CN109736894A - A monitoring system, monitoring method and early warning method for surrounding rock disaster of coal mine roadway - Google Patents
A monitoring system, monitoring method and early warning method for surrounding rock disaster of coal mine roadway Download PDFInfo
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Abstract
一种用于煤矿巷道围岩灾害的监测系统、监测方法及预警方法在不影响巷道运输运行的情况下，通过无人机搭载双目相机对巷道内壁围岩进行图像采集，实获取巷道连续断面信息，基于双目视觉三维重构算法，求取巷道围岩点云的三维坐标，重构每次测量的巷道段中围岩的实景三维模型，然后再进行顺次拼接，得到整个待测巷道的实景三维模型，按照上述方法，对待测巷道进行多次测量，得到多次测量数据，将首次测量得到的巷道围岩位置信息作为初始值，其后每次测量的结果与第一次作比较，计算得到巷道变形量，实现了自动实时对巷道变形的监测，自动化程度高。本发明设有各监测指标的安全阈值，一旦检测到各监测指标超过的安全阈值，则启动报警系统，及时预警。
A monitoring system, a monitoring method and an early warning method for surrounding rock disasters in a coal mine roadway. Under the condition that the roadway transportation operation is not affected, an unmanned aerial vehicle is equipped with a binocular camera to collect images of the surrounding rock on the inner wall of the roadway, so as to obtain the continuous section of the roadway. information, based on the binocular vision 3D reconstruction algorithm, obtain the 3D coordinates of the roadway surrounding rock point cloud, reconstruct the real 3D model of the surrounding rock in the roadway section measured each time, and then splicing it in sequence to obtain the entire roadway to be tested. According to the above method, the roadway to be measured is measured multiple times to obtain multiple measurement data, and the position information of the surrounding rock of the roadway obtained by the first measurement is used as the initial value, and the results of each subsequent measurement are compared with the first time. , calculate the deformation of the roadway, and realize the automatic real-time monitoring of the roadway deformation, with a high degree of automation. The present invention is provided with safety thresholds for each monitoring index, and once it is detected that the safety thresholds exceeded by each monitoring index, an alarm system is activated to give an early warning in time.
Description
Technical field
The present invention relates to underworkings monitoring and warning control technology fields, and in particular to one kind is used for coal mine roadway country rock calamity
Harmful monitoring system, monitoring method and method for early warning.
Background technique
Coal mine roadway is responsible for the tasks such as underground transportation, ventilation and drainage, is carried out according to real-time measuring data to coal mine roadway
Three-dimensionalreconstruction, then the tunnel threedimensional model by reconstructing are compared with initial tunnel threedimensional model, to realize in real time
Roadway deformation, and the purpose of early warning in time are monitored, and monitors roadway deformation and timely early warning, to realize mine safety production, mentioning
High management efficiency provides important guarantee, while being also construction digital mine important link.
The data basis of tunnel three-dimensionalreconstruction is measured from tunnel, can be in tunnel according to mine development end measurement data
Line, stringcourse are demarcated, and the space trend and distribution in tunnel are determined, in addition, to reconstruct tunnel threedimensional model, it is necessary to obtain true
Real drift section data.
Existing tunnel section measurement method is usually directly to measure tunnel height, wide equidimension, then in conjunction with specific lane
Road section configuration, applies formula and is calculated, and provides a variety of measurements and monitoring method in the prior art, specifically discloses following
Several method:
1) entire drift section is divided into several triangular sections, by calculating the sum of all triangle areas come close
Seemingly acquire entire drift section product.Or withdrawable ruler is rotated in tested tunnel section, obtain multiple groups length, angle number
Right, according to formula approximate calculation drift section size, but this mode, due to being manual measurement, there are large errors.
2) by rotary laser measuring device, the range data under different rotary angle is obtained, it will by computer program
Measurement data is converted to the space coordinate of each measuring point, so as to draw out the profile of drift section.This method can realize full lane
The full face digital imagery of overall process, but measuring device is mounted on tunnel anchor cable/rod tail portion, and artificial dismounting is needed when moving survey station,
Calamity source measures in serious tunnel, causes serious threat to the personal safety of staff.
