CN-122019965-A - Method and device for processing two sides of measurement data of underground roadway millimeter wave radar

CN122019965ACN 122019965 ACN122019965 ACN 122019965ACN-122019965-A

Abstract

The application provides a method and a device for processing two sides of measured data by an underground roadway millimeter wave radar, which relate to the technical field of roadway radar detection and comprise the steps of denoising detection data based on a Gaussian mixture filtering method, taking the denoised data as roadway width and judging whether dangerous deformation occurs or not; the method comprises the steps of obtaining a final roadway model based on Poisson optimization processing point cloud data of local topology constraint, resampling based on the final roadway model, calculating roadway height, collecting angle change data of a measuring device through an accelerometer and a gyroscope loaded by the measuring device, and carrying out effective data collection control based on the angle change data. According to the application, gaussian mixture filtering is adopted to carry out smoothing treatment on millimeter wave radar ranging signals, so that abrupt noise interference is effectively suppressed. And (3) optimizing the roadway height data through poisson optimization of local topology constraint, extracting real surface information, and enhancing the robustness of the system in a noise environment.

Inventors

ZOU JIE
YAN PENGHUI
LIU HAIZHEN
FENG XIANG
BAI QINQIN
LI MENG
SUN JIAN
LI YANZHI
WANG TIEHUA

Assignees

山东安达尔信息科技有限公司
哈尔滨工业大学（威海）

Dates

Publication Date: 20260512
Application Date: 20251226

Claims (10)

