CN105422180B - Floods alarm system in pit based on image and water inflow monitoring facilities - Google Patents
Floods alarm system in pit based on image and water inflow monitoring facilities Download PDFInfo
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- 239000003245 coal Substances 0.000 claims abstract description 31
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- E21F17/18—Special adaptations of signalling or alarm devices
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Abstract
The invention discloses an underground flood alarm system based on an image and water inflow monitoring device. Installing cameras in places such as a coal mine underground tunneling working face, a coal mining working face or other working faces possibly suffering from water permeation accidents, connecting the cameras with an image and water inflow monitoring device and a video server through a video splitter, simultaneously acquiring water inflow data by the image and water inflow monitoring device, monitoring field video and water inflow data, sending flood alarm data to a monitoring terminal according to a monitoring result, and allowing production management personnel to check field real-time and historical videos through the monitoring terminal and perform emergency treatment; the alarm system considers the characteristic characteristics of the flood of the coal mining working face of the coal mine, is simple to implement, automatically takes corresponding measures in time, can accurately alarm the water burst of the mine in the first time, and strives for valuable disaster relief and escape time for underground personnel in other areas which are not in the scene.
Description
Technical Field
The invention relates to an underground flood alarm system based on an image and water inflow monitoring device, which relates to the fields of image pattern recognition, sensors, communication and the like.
Background
Coal is the main energy source in China and accounts for about 70% of primary energy. The coal industry is a high-risk industry, and accidents such as gas, flood, fire, roof, coal dust and the like disturb the safety production of coal mines. In the occurrence of serious accidents in coal mines in China, natural disasters with great harmfulness to the mines in flood disasters of the mines are calculated by the number of dead people in the coal mine accidents, the water disaster accidents account for 15.72 percent, are only second to gas and roof accidents, and are located in the third place, and after the flood accidents occur to the mines, the hazards comprise:
1. and (4) flushing the tunnel, burying, submerging and plugging personnel.
2. Along with water inrush, a large amount of coal slime and rocks are deposited on the roadway, and difficulty is caused in escaping for people.
3. Damaging the equipment. After the cable of the underground electric appliance is soaked by water, the insulating capability of the cable is rapidly reduced, so that difficulties are caused to underground transportation, ventilation, drainage and the like, and the survival probability of people who do not escape from the cable in time is reduced.
4. Gushes out a large amount of poisonous and harmful gas, and makes the living condition environment of people who do not escape in time worsen.
In conclusion, mine flood is a serious disaster of a coal mine, and the alarm of the mine flood in coal mine production must be timely and accurate. At present, flood early warning is mainly provided with hydrological detection prevention, underground water detection and foreboding phenomenon observation, the hydrological detection and the underground water detection can prevent underground flood accidents, but the hydrological detection and the underground water detection can not completely prevent water inrush and can not alarm sudden underground water inrush due to the possible reasons of complex hydrological conditions, improper design, poor measures, poor management, paralytic thoughts of people and the like; the observation of the premonitory phenomena is mainly judged by human experience, and has larger subjective factors. At present, the field water inrush accident mainly depends on manual alarm of field personnel, but when the water inrush occurs in unattended time or area, or the field personnel escape in a hurry and fail to actively alarm, a dispatching room cannot timely acquire the information that the water inrush has occurred, and cannot timely inform related underground workers, so that emergency measures cannot be timely taken for the water inrush accident, and the water damage is easy to lose control and casualties are easily caused. In order to effectively reduce mine property loss and casualties caused by flood disasters, a new underground coal mine flood alarm system is needed, underground water burst of a coal mine can be accurately alarmed at the first time, and precious disaster relief and escape time is strived for underground personnel in other areas which are not in the scene of occurrence.
Disclosure of Invention
The invention provides an underground flood alarm system based on an image and water inflow monitoring device, which mainly comprises a camera, a video splitter, a flow acquisition device, an image and water inflow monitoring device, a video server, a mining Ethernet, a storage server and a monitoring terminal, wherein the camera is connected with the video splitter; the system comprises a camera, a video splitter, a flow acquisition device, an image and water inflow monitoring device and a video server, wherein the camera, the video splitter, the flow acquisition device, the image and water inflow monitoring device and the video server are installed underground; the camera is arranged on an underground tunneling working surface or a coal mining working surface of a coal mine, and the camera acquires an underground field video simulation image; the image and water inflow monitoring equipment comprises: the system comprises a core processor, a storage module, a video acquisition module, a serial port communication module, a network communication module, a power supply and clock module and an explosion-proof shell; the method comprises the steps that an image and water inflow monitoring device collects and monitors water inflow data, sudden and continuous water flow in a field video of an underground coal mine is monitored, a flood alarm signal is sent according to a monitoring result, and the alarm signal is transmitted to an aboveground monitoring terminal through a mine Ethernet; the monitoring terminal is responsible for displaying alarm information, obtaining a field video through the video server and obtaining a historical field video through accessing the storage server. The specific method comprises the following steps:
1. the installation position of the camera is close to the top of the roadway or the height of the camera is more than 2 meters; an auxiliary light source is arranged beside the camera, and the light projection direction is consistent with the video acquisition direction of the camera; the camera focal length and exposure value are manually set, and the auto-focus and auto-white balance functions of the camera are turned off.