3) the irregular working section three-dimensional fast Reconstruction Algorithms based on discrete point, can by underground space tunnel progress three-dimensional
Depending on changing, obtaining drift section data in traveling by laser measuring device for measuring and calculating tunnel segment body product, but measuring device needs
It is run on roadway floor or track, but influences tunnel transport when this mode measures again.
And the above method is first successively to be measured the discrete measuring point in multiple tunnels, then seek drift section by calculating
Size, but influenced by factors such as construction error, roadway deformations, drift section and nonideal geometry, it is sought by calculating
Drift section data and full-size(d) be inevitably present certain error, it is insufficient that there is also measuring device the degree of automation,
Measurement process influences the problems such as tunnel transport.
Therefore, invent it is a kind of can obtain in real time tunnel continuous cross-section information and operation do not influence tunnel transport, tunnel become
The technical issues of shape real-time monitoring and the method for early warning are current urgent need to resolve.
Summary of the invention
In view of the deficiencies of the prior art and coal mine roadway surrouding rock deformation has heterogeneity, continuity, paroxysmal spy
Point, the present invention is based on machine vision techniques to monitor coal mine roadway deformation automatically, and is based on multi objective country rock disaster alarm criterion,
A kind of monitoring system, monitoring method and method for early warning for coal mine roadway country rock disaster is provided, realizes the reality to roadway deformation
When monitoring and early warning, to guarantee the safety in production of mine.
To achieve the goals above, the present invention provides a kind of monitoring system for coal mine roadway country rock disaster, including nothing
Man-machine and its loading device, underground wireless communication network and computer workstation；
UAV flight's device includes control device, is mounted on inside unmanned plane, for according to the computer work received
Make station signal, control unmanned plane starts or stops, and for the information according to the sensing device transmission received, adjustment unmanned plane flies
Row posture, the line of flight and flying speed；It is carried out for presetting the every flight T distance controlling image capture module of unmanned plane
Image Acquisition, and by acquired image data by underground wireless communication network real-time transmission to computer workstation,
Computer workstation can be arranged on underground or ground according to the actual situation；
Sensing device is mounted on unmanned plane, including gyroscope, acceleration transducer, light stream sensor, supersonic sensing
Device, each sensor is by collected information real-time transmission to control device；Gyroscope is for perceiving nobody in unmanned plane during flying
The direction of motion of machine, acceleration transducer, for obtaining the acceleration information of unmanned plane in unmanned plane during flying, to calculate
The moving distance of unmanned plane realizes the accurate positionin to unmanned plane by gyroscope and acceleration transducer；Light stream sensor is used
In the posture and flying speed of acquisition unmanned plane；Ultrasonic sensor is for perceiving front obstacle information；
Image collecting device is mounted on unmanned aerial vehicle body, for back, bottom plate, Zuo Bangbi, right side country rock
Carry out image information collecting；
Power supply unit is mounted on inside unmanned plane, for being unmanned plane, control device, sensing device, image collecting device
Power supply is provided；
Computer workstation, for sending control signal to the control device of unmanned plane, for what is transmitted to control device
Information is handled, and is shown on computer workstation.
