of mining area subsidence monitoring;

(2) It is suitable for the coordinate system model conversion and refinement of the geoid model in the research area, and the automatic identification algorithm of observation gross error and abnormal value is studied, and the height measurement accuracy of GNSS CORS technology is improved;

(3) Adopting the single-difference single-epoch calculation method to improve the height measurement accuracy, research the mining subsidence parameter calculation method and the probability integral method prediction model suitable for the characteristics of the mining area.

Description of drawings

Figure 1 is a schematic diagram of the layout of the surface mobile automatic monitoring system;

Fig. 2 is a schematic diagram of the observation pier of the GNSS reference station subsystem of the surface mobile automatic monitoring system;

Fig. 3 is a schematic diagram of the observation pier of the GNSS continuous operation monitoring station subsystem of the surface mobile automatic monitoring system;

Fig. 4 is the operating structure diagram of this system;

Fig. 5 is a schematic diagram of the software platform of the non-continuous real-time monitoring station of the surface mobile automatic monitoring system;

Fig. 6 is a schematic diagram of the software module of the data monitoring center subsystem of the surface mobile automatic monitoring system.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings.

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figure 1, it is a schematic diagram of the layout of the surface mobile automatic monitoring system. The surface mobile automatic monitoring system of the present invention includes a GNSS reference station subsystem, a real-time monitoring station subsystem, a data monitoring center subsystem, and a network communication subsystem.

Among them, the GNSS reference station subsystem is built in a place that meets the requirements of the observation environment. For example, the roof-type reference station is arranged on the roof of the office building in the mining area. The GNSS reference station subsystem includes CORS dedicated receivers, CORS dedicated antennas, feeders, lightning rods, Feeder arrester, power arrester, forced centering device, observation pier. The CORS dedicated antenna erected on the top of the observation pier forcibly centering the device is connected to the GNSS interface of the CORS dedicated receiver with a feeder, and the feeder arrester is connected to the lightning rod and the power arrester. The CORS dedicated receiver is a self-developed GNSS reference station dedicated receiver, which tracks, collects, transmits, and stores GNSS satellite data in real time, and transmits the results to the data monitoring center system. It provides differential data for the reverse network RTK of the real-time monitoring station subsystem, and also provides a deformation analysis reference for the real-time monitoring station subsystem.

As shown in Figure 2, it is a schematic diagram of the observation pier of the GNSS reference station subsystem. The observation pier of the GNSS reference station subsystem is made of stainless steel pipes. The position is fixed and welded with expansion screws. The observation pier is equipped with a forced centering device. The center point of the base plate of the forced centering device has a rotating thread or bayonet. The GNSS antenna can be directly rotated and fixed on the thread, and is strictly Leveling, install (or pre-buried) hard pipes (steel or plastic) suitable for cable entry and exit in the observation pier to protect the line, and stick a measurement signboard in the middle of the observation pier.

Described real-time monitoring station subsystem comprises GNSS continuous operation monitoring station and discontinuous real-time monitoring station;

The GNSS continuous operation monitoring station includes GNSS monitoring special receiver, geodetic antenna, UPS power supply, feeder, inclinometer, lightning rod, feeder arrester, power arrester, solar panel, forced centering device, network camera, instrument and equipment box and Related instrument support, observation pier, CORS dedicated antenna erected on the forced centering device on the top of the observation pier is connected to the GNSS interface of the CORS special receiver with a feeder, the feeder arrester is connected to the lightning rod and the power arrester, and the special receiver for GNSS monitoring provides 24-hour uninterrupted Monitoring service, uploading observation data to the GNSS reference station subsystem in real time and uninterruptedly, the continuous operation monitoring stations are arranged in the key parts of the ground surface movement and deformation, tracking, collecting, transmitting and storing GNSS satellite data in real time, and receiving the GNSS reference station subsystem in real time The differential data provided realizes network RTK, and uploads the data observed by the receiver to the GNSS reference station subsystem through the network communication subsystem.

