基于机器视觉的巷道变形实时监测预警技术研究.pdf

博士学位论文 基于机器视觉的 巷道变形实时监测预警技术研究 Real- time Monitoring and Early Warning Roadway Deation Based on Machine Vision 国家“十二五”科技支撑计划（2012BAK09B01） 教育部新世纪优秀人才支持计划（NCET- 10- 0768） 作 者 徐剑坤 导 师 王恩元 教授 中国矿业大学 二○一二年五月 学位论文使用授权声明学位论文使用授权声明 本人完全了解中国矿业大学有关保留、使用学位论文的规定，同意本人所撰 写的学位论文的使用授权按照学校的管理规定处理 作为申请学位的条件之一， 学位论文著作权拥有者须授权所在学校拥有学位 论文的部分使用权，即 ①学校档案馆和图书馆有权保留学位论文的纸质版和电 子版，可以使用影印、缩印或扫描等复制手段保存和汇编学位论文；②为教学和 科研目的，学校档案馆和图书馆可以将公开的学位论文作为资料在档案馆、图书 馆等场所或在校园网上供校内师生阅读、浏览。另外，根据有关法规，同意中国 国家图书馆保存研究生学位论文。 （保密的学位论文在解密后适用本授权书） 。 作者签名 导师签名 年 月 日 年 月 日 中图分类号 TD7 学校代码 10290 UDC 622 密 级 公开 中国矿业大学 博士学位论文 基于机器视觉的 巷道变形实时监测预警技术研究 Real- time Monitoring and Early Warning Roadway Deation Based on Machine Vision 国家“十二五”科技支撑计划（2012BAK09B01） 教育部新世纪优秀人才支持计划（NCET- 10- 0768） 作 者 徐剑坤 导 师 王恩元 申请学位 工学博士 培养单位 安全工程学院 学科专业 安全技术及工程 研究方向 安全监测 答辩委员会主席 景国勋 评 阅 人 二○一二年五月 论文审阅认定书论文审阅认定书 研究生 徐剑坤 在规定的学习年限内， 按照研究生培养方案 的要求，完成了研究生课程的学习，成绩合格；在我的指导下完成本 学位论文，经审阅，论文中的观点、数据、表述和结构为我所认同， 论文撰写格式符合学校的相关规定， 同意将本论文作为学位申请论文 送专家评审。 导师签字 年 月 日 致谢致谢 本论文是在导师王恩元教授悉心指导下完成的。师从王老师多年，无处不被 其高尚的人格魅力所感染， 特别是其宽厚待人、 严以律己的高贵品质， 孜孜不倦、 因材施教的育人态度，刻苦钻研、精益求精的治学精神都使学生受益终生。在此 特向我的导师王恩元教授致以崇高的敬礼。 本论文在选题、写作过程中得到了中国矿业大学刘贞堂、李忠辉、沈荣喜、 刘晓斐、赵恩来老师的指导与帮助，在此向他们致以诚挚的谢意。 本论文在实验研究方面得到了中国矿业大学矿业工程实验教学中心、 煤炭资 源与安全开采国家重点实验室的大力支持与帮助，在此特向马文顶老师、张少华 老师、赵海云老师以及实验教学中心与重点实验室的全体老师表示诚挚的谢意。 本论文在研究过程中得到了长沟峪煤矿、张双楼煤矿、曹村煤矿的大力支持 和协助，在此特向煤矿表示衷心的感谢。 衷心感谢中国矿业大学安全工程学院、中国矿业大学研究生院的培养与教 育 衷心感谢中国矿业大学矿业工程学院的支持与帮助 衷心感谢同窗好友王超博士、宋大钊博士对本文研究提供的协助 衷心感谢陈世海、徐文全、马衍坤、欧建春、金佩剑、魏明尧、陈鹏、李楠、 喜润泽等课题组兄弟姐妹在日常学习、生活中的帮助 衷心感谢家人的关心、关怀与支持 衷心感谢所引用参考文献的作者，他们卓有成效的工作让我的论文受益匪 浅。 衷心感谢各位专家在百忙之中审阅本文，并热切希望得到您的指导。 I 摘摘 要要 煤矿巷道的变形破坏会阻断井下交通，增大矿井通风阻力，损坏生产设备， 造成人员伤亡，严重威胁煤矿安全生产；同时煤岩动力灾害的孕育与发生通常也 伴随有巷道的变形破坏。通过对巷道变形的监测能够预警围岩失稳，揭示巷道变 形时空演化规律，为巷道支护、煤岩动力灾害防治、矿山压力与岩层运动规律的 研究提供依据。 针对巷道变形监测及预警问题，本文研制岩体变形实时监测实验系统，研究 煤岩材料受载破坏过程中各种变形指标的演化规律， 研究受采动影响的岩体变形 破坏的动态特征，建立巷道变形破坏的多指标预警准则，提出基于机器视觉的巷 道变形实时监测方法，现场监测并预警煤矿巷道的变形破坏。本文取得的主要成 果有 （1）实验研究了单轴压缩加载方式下煤岩材料变形破坏规律，研究表明煤 岩材料在破坏前表现出规律性的动态特征。 依据损伤统计力学理论构建含有应变 与损伤度变量的煤岩材料破坏模型， 建立了煤岩材料宏观变形与细观损伤间的关 系，用变形量、变形速度、变形加速度描述了材料变形破坏过程，确定了各阶段 临界值。 （2）基于机器视觉测量原理研制了岩体变形实时监测实验系统，开发了配 套软件，实现了对二维、三维变形或运动的全视场测量、连续测量以及非接触在 线测量，满足了巷道变形实验研究的需要。利用该系统通过相似模拟实验，研究 了巷道开挖围岩变形过程，研究了煤层开采顶板变形垮落过程，揭示了围岩变形 指标的演化规律，建立了围岩变形动态特征与围岩失稳间的对应关系。 （3）针对巷道变形区域性、连续性、突发性的特点，提出了基于机器视觉 的巷道变形实时监测方法，建立了用巷道变形量、变形速度和变形加速度评价围 岩稳定性的多指标预警准则，实现了巷道变形指标的实时采集和自动处理，以及 围岩失稳的动态预警。 （4）建立了适用于煤矿现场的机器视觉巷道变形监测系统，监测了工作面 顺槽断面的变形过程，预警了巷道围岩的失稳破坏，现场应用表明巷道变形指 标反映了围岩状态及变化规律， 巷道变形动态特征与应力集中在时间分布上有较 好的对应性，可以作为围岩失稳的前兆信息。 该论文有图 120 幅，表 14 个，参考文献 215 篇。 关键词关键词巷道变形；变形监测；围岩失稳预警；围岩稳定性 II Abstract The deation and failure of roadway can disturb the underground traffic, damage production equipments, cause casualties and threat seriously to safety and production in coalmines. Meanwhile, the inoculation and occurrence of coal or rock dynamical disasters associates with the deation and failure of roadway. Roadway deation monitoring can make early warning for surrounding rock instability, reveal space- time evolution rules of roadway deation, and provide evidence for roadway support, prevention of coal or rock dynamical disasters and mining pressure and strata movement rules. According to the monitoring and early warning of roadway deation, this paper studied the real- time monitoring experimental system of rock deation, studied the evolution law of deation inds of coal, rock and concrete undering loading, and studied the dynamic characteristics of deation and failure of rock affected by mining, established the multi- index early warning rule of roadway deation and failure and the field application system based on the machine vision principle. The main results of this paper described as follows （1）This paper experimental studied the deation and failure law of coal, rock or concrete under uniaxial loading, the results show that the samples present the regular dynamic characteristics before failure; constructed the coal, rock or concrete damage model including strain and damage degree based on the damage statistical mechanics ; and established the relation between macroscopic deation and meso- damage; described the process of sample deation and failure by deation size, deation velocity and deation acceleration and defined every critical value in each stage. （2）Based on the machine vision monitoring principle, this paper developed the real- time deation monitoring experimental system for coal and rock mass and developed the corresponding software, which can achieve the full field of view, continuous, non- contact and on- line monitoring for two- dimensional and three- dimensional deation or movement, and meet the needs of experimental study for dynamic characteristics of surrounding rock deation. Based on real- time deation