Research On Deformation Detection Technology Of Rigid Tank Channel In Vertical Wells

Coal is an important energy source in China’s economic development.The safe and efficient development of the coal industry is a reliable guarantee for achieving China’s economic strategic goals.The rigid tank channel is an important component of the coal mine lifting system,playing a guiding role in the operation of the cage and related to the safety and reliability of the mine system.Due to the frequent impact of lifting containers on the tank channel during operation,it can accelerate the deformation of the tank channel.In addition,geological movement and wellbore pressure can also cause deformation of the tank channel.Therefore,regular and effective safety inspections of rigid tank channels are of great significance for ensuring coal mine production and personnel safety,in order to avoid safety accidents.In response to the low efficiency and low accuracy of traditional rigid tank channel detection,this article designs a corresponding measurement system for tank channel deformation.Laser scanning technology is used to detect the status of the tank channel,which can detect the characteristics and deformation variables of the tank channel protrusion and misalignment.An inclination sensor is used to dynamically detect the tilt state of the tank channel.In general,the main research work of this paper is as follows:(1)For the tank channel lifting system of coal mine vertical shaft,the rigid tank deformation type was analyzed,and the tank channel deformation measurement system was designed.The key equipment was selected and the software development process was designed to realize the deformation detection of the tank channel such as bulge,misalignment and tilt.(2)The line laser measurement system was studied.Firstly,the transformation relationship between each coordinate system is derived,and the camera is calibrated based on Zhang Zhengyou’s calibration method,and the optical plane is calibrated based on the principle of invariant intersection.The acquired image is preprocessed,and the laser line is separated from the background to facilitate the centerline extraction work.The laser centerline extraction algorithm is compared and analyzed,and an improved grayscale center-of-gravity method is proposed on the basis of the traditional grayscale center of gravity method,which has good real-time performance and centerline fitting effect.(3)The tank deformation detection algorithm based on point cloud was studied,and the obtained measurement point cloud could be preprocessed to realize the deformation detection of the tank channel.In this thesis,through the comparative analysis of registration experiments,the 4PCS algorithm combined with the ICP classical registration algorithm is used to realize the accurate registration of the measured point cloud and the standard point cloud.A deformation detection algorithm that can recognize the protrusion and misalignment features of the can channel has been proposed,and its high accuracy has been verified through experiments.(4)The dynamic inclination measurement of the tank channel by the inclination angle sensor was studied,and the random error identification analysis was carried out by the Allan variance method,and then the smoothness test and static test were carried out on the preprocessed data and a time series model was established.The AR model combined with the extended Kalman algorithm can take into account the random error of the inclination sensor and improve the measurement accuracy.The static and dynamic accuracy of the inclination angle sensor were measured respectively,and the tilt state of the tank channel was simulated through experiments,which showed that the research results had practical value for the tilt measurement of the tank.The thesis has 64 figures,20 tables,and 111 references.