A kind of monitoring method for coal mine roadway country rock disaster, the roadway surrounding rock that unmanned plane maiden flight measurement is obtained
Outdoor scene threedimensional model in each monitoring point coordinate as initial value, the result measured every time thereafter is made comparisons with initial value,
Roadway deformation amount is calculated, realizes the real-time monitoring to roadway deformation, specifically includes the following steps:
1) start unmanned plane, move towards it along tunnel from tunnel region to be measured, to terminal from starting point flight, and it is automatic
Save the line of flight；
2) unmanned plane is measured since being taken off starting point, according to the line of flight of step (1), every flight T meters, is mounted in machine
4 groups of binocular cameras with it simultaneously once shoot tunnel inner wall country rock, while recording photo opporunity, obtain a tunnel
Country rock image measurement data in section, and the data are passed through into wireless communication networks for the photo real-time transmission of shooting to computer work
It stands；The image measurement data that computer workstation is shot according to binocular camera passes through binocular vision 3 D restructing algorithm, reconstruct
The outdoor scene threedimensional model of country rock in the tunnel section of the secondary measurement, until completing the shooting measurement in tunnel region to be measured；
3) computer workstation sequentially splices the outdoor scene threedimensional model of country rock in each tunnel section, generates tunnel to be measured
Outdoor scene threedimensional model；
4) it repeats step (2) to step (3) back and forth to measure tunnel to be measured, computer workstation real-time update
The outdoor scene threedimensional model of roadway surrounding rock, while by tunnel cross-sectional area in country rock outdoor scene threedimensional model in the section of the tunnel of Real-time Reconstruction
It is compared with the drift section area of maiden flight measurement, real-time drift section convergence ratio is obtained, by Real-time Reconstruction
In the section of tunnel in country rock outdoor scene threedimensional model at the beginning of the monitoring point of the monitoring point three-dimensional coordinate of drift section and maiden flight measurement
Initial value is compared, and obtains real-time deformation of the surrounding rock in tunnel amount, rate of deformation, wing deformation acceleration, is realized to the real-time of roadway deformation
Monitoring.
A kind of method for early warning for coal mine roadway country rock disaster, is based on multi objective country rock disaster alarm criterion, and monitoring refers to
Mark includes that drift section restrains ratio, deformation of the surrounding rock in tunnel amount, rate of deformation, wing deformation acceleration, and it is as follows to set secure threshold,
Deformation of the surrounding rock in tunnel amount secure threshold pushes up, the deflection secure threshold of bottom plate monitoring point is set as corresponding tunnel height
The 3% of degree, left and right two help the deflection secure threshold of monitoring point to be set as the 3% of corresponding span length；
Rate of deformation secure threshold is set as corresponding lane for all monitoring points by deformation of the surrounding rock in tunnel rate secure threshold
The 5% of country rock average deformation rate interior for 24 hours after the completion of road excavation and preliminary bracing；
Wing deformation acceleration secure threshold is set as lane for all monitoring points by deformation of the surrounding rock in tunnel rate of acceleration secure threshold
The 50% of country rock maximum distortion rate of acceleration interior for 24 hours after the completion of road excavation and preliminary bracing；
Drift section restrains ratio secure threshold, and for all drift sections, drift section is restrained ratio secure threshold
It is set as 5%；
Ratio is restrained according to the drift section of real-time update, deformation of the surrounding rock in tunnel amount, rate of deformation, wing deformation acceleration carry out
Monitoring；
When above-mentioned any monitoring index is more than secure threshold, i.e. triggering country rock calamity forecast, and the position for prompting alert to occur
It sets, does not alarm then when all indexs are less than secure threshold.
Compared with prior art, the present invention passes through UAV flight's binocular in the case where not influencing tunnel transport operation
Camera carries out Image Acquisition to tunnel inner wall country rock, real to obtain tunnel continuous cross-section information, is calculated based on binocular vision 3 D reconstruct
Method seeks the three-dimensional coordinate of roadway surrounding rock point cloud, reconstructs the outdoor scene threedimensional model of country rock in the tunnel section measured every time, then again
Sequentially spliced, the outdoor scene threedimensional model for obtaining entire tunnel to be measured according to the method described above repeatedly surveys tunnel to be measured
Amount, obtains multiple measurement data, using the roadway surrounding rock location information measured for the first time as initial value, measures every time thereafter
As a result with make comparisons for the first time, roadway deformation amount is calculated, realizes automatic in real time to the monitoring of roadway deformation, automates journey
Degree is high.
In addition, the present invention is equipped with the secure threshold of each monitoring index, once detect the safety threshold that each monitoring index is more than
Value, then start alarm system, so that staff reminds in time, be effectively guaranteed the personal safety of mine staff, real
Real-time monitoring roadway deformation, and the purpose of early warning in time are showed, have been provided for mine safety production, raising management efficiency important
It ensures.