2. The video acquisition module of the image and water inflow monitoring equipment is connected with a camera analog video output port, and the video acquisition module is responsible for digitizing analog video signals and outputting digital video data to the core processor.
3. The serial port communication module of the image and water inflow monitoring device is connected with a flow acquisition device, and acquires water inflow of a roadway where the camera is located, namely the flow data of a drainage channel; and a network communication module of the image and water inflow monitoring equipment is connected with the mining Ethernet and is communicated with the monitoring terminal on the well through the mining Ethernet.
4. Setting a partial area A in a camera monitoring range of the image and water inflow monitoring equipment, and storing the partial area A in a storage module; calculating the arithmetic mean value of the pixel numbers of all gray values in the K frame image setting area A; calculating the gray value M greater than or equal to the set gray value1Pixel sum of (D)SAnd storing the last frame image as a background image b (x, y) with a time interval TSTo DSAnd b (x, y) updating; obtaining the set gray value M in the set area A of the latest image frame every P frames2Pixel sum of (D)HWhen D is presentHGreater than or equal to DSSetting a threshold M3Triggering early warning; after entering the early warning mode, every interval Q1The method comprises the following steps of carrying out accumulated difference processing on a real-time video image f (x, y) acquired by a camera and a stored background image b (x, y) by a frame, wherein the accumulated difference operation formula is as follows:
in the formula Pn(x, y) is an accumulated difference image obtained by processing n frames, and the initial value P is0(x, y) is 0, A is a set region, T1Setting a gray threshold; processing Q by cumulative difference operation2After the frame, the gray value T which is more than or equal to the set gray value is calculated2Pixel sum of (D)TIf satisfy DT≥M4If so, sending out a flood alarm signal; wherein R is a set increase threshold; K. p, TS、M1、M2、M3、M4、Q1、Q2、T1、T2Through measurement setting or artificial setting, the data is stored in the storage module.
5. When the image data is monitored to be abnormal, calculating and monitoring the flow data change of the drainage channel, and when the flow data change is monitored at the time TJIn, satisfy
Then send out flood alarm signal, wherein LiFor real-time acquisition of drainage canal flow data, LSThe average value of the drainage channel flow data before the image data are abnormal, and R is a set drainage channel flow increase rate threshold; t isJAnd R is obtained through measurement setting or artificial setting and is stored in the storage module.
Drawings
FIG. 1 is a schematic diagram of an alarm system.
Fig. 2 is a schematic diagram of an image and water inflow monitoring device structure.
Fig. 3 is a schematic diagram of a principle of flow monitoring of a drainage channel.
Fig. 4 is a schematic diagram of a hardware structure of the flow collection device.
Fig. 5 is a schematic workflow diagram of an alarm system.
Fig. 6 is a schematic view of an image and a monitoring flow of a water inflow monitoring device.
Detailed Description
As shown in fig. 1, the system mainly includes:
1. the camera (101) is an explosion-proof analog camera which is required by coal mine explosion-proof and is provided with an auxiliary light source, is arranged at places such as a coal mine underground tunneling working face, a coal mining working face or other operation faces which are likely to have water-permeable accidents, and is connected with the video splitter (102) through a coaxial cable.
2. And the video splitter (102) is responsible for dividing one path of analog signal output of the camera into two paths of output, wherein one path of output is connected with the image and water inflow monitoring equipment (103), and the other path of output is connected with the video server (105).
3. And the image and water inflow monitoring equipment (103) receives one path of analog video signals output by the video branching unit (102), is responsible for monitoring the video and the flow data of the drainage channel, and sends out flood alarm signals to the monitoring terminal according to the monitoring result. The image and water inflow monitoring equipment is connected with flow acquisition equipment (104) through a serial port to acquire flow data of the drainage channel, and is connected with a video branching unit (102) through a coaxial cable to acquire videos.
