CN-122015683-A - Method for detecting deformation of coal mine vertical shaft based on tank-mounted mobile laser scanning

CN122015683ACN 122015683 ACN122015683 ACN 122015683ACN-122015683-A

Abstract

The invention discloses a method for detecting deformation of a coal mine vertical shaft based on tank-mounted mobile laser scanning, which comprises the following steps of firstly, system installation and coordinate system establishment; step two, dynamic data synchronous acquisition, step three, pose correction and static shaft model reconstruction, and step four, deformation detection and analysis. The invention uses the existing cage as a platform, normal production is not affected, full-shaft scanning can be completed by lifting once, the detection period is shortened from the level of a day to the level of an hour, the method is safe and efficient, continuous and high-density three-dimensional point cloud of the full section of the shaft is obtained in the operation process of the cage, no measurement dead angle exists, the data is comprehensive, the cage vibration interference is effectively stripped through the proposed vibration elimination algorithm, the accuracy of a reconstruction model can reach the level of centimeters, the engineering monitoring requirement is met, the accuracy is high, the automatic deformation calculation, analysis and early warning are realized, the visual report is generated, the management decision of a producer is facilitated, and the intelligent degree is high.

Inventors

PEI WENLIANG
XIE HAIFENG
WEI SHUO
YIN LIPENG
GUO YONGTAO
ZHANG XUHUA
CUI GUANGTAO

Assignees

中信重工开诚智能装备有限公司

Dates

Publication Date: 20260512
Application Date: 20260211

Claims (6)