1. The method for processing the two sides of measurement data by the underground roadway millimeter wave radar is characterized by comprising the following steps of: The method comprises the steps of data acquisition and processing, namely detecting triangle angles of a device to be detected through millimeter wave radar loaded by a measuring device to obtain detection data, denoising the detection data based on a Gaussian mixture filtering method, taking the denoised data as roadway width and judging whether dangerous deformation occurs or not; and the effective data acquisition control is carried out by acquiring angle change data of the measuring device through an accelerometer and a gyroscope which are loaded by the measuring device and carrying out effective data acquisition control based on the angle change data.
2. The method for processing the two-sided measurement data by the underground roadway millimeter wave radar according to claim 1, wherein the denoising of the detection data based on the Gaussian mixture filtering method comprises the following steps: the method comprises the steps of collecting real-time distances from a radar probe to each corner reflector to construct a data set, training a Gaussian mixture filtering model based on the data set, collecting new data to construct a new data set, denoising the new data set by adopting the Gaussian mixture filtering model, and carrying out Gaussian smoothing filtering on the denoised new data set.
3. The method for processing the two-sided measurement data by the underground roadway millimeter wave radar according to claim 2, wherein the Gaussian mixture filtering model based on the data set training comprises parameter set parameters lambda defining the Gaussian mixture model, the Gaussian mixture model is composed of K Gaussian components, and the lambda is calculated as shown in the following formula: ; In the formula, For a predetermined total number of gaussian components, As the variance of the kth gaussian component, Is the first The average value of the individual gaussian components, Is the first The weights of the individual gaussian components, representing the proportion of the component in the total distribution, sum of all weights being 1, namely: ; Probability computation of the resulting data, given data points The probability density function that obeys the gaussian mixture model distribution is expressed as: ; the parameter set data is trained by a expectation maximization algorithm.
4. The method for processing the two-sided measurement data by the underground roadway millimeter wave radar according to claim 2, wherein the step of denoising the new data set by using the Gaussian mixture filter model comprises the following steps: in the real-time processing stage, the triangle angle of the device to be measured is detected by the millimeter wave radar loaded by the measuring device to obtain detection data reversely to form a new data set, and new ranging data points in the new data set are obtained Model completed using offline training Denoising; Calculating the probability that the data point belongs to each component: ; determining by offline analysis that the Gaussian component represents the effective component of the real data, assuming that this component is the first Individual components, defining a threshold If new data point The probability of belonging to the active component is below a threshold I.e. Then this data point is considered noise; 。
5. The method for processing two sides of measured data by using the millimeter wave radar for a downhole tunnel according to claim 4, wherein the step of Gaussian smoothing the denoised new data set comprises the step of subjecting the denoised data stream to Gaussian smoothing Performing Gaussian smoothing filtering once for the mth data point Is a filtered value of (a) Can be expressed as: 。
6. The method for processing two-sided measurement data by using the underground roadway millimeter wave radar according to claim 1, wherein the Poisson optimization processing point cloud data based on the local topology constraint comprises the steps of collecting roadway surface point cloud data There is ; According to the roadway detection time Will be Divided into mutually overlapping partial data blocks For local analysis of Each point of (3) Find it Set of nearest neighbors Calculating a neighborhood centroid : ; In the formula, Representative point Any one point in the neighborhood; method for finding roadway surface indication function through poisson reconstruction method and global continuous regularization Wherein by minimizing the energy function The reconstruction result is kept smooth and continuous on the roadway axis, and an indication function is obtained ; Minimizing energy function : ; In the formula, In order to indicate the gradient of the function, For the field of the target vector, Is a regularization parameter; derived from solution Mid-extraction isosurface As a final roadway model.
7. The method for processing the two-sided measurement data by the millimeter wave radar for the underground roadway according to claim 1, wherein the effective data acquisition control comprises the following steps: Measuring acceleration components of each axis by an accelerometer by , , Inclination angle of the shaft acceleration calculation detection device: ; In the formula, The angle of inclination of the detecting means measured and calculated for the accelerometer, As the acceleration component of the x-axis, For the acceleration component of the y-axis, An acceleration component that is the z-axis; Obtaining the inclination angle of the detection device measured by the gyroscope through the angular velocity integration measured by the gyroscope: ; In the formula, The inclination angle of the detection device measured by the gyroscope at the current moment; Is an initial angle; Angular velocity measured for the gyroscope; If when it is Or (b) If the value of the (a) continuously exceeds the set threshold value and reaches the time limit, the strong interference working condition is judged, and the power supply is immediately cut off through the relay so as to stop.
8. The method for processing two sides of measurement data by using the millimeter wave radar for a downhole tunnel according to claim 7, wherein the effective data acquisition control further comprises the steps of Or (b) When the value of (2) continuously exceeds the set threshold value Or (b) Sequentially carrying out angle inverse internal reference verification and two-wall distance-yaw angle-pitch angle linkage verification based on the angle change data when the numerical value of the angle change data exceeds the data in a set threshold time period, calibrating the data in the time period when the angle change data exceeds the threshold time period based on the angle change data when the data in the time period passes the verification, adding the calibrated data into a new data set, otherwise, removing the data in the time period; The angle reverse internal reference verification comprises the steps of utilizing a fixed distance between angle reverse, and reversely pushing the actual measurement distance between angle reverse through the actual measurement distance between the radar and the angle reverse, so as to verify the reliability of the ranging data; The two-wall distance-yaw angle-pitch angle linkage verification comprises the steps of calculating actual measurement width deviation and theoretical angle deviation based on yaw angle, pitch angle and roadway width data, calculating error rate between the actual measurement width deviation and the theoretical angle deviation, and verifying whether the roadway width deviation is caused by angle deviation; The calibrating of the data in the period that the angle change exceeds the threshold value based on the angle change data comprises calibrating the detection data and the roadway surface point cloud data based on the angle change data, and then the calibration is applied to roadway width and roadway height calculation.
9. The device for measuring two sides of measured data by using the underground roadway millimeter wave radar is characterized by being suitable for executing the method for processing the two sides of measured data by using the underground roadway millimeter wave radar according to claims 1-8, and comprises the following steps: the measuring device and the device to be measured are respectively fixed on the side walls of the two sides of the roadway, and the mounting positions of the measuring device and the device to be measured are at the same height and are coaxially arranged; the measuring device comprises a measuring device shell, wherein the shell comprises a connecting end fixed with the side wall of a roadway and a measuring end facing the device to be measured, the measuring end is provided with a millimeter wave radar facing the device to be measured, the measuring device shell is also provided with a laser pen facing the device to be measured, and a data processor, a relay and an alarm device are arranged inside the measuring device shell; The vibration monitor is fixedly arranged on the measuring device shell and comprises a gyroscope and an accelerometer; The device to be tested comprises a feedback assembly formed by reversely arranging three triangular angles according to the triangular arrangement, the feedback assembly is arranged towards the measuring device, a baffle is arranged on one side away from the measuring device, and the device to be tested is fixed on the side wall of the roadway through an anchor rod.
10. The underground roadway millimeter wave radar pair two-side measurement data measurement device of claim 9, wherein the triangle angle is opposite in side length range of 10cm-30cm, and a triangle formed by arranging three installation positions of the triangle angle is an equilateral triangle; The connecting end is fixed with the side wall of the roadway through an anchor rod and a fixed rod, a universal joint with a spherical hinge structure is arranged between the anchor rod and the fixed rod, the angle of the universal joint is fixed by a locking bolt, and the spherical hinge structure of the universal joint allows the measuring device to be adjusted within the range of a pitch angle of +/-15 degrees and a yaw angle of +/-10 degrees.