Detailed description of the invention
Fig. 1 is the electric functional block diagram of the present invention；
Fig. 2 is the tunnel section outdoor scene threedimensional model schematic diagram that one-shot measurement of the present invention obtains；
Fig. 3 is a certain drift section schematic diagram of the present invention；
Fig. 4 is a certain drift section monitoring point of the invention schematic diagram；
Fig. 5 is a certain drift section monitoring point specific location schematic diagram of the present invention；
Fig. 6 is a certain monitoring point deformation curve schematic diagram of the present invention；
Wherein, 1- Roof Monitor point, 2- bottom plate monitoring point, the left side monitoring point 3-, the right side monitoring point 4-.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
As shown in Figure 1, a kind of DEFORMATION MONITORING SYSTEM for coal mine roadway, which is characterized in that including unmanned plane and its take
Carry set, underground wireless communication network and computer workstation；
UAV flight's device includes control device, is mounted on inside unmanned plane, for according to the computer work received
Make station signal, control unmanned plane starts or stops, and for the information according to the sensing device transmission received, adjustment unmanned plane flies
Row posture, the line of flight and flying speed；It is carried out for presetting the every flight T distance controlling image capture module of unmanned plane
Image Acquisition, and by acquired image data by underground wireless communication network real-time transmission to computer workstation,
Computer workstation can be arranged on underground or ground according to the actual situation；
Sensing device is mounted on unmanned plane, including gyroscope, acceleration transducer, light stream sensor, supersonic sensing
Device, each sensor is by collected information real-time transmission to control device；Gyroscope is for perceiving nobody in unmanned plane during flying
The direction of motion of machine, acceleration transducer, for obtaining the acceleration information of unmanned plane in unmanned plane during flying, to calculate
The moving distance of unmanned plane realizes the accurate positionin to unmanned plane by gyroscope and acceleration transducer；Light stream sensor is used
In the posture and flying speed of acquisition unmanned plane；Ultrasonic sensor is for perceiving front obstacle information；
Image collecting device, including 4 groups of binocular cameras, every group of binocular camera are made of two explosion-proof high definition industrial cameras,
Image information collecting is carried out for the country rock to back, bottom plate, Zuo Bangbi, right side；4 groups of binocular cameras are separately mounted to nothing
Man-machine body upper, for shooting back；Below unmanned aerial vehicle body, for shooting roadway floor；On the left of unmanned aerial vehicle body,
For shooting the left side in tunnel；On the right side of unmanned aerial vehicle body, for shooting the right side in tunnel；
Lighting device is connected with control device, is made of, is separately mounted to 6 mine flameproof and intrinsic safety type LED light
The front, rear, top, and bottom of fuselage, left and right 6 directions, for shining tunnel shooting area in image collecting device shooting
It is bright；
Power supply unit is mounted on inside unmanned plane, is powered using mine explosion-suppression and matter safety type power, is used for as nobody
Machine, control device, sensing device, image collecting device, lighting device provide power supply；
Computer workstation, for sending control signal to the control device of unmanned plane, for what is transmitted to control device
Information is handled, and is shown on computer workstation.