4. The flow acquisition equipment (104) is used for acquiring the flow of the drainage channel, can use various mining open channel flow measuring instruments, accords with the related explosion-proof standard of the underground coal mine, and is provided with an RS-485 communication interface. The present embodiment employs an ultrasonic flowmeter.
5. And the video server (105), also called a video encoder, receives one path of analog video signals output by the video splitter (102), digitizes and compresses and encodes the analog video signals, and transmits video data to the aboveground storage server and the monitoring terminal through the mining Ethernet. In this embodiment, a Haikang DS-6701HW one-way network video server is selected and set as a multicast mode.
6. The underground switch (106) is underground access equipment of the mining Ethernet, is connected in series to form a looped network and is responsible for access and data exchange of a video server and other communication equipment through the network, the access end of the equipment is generally an RJ45 interface, the connection end of the looped network is an optical interface, and the underground switch is provided with an explosion-proof shell and meets the requirement of underground explosion-proof of the coal mine.
7. And the network switch (107) is a core management device of the mining Ethernet and is responsible for the management and data exchange of all devices accessing the network.
8. And the storage server (108) is responsible for receiving and storing the video data uploaded by the video server and providing a site history inquiry and retrieval service for the monitoring terminal.
9. The monitoring terminal (109) has an acousto-optic alarm function, and gives an acousto-optic alarm when receiving the alarm data of the image and the water inflow monitoring equipment (103); the monitoring terminal has the functions of real-time video monitoring and historical video calling, and production management personnel can check the field video images uploaded by the video server (105) through the monitoring terminal and can also call historical video data from the storage server (108). Production management personnel can send out alarm signals through the coal mine communication system, issue emergency dispatching instructions to related personnel and inform the withdrawing of coal mine underground operation personnel. The monitoring terminal is internally provided with underground geographic information and a map display engine, and the embodiment uses a visual map component MapX of the MapInfo company, and can automatically display the position of a camera for monitoring water inrush when flood alarm is carried out.
As shown in fig. 2, the image and water inflow monitoring device comprises: the device comprises a core processor, a storage module, a video acquisition module, a serial port communication module, a network communication module, a power supply and clock module and an explosion-proof shell.
1. The core processor (201) adopts a samsung S3C2440 processor, the S3C2440 is a microprocessor based on an ARM920T kernel, and is provided with an 8-bit digital video interface, the maximum value supports 4096 multiplied by 4096 pixel programmable video synchronous signal input, and video data of the video acquisition module (203) is received through the 8-bit digital video interface; S3C2440 is connected with the network communication module (205) in a 16-bit bus mode; the S3C2440 is also provided with 3 UART interfaces, 2 SPI interfaces, 2 USB interfaces and 1 IIC-BUS interface; the device is connected and communicated with a serial port communication module (204) through a UART interface; the control communication is carried out with the video acquisition module SAA7113 through an IC-BUS interface, the drive control communication is realized by using an embedded Linux platform, and an OpenCV (open content library) is built in the drive control communication module for video data processing.
2. A storage module (202); the EEPROM comprises 256M NAND Flash, a 4M NOR Flash, 128M SDRAM and an IIC-BUS interface.
3. A video capture module (203); the main processing chip adopts an SAA7113H video input processing chip, the SAA7113H is a QFP44 package, the voltage is 3.3V, the control communication is carried out with the core processor (201) through an IIC-BUS interface, one of four analog input channels is selected to collect analog field frequency video signals of a camera, and digital videos in a standard ITU656 format are output to the core processor (201) through an 8-bit VPO BUS.
4. The serial port communication module (204) uses a MAX232 chip RS-232 standard serial port single power supply level conversion chip of TI company, uses a 5V power supply for power supply, and uses a transfer cable for connecting a 9-pin serial port to realize communication.
5. And the network communication module (205) adopts DM9000 as a main chip, the DM9000 is a fully integrated single-chip Ethernet MAC controller, and the network protocol of the upper layer is supported by a built-in Linux driver of the core processor. The DM9000 supports 10/100M self-adaptation and supports 3.3V and 5V power supply voltages. The DM9000 is connected with an RJ45 network interface through a network isolation transformer interface chip YL18-1080S, and communication of physical connection of a network is achieved.
6. The power supply and clock module (206) comprises an AC/DC switching power supply, a DC voltage conversion and a clock management element, wherein the AC/DC switching power supply outputs 5V direct current, and the DC voltage conversion adopts MAX1724 series power supply chips to supply power to all the chips; a12 MHz crystal oscillator is selected.
7. The explosion-proof shell (207) is used for physically isolating an internal circuit from the underground environment and is in accordance with the underground explosion-proof requirement of the coal mine.