monitoring experimental system, this paper studied the surrounding rock deation process after excavating and different surrounding rock deation under different loads by similarity simulation experiment ; studied the roof III deation and caving process during the coal seam mining, and obtained the evolution law of monitoring index of surrounding rock deation, and established the corresponding relation between dynamic characteristics of surrounding rock deation and surrounding rock instability. （3）According to the problems such as more missing report and poor applicability in existing surrounding rock stability criterion, this paper established the criterion for comprehensive uation of surrounding rock stability by deation size, deation velocity and deation acceleration; proposed the real- time, regional roadway deation monitoring based on the machine vision principle aiming at the continuous and regional character of roadway deation, which can automatically collect and process the index data of roadway deation and judge the surrounding rock stability by dynamic characteristics of surrounding rock deation. （4）This paper established the roadway deation monitoring system used in filed based on the machine vision monitoring principle, tested the deation process of gate roadway, and had early warning to unstable failure of surrounding rock, the results show that the deation inds reflected the state and trend of surrounding rock, and the dynamic characteristics of surrounding rock deation well corresponded to the stress concentration in time distribution, and the deation inds can be the precursor ination for surrounding rock instability. Keywords deation of roadway surrounding rock；deation monitoring； deation dynamic characteristics；surrounding rock stability IV Extended Abstract The deation and failure of roadway has become more and more serious with the development of coalmine mining depth. The deation and failure of roadway can disturb the underground traffic, damage production equipments, cause casualties and threat seriously to safety and production in coalmines. Meanwhile, the inoculation and occurrence of coal or rock dynamical disasters associates with the deation and failure of roadway. Roadway deation monitoring can make early warning for surrounding rock instability, reveal space- time evolution rules of roadway deation, and provide evidence for roadway support, prevention of coal or rock dynamical disasters and mining pressure and strata movement rules. According to the monitoring and early warning of roadway deation, this paper studied the real- time monitoring experimental system of rock deation, studied the evolution law of deation inds of coal, rock and concrete undering loading, and studied the dynamic characteristics of deation and failure of rock affected by mining, established the multi- index early warning rule of roadway deation and failure and the field application system based on the machine vision principle. The main results of this paper described as follows This paper tested the macroscopic deation of coal, rock or concrete samples under uniaxial compression; studied the evolution law of deation size, velocity and acceleration during the fracture of samples, and revealed the dynamic characteristics before samples failure. The results show that the axial strain responded significantly in compression and elastic deation stages, and the radial strain responded sensitivity in plastic deation stage; axial strain increased larger and radial strain increased smaller between the yield point and main failure; strain velocity raised wave likely and the times when the strain acceleration exceeded the average of previous amplitudes increased obviously. This paper established the functional relationship between axial deation and radial deation of coal, rock or concrete samples under loading; constructed the sample damage model including strain and damage degree based on the damage statistical mechanics ; and established the relation between macroscopic deation and meso- damage; described the process of sample deation and failure by deation size, velocity and acceleration and defined every critical value in each stage; and studied the nonuni deation of samples by visualization V s and image processing analysis , the results show that before the local failure of samples, macroscopic deation, deation velocity and acceleration in failure region varied significantly, and the local failure correlated with dynamic characteristics of macroscopic deation. Based on the machine vision monitoring principle, this paper developed the real- time deation monitoring experimental system for coal and rock mass