As shown in Figure 2, it is a schematic diagram of the observation pier of the GNSS reference station subsystem. The observation pier of the GNSS reference station subsystem is made of stainless steel pipes. The position is fixed and welded with expansion screws. The observation pier is equipped with a forced centering device. The center point of the base plate of the forced centering device has a rotating thread or bayonet. The GNSS special antenna can be directly rotated and fixed on the thread, and Strict leveling, installing (or pre-buried) hard pipes (steel or plastic) suitable for cable entry and exit in the observation pier to protect the line, and stick a measurement signboard in the middle of the observation pier.

As shown in Figure 3, it is a schematic diagram of the observation pier of the GNSS continuous operation monitoring station subsystem of the surface mobile automatic monitoring system. The observation pier is made of cement utility poles poured with concrete, and the height of the cement utility poles is not less than 5m, generally not exceeding 6m. The size of the foundation pit is 1.5m×1.5m×1.5m. The cement utility pole is kept vertical in the foundation pit, and a PVC pipe with a diameter of 200mm is placed on the side to store the inclinometer, and then poured with cement sand. Pouring until the utility pole is 1m above the ground, install a forced centering device on the top of the cement utility pole, the center point of the base plate of the forced centering device has a rotating thread or bayonet, the GNSS antenna can be directly rotated on the thread and fixed, and Strict leveling, install a suitable bracket 0.1m away from the forced centering device to install the network camera, install a suitable bracket at 0.3m to support the solar panel, and install two iron boxes at 0.5m to store UPS power And GNSS monitoring special receiver, drill a round hole with a diameter of 50mm at 0.5m away from the top of the cement utility pole, and drill a round hole with a diameter of 100mm at the bottom of the cement utility pole and the PVC pipe respectively, for burying the inclinometer sensor cable. Each of the above data is an example of specific implementation, and those skilled in the art clearly understand that the data can be easily adjusted according to actual usage conditions.

As shown in Figure 4, the discontinuous real-time monitoring station is a field collection terminal system that uses mobile platforms (such as PDA, mobile phones, and tablet computers) as control terminals and integrates GPS, total stations, and digital levels. Among them, PDA The integrated communication connection mode between the mobile platform and the measuring instrument adopts data cable and Bluetooth connection at the same time, as shown in Figure 5.

The data monitoring center subsystem is mainly composed of servers, monitors, routers, firewalls, software, etc., and is connected with the GNSS reference station subsystem by signal feeders to obtain the data provided by the reference station and forward it to the real-time monitoring station subsystem. The monitoring center subsystem and the real-time monitoring station subsystem are connected through GPRS, 3G, CDMA, WIFI and other wireless networks. The data monitoring center subsystem can manage the GNSS reference station subsystem and the real-time monitoring station subsystem, and perform data processing on the obtained data , analysis, output, etc.

As shown in Figure 6, the main modules and the workflow of the software of the data monitoring center of the surface mobile automatic monitoring system of the present invention are as follows:

①Reference station serial port communication module realizes the real-time connection between the data monitoring center subsystem and the GNSS reference station subsystem, receives the original observation data and differential information of the real-time monitoring station subsystem in real time, and classifies and compresses the data to the surface mobile in real time A comprehensive database of monitoring information;

②Based on the NTRIP protocol monitoring station network communication module, realize the real-time connection between the data monitoring center subsystem and the GNSS continuous operation monitoring station, and forward the differential information received from the real-time GNSS reference station to the GNSS continuous operation monitoring station to enable GNSS continuous operation The monitoring station realizes RTK positioning, and transmits the positioning results to the comprehensive database of surface mobile monitoring information in NMEA data format;

③The operation monitoring module of reference station and monitoring station, through the serial port communication and network cable network, conducts integrity monitoring on the GNSS reference station subsystem and real-time monitoring station subsystem in real time, mainly monitoring the integrity of observation data, signal-to-noise ratio, precision factor, etc. Indicators and equipment operating conditions (such as battery remaining capacity, voltage, temperature and other parameters);

④Data processing and analysis module, which performs data processing and quality analysis on the GNSS measurement of the continuous operation monitoring station subsystem and the GNSS measurement, traverse survey and leveling measurement of the non-continuous operation monitoring station subsystem.