Specific monitoring method is as follows:
In the outdoor scene threedimensional model for the roadway surrounding rock that unmanned plane maiden flight measurement is obtained the coordinate of each monitoring point as
Initial value, the result measured every time thereafter are made comparisons with initial value, and roadway deformation amount is calculated, and are realized to roadway deformation
Real-time monitoring, comprising the following steps:
1) computer workstation sends control of taking off to the control device inside unmanned plane by underground wireless communication network
Signal, after control device receives signal, control unmanned plane takes off, and moves towards it along tunnel from tunnel region to be measured, from
Initial point flies to terminal, and automatically saves the line of flight；
2) unmanned plane is measured since being taken off starting point, and according to the line of flight of step (1), every 5 meters of flight is mounted in machine
4 groups of binocular cameras with it simultaneously once shoot tunnel inner wall country rock, while recording photo opporunity, obtain a tunnel
Country rock image measurement data in section, and the data are passed through into wireless communication networks for the photo real-time transmission of shooting to computer work
It stands；The image measurement data that computer workstation is shot according to binocular camera passes through binocular vision 3 D restructing algorithm, reconstruct
The outdoor scene threedimensional model of country rock in the tunnel section of the secondary measurement, until completing the shooting measurement in tunnel region to be measured；
Acquisition module 5 meters of control instructions once shot of every flight, control dress are preset in control device
The information for receiving sensing device real-time transmission is set, the information such as speed, the position of the flight of unmanned plane is obtained, works as since starting point
When the distance of unmanned flight is to 5 meters, control device control acquisition device shoots one section of roadway surrounding rock, and reconstructs the tunnel
The outdoor scene threedimensional model of country rock in section, then 5 meters of the distance of flying, controller control acquisition device again and carry out to one section of roadway surrounding rock
Shooting, and the outdoor scene threedimensional model of country rock in the section of the tunnel is reconstructed, and so on, until the shooting for completing tunnel region to be measured is surveyed
Amount.
3) computer workstation sequentially splices the outdoor scene threedimensional model of country rock in each tunnel section, generates tunnel to be measured
Outdoor scene threedimensional model, as shown in Figure 1；
4) it repeats step (2) to step (3) back and forth to measure tunnel to be measured, computer workstation real-time update
The outdoor scene threedimensional model of roadway surrounding rock, while by tunnel cross-sectional area in country rock outdoor scene threedimensional model in the section of the tunnel of Real-time Reconstruction
It is compared with the drift section area of maiden flight measurement, real-time drift section convergence ratio is obtained, by Real-time Reconstruction
In the section of tunnel in country rock outdoor scene threedimensional model at the beginning of the monitoring point of the monitoring point three-dimensional coordinate of drift section and maiden flight measurement
Initial value is compared, and obtains real-time deformation of the surrounding rock in tunnel amount, rate of deformation, wing deformation acceleration, is realized to the real-time of roadway deformation
Monitoring.
Drift section and monitoring point are chosen by the following method:
A) from tunnel initial point position to be measured, a drift section is chosen every 1 meter of distance along tunnel trend and is monitored,
I.e. perpendicular to the cross section of tunnel long axis, the distance at interval can also be selected according to the actual situation, when roadway deformation is serious,
Spacing distance can choose smaller, and tunnel does not deform or slight deformation, and spacing distance can choose larger, this implementation
It is 1 meter preferably by distance, as shown in Figure 3.
B) 4 monitoring points, and bottom plate, left side, the right side are chosen respectively in the back of drift section, bottom plate, left side, right side
The spacing distance for helping each monitoring point is equal, amounts to 16 monitoring points, can also adjust monitoring section according to the actual situation certainly
With the distribution of monitoring point, such as in the biggish region of country rock risk disaster, increase the number of monitoring point, as shown in Figure 4.
The present embodiment, as shown in figure 5, the distance every 1/5L chooses 1 monitoring point, lane according to the width L of roadway floor
The monitoring point of road top plate and the monitoring location of roadway floor are corresponding；According to the height H of the left and right side in tunnel, selected every 1/5H
1 monitoring point is taken, the left and right monitoring location helped is corresponding.
It obtains and monitors a certain drift section convergence ratio data, it is disconnected to choose a certain tunnel according to the method for above-mentioned steps (a)
Face, and according to the drift section of selection, the drift section contour line is extracted from the outdoor scene threedimensional model of tunnel, is calculated and is recorded this
The drift section area value is subtracted the drift section area measured for the first time by drift section area, obtains drift section receipts
The amount of holding back, then drift section convergence ratio data, each drift section are obtained divided by the cross-sectional area measured for the first time by amount of convergence
On obtain 1 group of drift section convergence ratio data altogether, as unmanned plane moves in circles measurement, obtain a certain drift section receipts in real time
Hold back ratio data.