1. The method for detecting the deformation of the vertical shaft of the coal mine based on the onboard mobile laser scanning is characterized by comprising the following specific steps of: Step one, system installation and coordinate system establishment; The mining intrinsic safety and explosion-proof type explosion-proof box is rigidly arranged at the top of the cage, a high-calculation-force edge processing unit, an explosion-proof power supply and an exchanger are deployed in the box, the edge processing unit is communicated with a wellhead through a wireless communication module and a wireless signal transmitter which are arranged in a shaft, so that information is uploaded to a ground centralized control center; the center of the wellhead is taken as the origin, Determination of wellbore fixed coordinate system with vertical downward axis Establishing a cage carrier coordinate system in the geometric center of the cage carrier by precise measurement with an origin And a laser scanner coordinate system ; Step two, dynamic data are synchronously collected; At constant speed in the cage During a lifting cycle, a laser scanner collects original dynamic point cloud data of a shaft The inertial measurement unit IMU comprises a gyroscope and an accelerometer, and respectively acquires the angular speed of the cage And acceleration All data are marked with time stamps to be used as IMU original data; thirdly, pose correction and static shaft model reconstruction; Data cleaning and zero offset correction of IMU original data for solving fixed coordinate system of cage in shaft Under pose change, original dynamic point cloud data is obtained through vibration filtering algorithm based on unit quaternion and dynamic coordinate conversion Corrected to a fixed coordinate system of a shaft Obtaining static shaft point cloud after eliminating vibration interference And reconstructing the static well bore model by using a quadric surface fitting algorithm based on a least square method ; Step four, deformation detection and analysis; static shaft model to be reconstructed currently And historical benchmark models Accurately registering and comparing, intercepting a plurality of point cloud slices at the same elevation, and taking each point cloud slice And (3) with The difference between the radial coordinates and the transverse coordinates constitutes the radial displacement of the shaft And the convergence of the wellbore section Taking each point cloud slice And (3) with The difference of the principal curvatures of the well wall forms the curvature variation of the well wall Simultaneously calculate To each point of (a) Generating a wellbore deformation chromatogram from the nearest distance of the surface, visually displaying the deformation position and degree, automatically marking a deformation overrun region, and identifying the deformation overrun region; the method comprises the steps of calculating radial displacement, section convergence and borehole wall curvature variation, intelligently evaluating the calculated radial displacement, section convergence and borehole wall curvature variation to generate an intelligent evaluation report, measuring the deformed position information, namely the vertical distance between the deformed position and a wellhead by a three-dimensional laser scanner, and returning the intelligent evaluation report and the deformed position information to a ground centralized control center in real time for display and storage by an edge processing unit, wherein a dispatching center worker observes the borehole deformation in real time and makes planned maintenance or immediate maintenance decision according to the evaluation report.
2. The method for detecting the deformation of the vertical shaft of the coal mine based on the onboard mobile laser scanning of claim 1, wherein in the third step, the pose change is calculated as follows: Position: ; Posture: ; In the formula, And Is that Translational and rotational changes in time of day, And Is that The translational and rotational changes of time of day, the two parameters represent the real-time position and attitude changes of the cage.
3. The method for detecting deformation of a vertical shaft of a coal mine based on tank-mounted mobile laser scanning of claim 2, wherein the vibration filtering algorithm based on unit quaternion in the third step is characterized in that the vertical shaft is assumed to be vertical and continuous, the ideal motion gesture of a cage is supposed to be changed gently, the unit quaternion is initialized on the premise, an adaptive Kalman filter is constructed, correction and error update of an actual state are realized by predicting state quantity and error and calculating Kalman gain, and noise reduction filtering is realized in the process of solving a rotation matrix, and the method specifically comprises the following steps of Initializing unit quaternions The initialization method comprises the following steps: ; I.e. , , , In which, in the process, Is a dynamic unit vector of a certain measurement point of the IMU, Respectively the unit vectors And carrying out attitude update by a first-order Dragon-Gregory tower method: ; b. Constructing an adaptive Kalman filter, wherein the state quantity is as follows Wherein Zero bias of gyro by accelerometer measurement The projection on the horizontal plane is used as the observed quantity to correct the posture error caused by vibration and integral drift, based on the last moment Predicting the current time State of (2): In the formula (I), in the formula (II), Is that Time of day Is used to predict the state of a (c) in the (c), Describing the change rule of the IMU angular velocity along with time for a state transition matrix, Is that Time of day Is set in the optimal state of (1), A control matrix describing the extent of influence of the external control on the angular velocity, Is that Zero offset of the gyro at moment; predicting an error range of the current state, and reflecting the credibility of the prediction result: ; Representation of Time of day The larger the value, the less reliable the prediction, Representation of Time of day Is a matrix of optimum error covariances of (c), Representing the noise covariance of the system process; Calculation of Time of day For balancing the weights of the predicted and measured values: In the formula (I), in the formula (II), Representation of Time of day Is used for the Kalman gain of the (a), To observe the matrix, describe The relation of the measured value to the state, Covariance for measurement noise; combining the predicted value and the measured value to obtain the current state Is a function of the optimal estimate of (1): In the formula (I), in the formula (II), Is that Time of day Is set in the optimal state of (1), Is that Time of day Is a measurement of (2); After updating and correcting Providing an error basis for the prediction at the next moment: In the formula (I), in the formula (II), Is that Time of day Is smaller than the value of the optimal error covariance matrix ; c. The unit quaternion obtained after Kalman filtering is Then obtaining a rotation matrix according to a standardized formula of the quaternion rotation matrix : Assume that The rotation matrix expressed by unit quaternion from the laser scanner coordinate system to the cage carrier coordinate system is: 。
4. The method for detecting deformation of a vertical shaft of a coal mine based on onboard mobile laser scanning of claim 3, wherein the dynamic coordinate transformation in the third step is as follows Each original dynamic point cloud acquired at moment Converting it to a wellbore fixed coordinate system using a dynamic coordinate conversion model : In the formula (I), in the formula (II), Representing a corrected static wellbore point cloud, 、 Representing a rotation matrix and a translation vector between the lidar and the wellbore; translation vector , Respectively representing the coordinate system of the laser scanner relative to the coordinate system of the cage carrier The amount of translation of the shaft.
5. The method for detecting deformation of a coal mine vertical shaft based on tank-mounted mobile laser scanning of claim 1, wherein in the third step, a static shaft model is reconstructed by a quadric surface fitting algorithm based on a least square method The specific steps of (a) are as follows: set corrected static wellbore point cloud set Is a certain point in (a) A kind of electronic device The neighborhood point set is , In the laser scanner coordinate system Coordinates, establishing a quadric equation through the neighborhood points: In the formula (I), in the formula (II), Respectively represent the horizontal abscissa and the vertical ordinate of the RGB image of the laser scanner under the image coordinate system when generating the point cloud data, Representation of Inside of neighborhood The point cloud of the object is a point cloud, Representing within a neighborhood The abscissa and ordinate under the RGB image of the point cloud; Further to curved surfaces Obtaining partial derivative Unit normal vector of curved surface The calculation is as follows: ; According to The first and second basic vectors of the curved surface are calculated as the first basic vector: And a second basis vector: ; Calculating the average curvature: ; Gaussian curvature: ; And calculating to obtain the principal curvature according to the result: ; finally, the total curve fitting calculation result and the set of the space measurement data of the laser scanner are taken as a reconstructed static shaft model , , wherein, Represents the lateral coordinates of a slice of the point cloud measured by the laser scanner, The radial coordinates of the point cloud slice measured by the laser scanner are represented.
6. The method for detecting the deformation of the vertical shaft of the coal mine based on the tank-mounted mobile laser scanning of claim 1, wherein in the fourth step, the calculated radial displacement, the calculated section convergence and the calculated wall curvature change are intelligently evaluated specifically as follows: In the formula (I), in the formula (II), Is an index of deformation of a shaft, For the proportionality constant of radial displacement, generally 0.3 is taken, For the constant of proportionality of the convergence of the section, 0.4 is generally taken, Taking 0.3 as a proportional constant of the curvature variation of the well wall; according to the degree of deformation severity The following evaluation grades and decision suggestions are given: First-order: The deformation of the shaft is 0, and the normal production state is maintained; And (2) second-stage: the maintenance is completed within a planned month; Three stages: The maintenance is completed within the planned week; Four stages: And (5) immediately overhauling.