⑤The ground movement and deformation analysis module uses the accurate position of the GNSS reference station subsystem and the real-time positioning results of the real-time monitoring station subsystem to calculate the relative displacement, slope rate, deformation curvature and other surface movement and deformation information, and store it in the surface movement monitoring Comprehensive database of information.

⑥The coal mine mining subsidence parameter calculation module, using the surface movement deformation data and geological condition parameters, solves the mining subsidence parameters and stores them in the comprehensive database of surface movement monitoring information, providing a reliable basis for mining subsidence prediction under similar geological mining conditions .

⑦The prediction module of surface movement and deformation uses the prediction model of probability integral method to realize static prediction, dynamic prediction and prediction at a certain time point of the surface movement and deformation caused by single or multiple mining face mining.

⑧ GIS spatial information management and analysis module realizes efficient management and operation of data, provides high-reliability and high-quality data processing results, and provides safe production for coal mines, properly arranges the time and sequence of relocation of villages above the mining area, and safely saves Provide basic information for protecting coal pillars, saving coal resources, and improving the ecological environment of mining areas.

⑨The report output module is used to output the high-quality data processing results into a report in a certain format for storage.

The above descriptions are only preferred implementation cases of the invention, and are not intended to limit the invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the invention shall be included in this invention. within the protection scope of inventions and creations.

Claims (6)

1. a coal mining surface movement and deformation automatic monitoring system, is characterized in that: comprise GNSS base station subsystem, Real-Time Monitoring station subsystem, data monitor center subsystem, network communication subsystem;

Described GNSS base station subsystem comprises CORS special receiver, CORS dedicated antenna, feeder line, lightning rod, feeder-line lightning-protection device, power arrester, forced centering apparatus, observation pier, the CORS dedicated antenna feeder line that is erected at observation pier top forced centering apparatus connects the GNSS interface of CORS special receiver, feeder-line lightning-protection device connects lightning rod and power arrester, CORS special receiver real-time follow-up, gather, transmission, storage GNSS satellite data, and result is delivered to data monitor center subsystem, for Real-Time Monitoring station, subsystem inverse network RTK provides differential data, simultaneously also for Real-Time Monitoring station subsystem provides deformation analysis basis of reference,

Described Real-Time Monitoring station subsystem comprises GNSS continuous operational monitoring station and discontinuous Real-Time Monitoring station;

Wherein the continuous operational monitoring of GNSS station comprises GNSS monitoring special receiver, geodetic surveying type antenna, ups power, feeder line, inclinator, lightning rod, feeder-line lightning-protection device, power arrester, solar panel, forced centering apparatus, IP Camera, instrument and equipment case and pertinent instruments support, observation pier, the CORS dedicated antenna feeder line being erected on the forced centering apparatus of observation pier top connects CORS special receiver GNSS interface, feeder-line lightning-protection device connects lightning rod and power arrester, GNSS monitors special receiver, provide 24 hours not between transmission, storage GNSS satellite data, receive in real time the disconnected Monitoring Service of difference that GNSS base station subsystem provides, and uninterruptedly upload in real time observation data to GNSS base station subsystem, operational monitoring station is laid in respectively the key position of surface movement and deformation continuously, real-time follow-up, gather, divided data, realize network RTK, and the data upload of receiver being observed by network communication subsystem is to GNSS base station subsystem,

Described discontinuous Real-Time Monitoring station is taking mobile platform as control terminal, collection GPS, total powerstation, the integrated field data acquisition terminal system of digital level;

Data monitor center subsystem, mainly formed by server, display, router, fire wall, software, and rely on signal feed to be connected between GNSS base station subsystem, obtain the data that base station provides and be transmitted to Real-Time Monitoring station subsystem, data monitor center subsystem is connected by network communication subsystem with Real-Time Monitoring station subsystem, data monitor center management subsystem GNSS base station subsystem and Real-Time Monitoring station subsystem, carry out data processing, analysis, result output to the data obtained.