A certain drift section rock deformation is obtained and monitors, after choosing monitoring point according to the method for step (b), monitoring prison
The rock deformation of drift section where measuring point, the deflection include the amount of crushing, the bottom plate amount of heaving, left side shift-in amount, the right side
Shift-in amount is helped, monitoring method is as follows:
The amount of crushing, a certain Roof Monitor point real time position compared with the distance that initial position moves down,
The bottom plate amount of heaving, a certain bottom plate monitoring point real time position compared with the distance that initial position moves up,
Left side shift-in amount, a certain left side monitoring point real time position compared with the distance moved right on initial position,
Right side shift-in amount, a certain right side monitoring point real time position compared with the distance moved left on initial position,
16 groups of deformation of the surrounding rock in tunnel amount monitoring data are obtained altogether in the drift section, if monitoring point is moved round about,
Then deflection is negative；
As unmanned plane moves in circles measurement to roadway surrounding rock, the deformation data of each monitoring point of real-time update.
The surrouding rock deformation rate and rate of acceleration for obtaining and monitoring a certain drift section choose prison according to the method for step (b)
After measuring point, the surrouding rock deformation rate and rate of acceleration of a certain drift section are monitored, the specific method is as follows:
Roof Monitor, according to the amount of crushing of real-time update data, on plane right-angle coordinate, when measuring when
Between be abscissa, deflection is ordinate, and deflection here refers to the amount of crushing of selected a certain monitoring point, is drawn
Deflection is asked first derivative to obtain the monitoring point time and crushed by the curve that the monitoring point deflection changes over time
Deflection is asked second dervative to be crushed accordingly rate of acceleration the time by rate；
Illustrate as an example below, as shown in fig. 6, using a certain monitoring point deflection as ordinate, the time is abscissa, flat
The corresponding coordinate points of deflection for monitoring obtain every time are marked in the rectangular coordinate system of face, then these points are sequentially connected with, and are become
Shape --- time graph.Assuming that the curve of the amount of crushing S and time t, the functional relation between S and t is S=f (t), if t1
The amount of crushing at moment is S1, corresponding coordinate is (S1, t1), then the monitoring point is in t1The rate of crushing at momentCorresponding rate of acceleration of crushing
Bottom plate monitoring, according to the bottom plate amount of the heaving data of real-time update, on plane right-angle coordinate, when measuring when
Between be abscissa, deflection is ordinate, and deflection here refers to the bottom plate amount of heaving of selected a certain monitoring point, is obtained
Deflection is asked first derivative to obtain the bottom of the monitoring point time by the curve that the bottom plate amount of heaving of the monitoring point changes over time
Small drum for marking time plays rate, asks second dervative to obtain corresponding bottom plate the time deflection and heaves rate of acceleration；
The monitoring of left side, according to the left side shift-in amount data of real-time update, on plane right-angle coordinate, when measuring when
Between be abscissa, deflection is ordinate, and deflection here refers to the bottom plate amount of heaving of selected a certain monitoring point, is obtained
Deflection is asked first derivative to obtain a left side for the monitoring point time by the curve that the left side shift-in amount of the monitoring point changes over time
Deflection is asked second dervative to obtain corresponding left side the time and is moved into rate of acceleration by side shift-in rate；
The monitoring of right side, according to the right side shift-in amount data of real-time update, on plane right-angle coordinate, when measuring when
Between be abscissa, deflection is ordinate, and deflection here refers to the right side shift-in amount of selected a certain monitoring point, is obtained
Deflection is asked first derivative to obtain the right side of the monitoring point time by the curve that the right side shift-in amount of the monitoring point changes over time
Deflection is asked second dervative to obtain corresponding right side the time and is moved into rate of acceleration by side shift-in rate；
16 groups of rates of deformation and rate of acceleration data, i.e., the rate of deformation (top of 16 monitoring points are obtained altogether in 1 drift section
Plate fall rate, bottom plate heave rate, left side shift-in rate, right side shift-in rate) and wing deformation acceleration (acceleration of crushing
Rate, bottom plate heave rate of acceleration, left side shift-in rate of acceleration, right side shift-in rate of acceleration) measured data, according to surrouding rock deformation rate and acceleration
Rate judges surrouding rock deformation situation；
As unmanned plane moves in circles measurement to roadway surrounding rock, the rate of deformation and rate of acceleration of each monitoring point of real-time update
Data.