Description

Method and device for processing two sides of measurement data of underground roadway millimeter wave radar Technical Field The application relates to the technical field of roadway radar detection, in particular to a method and a device for processing two sides of measurement data of an underground roadway millimeter wave radar. Background The stability of the underground roadway serving as a key structure in mining and tunnel engineering is directly related to production safety and personnel life guarantee. Due to the factors of complex geological conditions, mining pressure change, external disturbance and the like, dangerous situations such as deformation, convergence, collapse and the like are easy to occur on two sides of a roadway. The traditional monitoring method such as manual measurement, laser scanning or camera shooting monitoring has the limitations of low precision, poor real-time performance, large environmental interference and the like, and especially has insufficient reliability and adaptability under severe environments such as underground dust, moisture, vibration and the like. In recent years, millimeter wave radar technology is gradually applied to the field of underground monitoring due to the strong penetrability, anti-interference capability and high-precision ranging characteristics. However, the existing millimeter wave radar system still has the problems of noise sensitivity, abrupt signal interference, low reconstruction precision in complex environments and the like in the aspect of data processing, lacks a complete set of data processing and equipment protection mechanism, and is difficult to realize real-time, accurate and robust monitoring on roadway deformation and height. In order to cope with the danger caused by deformation of an underground roadway, reliable technical support is provided for underground safety monitoring and disaster early warning, currently, the existing patent focuses on roadway detection device mechanism design and method compensation, such as: (1) The utility model discloses a roadway surrounding rock displacement measuring device, which comprises a bracket and a rotating shaft. The bracket is fixed relative to the roadway body, and the rotating shaft is provided with a fluke winch and a counting winch. The anchor claw winch is connected with an anchor claw rope with a tension sensor, and the end part of the anchor claw rope is provided with an anchor claw and can be fixed in the roadway wall rock body. The indication winch is connected with an indication rope and simulates the stress and displacement of the fluke rope through the indication chest expander. The device transmits the displacement and the stress state of the deep rock mass to the inside of a roadway convenient to measure through a mechanical equivalent conversion principle, so that the deformation of surrounding rock is monitored. (2) The Chinese patent publication No. CN114442099A discloses a method and a device for detecting underground obstacles based on multi-line radar. According to the method, point cloud data of the multi-line radar and single line data of the horizontal direction of the multi-line radar are obtained, and whether the angle difference is smaller than a threshold value is judged by utilizing the fact that fixed angle radar lines on two sides of the advancing direction of a moving object are connected at position points of the side wall of a roadway, so that a straight road or a curve area is dynamically identified. However, the existing roadway safety detection mainly depends on a data processing and fixed mounting structure, has limited detection capability, is difficult to dynamically compensate vehicle vibration in real time and effectively, dynamically inhibits and compensates underground complex vibration environments, and cannot well meet the requirements of modern mine safety monitoring on high precision, high reliability and strong anti-interference capability. Disclosure of Invention In order to solve the problems, the technical scheme adopted by the application is that the method for processing the two sides of measurement data by the millimeter wave radar of the underground roadway is characterized by comprising the following steps: The method comprises the steps of data acquisition and processing, namely detecting triangle angles of a device to be detected through millimeter wave radar loaded by a measuring device to obtain detection data, denoising the detection data based on a Gaussian mixture filtering method, taking the denoised data as roadway width and judging whether dangerous deformation occurs or not; And the effective data acquisition control is carried out by acquiring the angle change data of the measuring device through the accelerometer and the gyroscope loaded by the measuring device and carrying out effective data acquisition control based on the angle change data. Optionally, denoising the detection data based on the gaussian mixture