Description

Method for detecting deformation of coal mine vertical shaft based on tank-mounted mobile laser scanning Technical Field The invention relates to the technical field of mine safety monitoring and three-dimensional measurement, in particular to a method for detecting deformation of a coal mine vertical shaft based on tank-mounted mobile laser scanning. Background The vertical shaft of the coal mine is a throat key way for connecting the ground with underground production, and the service state of the vertical shaft of the coal mine is directly related to the safety of the whole mine. Due to geological stress, mining influence, groundwater erosion and the like, the well bore can be converged, deformed and even broken. The traditional shaft deformation detection method mainly relies on tools such as an optical ruler, a section instrument and the like to measure at the fixed cage layer, and has the defects of low efficiency, sparse measuring points, high-risk operation, difficulty in obtaining continuous full section information and the like. In recent years, three-dimensional laser scanning technology is introduced into shaft detection because of the advantages of high precision, non-contact and rich data, the prior art scheme is mainly characterized in that a scanner is fixed at a well head or somewhere in the well for static scanning, the scanning range is limited, equipment deployment influences production, research is also carried out on the way that the scanner is placed on a hanging scaffold or a special detection platform for mobile scanning, but an additional lifting system is needed, the cost is high, and the compatibility with a normal lifting system of a mine is poor. The method directly uses the existing lifting cage of the mine as a scanning platform, is the most convenient and economical mode, however, complicated multidimensional vibration including shaking, torsion, swinging and the like along a guide rail exists in the operation process of the cage, the vibration can enable a carried laser scanner to generate additional and non-shaft geometric form motion, so that acquired point cloud data are severely distorted and cannot be directly used for high-precision modeling, and therefore, the method effectively eliminates cage vibration interference, and is a core technical problem of reconstructing an accurate static shaft model from a dynamic and vibrating mobile platform. Disclosure of Invention The invention aims to overcome the defects of the prior art, and provides a method for detecting deformation of a coal mine vertical shaft based on tank-mounted mobile laser scanning, which can realize rapid construction and deformation analysis of a full-section three-dimensional model of the shaft under the condition of no production stopping or little interference with production and eliminate the interference of cage operation vibration on scanning data. The technical scheme adopted by the invention is as follows: a deformation detection method of a coal mine vertical shaft based on tank-mounted mobile laser scanning comprises the following specific steps: Step one, system installation and coordinate system establishment; The mining intrinsic safety and explosion-proof type explosion-proof box is rigidly arranged at the top of the cage, a high-calculation-force edge processing unit, an explosion-proof power supply and an exchanger are deployed in the box, the edge processing unit is communicated with a wellhead through a wireless communication module and a wireless signal transmitter which are arranged in a shaft, so that information is uploaded to a ground centralized control center; the center of the wellhead is taken as the origin, Determination of wellbore fixed coordinate system with vertical downward axisEstablishing a cage carrier coordinate system in the geometric center of the cage carrier by precise measurement with an originAnd a laser scanner coordinate system; Step two, dynamic data are synchronously collected; At constant speed in the cage During a lifting cycle, a laser scanner collects original dynamic point cloud data of a shaftA gyroscope and an accelerometer in the inertial measurement unit IMU respectively collect cage angular velocityAnd accelerationAll data are marked with time stamps to be used as IMU original data; thirdly, pose correction and static shaft model reconstruction; Data cleaning and zero offset correction of IMU original data for solving fixed coordinate system of cage in shaft Under pose change, original dynamic point cloud data is obtained through vibration filtering algorithm based on unit quaternion and dynamic coordinate conversionCorrected to a fixed coordinate system of a shaftObtaining static shaft point cloud after eliminating vibration interferenceAnd reconstructing the static well bore model by using a quadric surface fitting algorithm based on a least square method; Step four, deformation detection and analysis; Wellbore model to be currently reconstruc