Staff restrains ratio, roadway deformation amount, rate of deformation, deformation by the drift section of above-mentioned real-time update
The case where rate of acceleration, comprehensive descision deformation of the surrounding rock in tunnel, to recognize the deformation in entire tunnel.
To realize full-automatic early warning analysis, the present invention also provides a kind of coal mine roadway country rock disaster alarm methods, are not necessarily to
Artificial observation judgement, system can judge automatically deformation of the surrounding rock in tunnel situation, and carry out early warning in time, and the specific method is as follows:
Based on multi objective country rock disaster alarm criterion, the monitoring index being related to includes drift section convergence ratio, and tunnel is enclosed
Rock deflection, rate of deformation, wing deformation acceleration preset the secure threshold of each monitoring index in computer workstation:
Deformation of the surrounding rock in tunnel amount secure threshold pushes up, the deflection secure threshold of bottom plate monitoring point is set as corresponding tunnel height
The 3% of degree, left and right two help the deflection secure threshold of monitoring point to be set as the 3% of corresponding span length；
Rate of deformation secure threshold is set as corresponding lane for all monitoring points by deformation of the surrounding rock in tunnel rate secure threshold
The 5% of country rock average deformation rate interior for 24 hours after the completion of road excavation and preliminary bracing；
Wing deformation acceleration secure threshold is set as lane for all monitoring points by deformation of the surrounding rock in tunnel rate of acceleration secure threshold
The 50% of country rock maximum distortion rate of acceleration interior for 24 hours after the completion of road excavation and preliminary bracing；
Drift section restrains ratio secure threshold, and for all drift sections, drift section is restrained ratio secure threshold
It is set as 5%；
Ratio is restrained according to the drift section of real-time update, deformation of the surrounding rock in tunnel amount, rate of deformation, wing deformation acceleration carry out
Monitoring；
When above-mentioned any index is more than secure threshold, computer workstation will provide rock calamity forecast information, and prompt
It does not alarm then when all indexs are less than secure threshold convenient for quickly taking control measures the position that alert occurs.Certainly
Warning device can be increased, be connected with computer workstation, once monitoring index is more than the secure threshold of setting, computer operation
It stands and control warning device is alarmed, to remind staff in time, monitoring index is abnormal.
The danger classes of country rock disaster alarm is set as 1-4 grades by the present invention, is respectively represented while being more than secure threshold
Index number, if in monitoring index, rate of deformation is more than secure threshold, remaining index is less than secure threshold, then country rock disaster
The danger classes of early warning is shown as 1 grade, rate of deformation and wing deformation acceleration are more than simultaneously secure threshold, then country rock disaster alarm
Danger classes is shown as 2 grades, and rank is higher, indicates that calamity source is higher.