and developed the corresponding software, which can achieve the full field of view, continuous, non- contact and on- line monitoring for two- dimensional and three- dimensional deation or movement. The results show that the real- time deation monitoring system was reliable through comparing with the result of cross section deation by V- STARS S8 system. This paper studied the deation law of surrounding rock from excavating roadway to surrounding rock being stability in similar simulation and plane strain experimental by the real- time deation monitoring experimental system, the results show that in unstable stage and stable critical stage, surrounding rock deation presented convergence trend, deation velocity rapidly decreased, and acceleration converged in negative interval; and the roadway section deation increased gradually with the increasing loading under the same support conditions, the increasing loading effected section deation slightly in initial stage, and the influence increased gradually and the slight variation resulted drastic deation of roadway section when the loading reached some value; studied the roof deation and caving process during coal seam mining in similar simulation and plane stress experimental by the real- time deation monitoring experimental system, the results show that the strata presented obvious dynamic characteristics before fracture and collapse the vertical displacement exceeded horizontal displacement in dynamic response, and the vertical displacement increased rapidly before strata collapse and velocity raised wave likely , and the times when the vertical displacement acceleration exceeded the average of previous amplitudes increased obviously. According to the problems such as more missing report and poor applicability in existing surrounding rock stability criterion, this paper established the criterion for comprehensive uation of surrounding rock stability by deation size, velocity and deation acceleration; and set the deation size and velocity thresholds are respectively 2 and 5, and the deation acceleration threshold was the average of acceleration amplitudes in the stable stage of surrounding rock, and set the times VI when the deation acceleration exceeded the threshold as the criterion; and proposed the real- time, regional roadway deation monitoring based on the machine vision principle aiming at the continuous and regional character of roadway deation, this can collect , process and identify images automatically and obtained the geometric features of roadway and motion law of surrounding rock by space geometric model; and which can automatically collect and process the index data of roadway deation and judge the surrounding rock stability by dynamic characteristics of surrounding rock deation. This paper established the roadway deation monitoring system used in filed based on the machine vision monitoring principle, tested the deation process of gate roadway in Changgouyu coalmine and Zhangshuanglou coalmine, and uated the surrounding rock state by surrounding rock stability criterion, and had early warning to unstable failure of surrounding rock, the results show that the deation inds reflected the state and trend of surrounding rock, and the dynamic characteristics of surrounding rock deation well corresponded to the stress concentration in time distribution, and the deation inds can be the precursor ination for surrounding rock instability. Keywords deation of roadway surrounding rock; deation monitoring; deation dynamic characteristics; surrounding rock stability VII 目目 录录 摘摘 要要.........................................................................................................................I 目目 录录.....................................................................................................................VII 图清单图清单.................................................................................................................... XI 表清单表清单................................................................................................................XVII 变量注释表变量注释表.......................................................................................................XVIII 1 绪论绪论.......................................................................................................................1 1.1 研究背景及意义.................................................................................................1 1.2 巷道变形破坏的研究现状 .................................................................................2 1.3 巷道变形监测方法.............................................................................................7 1.4 存在的问题及不足........................