2. a kind of coal mining surface movement and deformation automatic monitoring system as claimed in claim 1, it is characterized in that: the observation pier of described GNSS base station subsystem is set up in spandrel girder top, be fixed with setscrew in bottom even position and weld, observation pier is installed forced centering apparatus, and GNSS dedicated antenna is fixed on the base plate central point of forced centering apparatus.

3. a kind of coal mining surface movement and deformation automatic monitoring system as claimed in claim 2, is characterized in that: the observation pier of described GNSS base station subsystem is stainless-steel tube.

4. a kind of coal mining surface movement and deformation automatic monitoring system as claimed in claim 1, it is characterized in that: the continuous operational monitoring of the GNSS station subsystem observation pier of described surface movement automatic monitoring system keeps vertical state to be erected in foundation ditch, and place a pvc pipe to deposit inclinator at its side, pour into a mould with cement again, forced centering apparatus is installed at concrete wire pole top, band rotation screw thread or bayonet socket on the base plate central point of forced centering apparatus, GNSS dedicated antenna is fixed on the base plate central point of forced centering apparatus, the other IP Camera of installing of forced centering apparatus, support solar cell panel, ups power and GNSS monitoring special receiver, respectively boring a circular hole from concrete wire pole top and bottom portion and pvc pipe, be used for burying underground inclinator sensor cable.

5. a kind of coal mining surface movement and deformation automatic monitoring system as claimed in claim 4, is characterized in that: the continuous operational monitoring of described GNSS station subsystem observation pier is that concrete wire pole pouring concrete forms.

6. a kind of coal mining surface movement and deformation automatic monitoring system as claimed in claim 1, is characterized in that: main modular and the workflow of the software of described data monitor center subsystem are as follows:

1. base station serial communication module, realize real-time connection the between data monitor center subsystem and GNSS base station subsystem, receive in real time original observed data and the difference information of Real-Time Monitoring station subsystem, and in real time Data classification compression is stored to surface movement monitoring information integrated data base;

2. based on NTRIP agreement monitoring station network communication module, realize real-time connection the between the continuous operational monitoring of data monitor center subsystem and GNSS station, and make the continuous operational monitoring of GNSS station realize RTK location by being transmitted to the continuous operational monitoring of GNSS station from the difference information of real-time reception GNSS base station, and the result being located transfers to surface movement monitoring information integrated data base with the data layout of NMEA;

3. base station, monitoring station operational monitoring module, during by serial communication and netting twine network implementation, GNSS base station subsystem and Real-Time Monitoring station subsystem are carried out to integrity monitoring, mainly monitor leading indicator and the equipment operation conditions such as the integrality, signal to noise ratio (S/N ratio), dilution of precision of observation data;

4. Data Management Analysis module, the field operation achievement of the GNSS measurement to continuous operational monitoring station subsystem and the GNSS measurement of discontinuous operational monitoring station subsystem, tracerse survey, measurement of the level is carried out data processing and quality analysis.；

5. surface movement and deformation analysis module, utilize GNSS base station subsystem accurate location and the real-time positioning result of Real-Time Monitoring station subsystem, calculate the surface movement and deformation information such as relative shift, slope, Deformation Curvature, and be stored to surface movement monitoring information integrated data base;

6. Sbusidence Damage parameter calculation module, utilize surface movement and deformation data and geologic condition parameter, calculate mining subsidence parameter, and be stored to surface movement monitoring information integrated data base, for the prediction of mining subsidence under similar geological mining condition provides reliable basis;

7. ground movement and deformation prediction module, utilizes Using Probability Integral Method To Predicate Model, realizes the surface movement and deformation that the exploitation of single or multiple coal faces is caused and carries out static expectation, dynamically expectation and expectation sometime;

8. GIS spatial information management, analysis module, realize efficient management and operation to data, provide high reliability, high-quality data processing product, for Safety of Coal Mine Production, properly arrange minery top village time to move and order, stay and establish that protection coal column is saved coal resources, mining area ecological environment is administered provides Back ground Information safely;

9. report output module, to high-quality data processing product, adopts certain formatted output to become form to preserve.