Claims (10)
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Cited By (17)
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| CN113420611A (en) * | 2021-06-01 | 2021-09-21 | 煤炭科学研究总院 | Method and device for detecting safety state of surrounding rock of roadway and electronic equipment |
| CN113487583A (en) * | 2021-07-19 | 2021-10-08 | 安徽理工大学 | Underground roadway surface deformation detection system based on 3D point cloud slice |
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| CN110761839A (en) * | 2019-07-12 | 2020-02-07 | 北京飞天行科技有限责任公司 | Underground works convergence and vault warp intelligent monitoring system |
| CN111022124A (en) * | 2019-12-31 | 2020-04-17 | 山东交通学院 | Advanced early warning method for short-term and long-term deformation of bridge and tunnel engineering |
| CN111022124B (en) * | 2019-12-31 | 2021-04-30 | 山东交通学院 | An advance warning method for short and long-term deformation of bridge and tunnel engineering |
| CN111561914A (en) * | 2020-04-30 | 2020-08-21 | 国网浙江省电力有限公司 | Unmanned aerial vehicle for foundation pit detection based on RTK and detection method |
| CN111561914B (en) * | 2020-04-30 | 2024-01-23 | 国网浙江省电力有限公司 | Unmanned aerial vehicle for foundation pit detection based on RTK and detection method |
| CN112282847A (en) * | 2020-09-17 | 2021-01-29 | 中煤(天津)地下工程智能研究院有限公司 | Coal mine underground roadway deformation monitoring system and monitoring method thereof |
| CN112325788B (en) * | 2020-11-06 | 2021-10-26 | 中国矿业大学 | Tunnel inner wall deformation characteristic in-situ measurement device and method based on digital photography |
| CN112325788A (en) * | 2020-11-06 | 2021-02-05 | 中国矿业大学 | Tunnel inner wall deformation characteristic in-situ measurement device and method based on digital photography |
| CN112302722A (en) * | 2020-11-17 | 2021-02-02 | 山西潞安环保能源开发股份有限公司常村煤矿 | Coal mine roadway multi-azimuth stress and deformation wireless monitoring and early warning method and system |
| CN112302722B (en) * | 2020-11-17 | 2024-05-28 | 山西潞安环保能源开发股份有限公司常村煤矿 | Coal mine roadway multidirectional stress and deformation wireless monitoring and early warning method and system |
| CN112581725A (en) * | 2020-12-08 | 2021-03-30 | 重庆邮电大学 | Mountain landslide early warning monitoring system based on NBIOT and LoRa dual-mode communication |
| CN113420611B (en) * | 2021-06-01 | 2024-03-29 | 煤炭科学研究总院有限公司 | Roadway surrounding rock safety state detection method and device and electronic equipment |
| CN113420611A (en) * | 2021-06-01 | 2021-09-21 | 煤炭科学研究总院 | Method and device for detecting safety state of surrounding rock of roadway and electronic equipment |
| CN113487583A (en) * | 2021-07-19 | 2021-10-08 | 安徽理工大学 | Underground roadway surface deformation detection system based on 3D point cloud slice |
| CN113778133A (en) * | 2021-08-06 | 2021-12-10 | 苏州荷清智能科技有限公司 | Unmanned aerial vehicle for coal mine environment |
| CN113945189A (en) * | 2021-09-30 | 2022-01-18 | 国能神东煤炭集团有限责任公司 | Roadway deformation monitoring method and system, electronic equipment and storage medium |
| CN115018709A (en) * | 2022-06-27 | 2022-09-06 | 桂林电子科技大学 | Image splicing rock wall reconstruction method |
| CN115218808A (en) * | 2022-07-18 | 2022-10-21 | 太原理工大学 | A method and system for judging and early warning of surrounding rock stability while excavating |
| CN115218808B (en) * | 2022-07-18 | 2023-07-14 | 太原理工大学 | Method and system for judging and early warning stability of surrounding rock along with excavation |
| CN116295074B (en) * | 2023-02-13 | 2024-05-07 | 中国矿业大学 | Coal mine tunnel surrounding rock deformation and damage monitoring device and method based on depth image |
| CN116295074A (en) * | 2023-02-13 | 2023-06-23 | 中国矿业大学 | Device and method for monitoring deformation and failure of surrounding rock in coal mine roadway based on depth image |
| CN116994205A (en) * | 2023-08-16 | 2023-11-03 | 华夏天信物联科技有限公司 | Coal mine roadway live-action visualization method and system based on safety pre-warning |
| CN116994205B (en) * | 2023-08-16 | 2024-09-10 | 华夏天信物联科技有限公司 | Coal mine roadway live-action visualization method and system based on safety pre-warning |
| CN118774964A (en) * | 2024-06-13 | 2024-10-15 | 煤炭科学研究总院有限公司 | Coal mine monitoring data visualization method and device |
| CN118774964B (en) * | 2024-06-13 | 2024-12-13 | 煤炭科学研究总院有限公司 | Coal mine monitoring data visualization method and device |
| CN119354278A (en) * | 2024-12-24 | 2025-01-24 | 中煤科工开采研究院有限公司 | Coal mine roadway surrounding rock stability monitoring and early warning method and device |
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