The working principle of the drainage channel flow collecting equipment is shown in figure 3:
the larger the flow in the open channel is, the higher the liquid level is; the smaller the flow, the lower the liquid level. For a general channel, the liquid level and the flow rate have no definite corresponding relation. The water weir groove is arranged in the channel, and the gap of the weir or the necking of the groove is smaller than the cross-sectional area of the channel, so that the corresponding relation between the upstream water level of the channel and the flow rate is mainly determined by the geometric dimension of the weir groove. The water gaging weir groove changes the flow into the liquid level. The flow can be solved according to the relation between the water level and the flow of the corresponding weir groove by measuring the liquid level of the water flow in the flowing weir groove. The commonly used water gaging weir grooves can be divided into a full-width weir, a rectangular weir, a triangular weir, a trapezoidal weir, a Bashall groove and the like according to the shape of a weir port, the device shown in FIG. 2 is the rectangular weir, and the upstream liquid level h in the embodiment is realized by a non-contact ultrasonic distance measurement mode; let the weir crest width be b, the flow calculation formula beIn the formula CeThe relation between the water level and the flow of the weir notch is related to the value h and can be checked from JJG711-90 of the national metrological verification regulationAnd (6) inquiring and obtaining.
The circuit hardware composition of the flow collection device is shown in fig. 4:
1. the processor (401) selects an MSP430F147 single chip microcomputer of TI company. The model is a 16-bit RISC structure, and has 32k Flash and 1 kRAM; and 5 low power consumption modes, abundant on-chip peripheral modules, a flexible clock system and the like. The MSP430 can work under a low voltage of 1.8-3.6V, and the system adopts a 3.3V working voltage.
2. Ultrasonic ranging (402) is carried out by adopting an ultrasonic ranging module, a signal output part is connected with an MSP430F 147I/O port with an interrupt function, a processor collects pulses output by the ultrasonic ranging module, and a target distance is obtained by calculation according to the pulse length
3. The memory chip (403) adopts 1 chip 24C128 for storing parameters such as slot width, flow coefficient and the like, and only one memory chip is used, so that chip selection addresses do not need to be set, and chip selection pins are all grounded. And 24C512 realizes communication control between the processor and the memory chip by using IIC-BUS BUS communication and using two standard I/O interfaces and pull resistors to connect SCL pins and SDA pins.
4. And the debugging interface (404) and the standard JTAG interface are used for debugging, programming and upgrading the program of the single chip microcomputer.
5. And the communication interface (405) adopts an RS-232 standard communication mode, and the communication chip is connected with the MSP430F147 by using MAX 232.
6. And the power supply (406) comprises an AC/DC module and a DC power supply conversion part, wherein the DC power supply conversion chip adopts MAX1724EZK33 and MAX1724EZK50 to convert to obtain stable working voltages of 3.3V and 5V and respectively supply power for the processor and the communication interface.
7. And the explosion-proof shell (407) is used for isolating an internal circuit from the external environment and is in accordance with the related explosion-proof standard of the underground coal mine.
The working process of flood alarm is shown in fig. 5:
(501) a video camera collects video images, and transmits collected field analog video signals to a video splitter (502) through a coaxial cable.
(502) the video splitter splits the on-site analog video signal into two analog video signals which are transmitted to the image and water inflow monitoring device (103) and the video server (105), respectively.
And 3, (503) the video server (105) digitalizes the analog video signal, compresses and encodes the digital video signal, and transmits the compressed and encoded video data to the storage server (108) and the monitoring terminal (109) in a multicast mode through a network cable.
(504) the storage server (108) receives and stores the live video data.
(505) the image and water inflow monitoring device digitizes the analog video signal through a video capture module (203).
(506) the image and water inflow monitoring device collects flow data through the serial port communication module (204).
(507) the image and water inflow monitoring device processes and analyzes video data through a built-in library of the core processor (201), monitors sudden and continuous water flow in a field video, and judges an analysis result by referring to flow data of a drainage channel.
(508) when the monitoring result meets the alarm condition, the alarm data is uploaded to the monitoring terminal (109) through the underground switch (106) of the network communication module (205) which is connected with the mining Ethernet in a TCP communication mode.
(509) after receiving the alarm data, the monitoring terminal (109) automatically displays the water inrush position on the display through the map display engine according to the camera number, and gives an audible and visual alarm to prompt a production manager to process the water inrush position.
10.(510) the production management personnel access the storage server (108) to retrieve the on-site historical video through the monitoring terminal (109).
(511) the production manager simultaneously views the live video uploaded by the video server (105) to confirm the alarm occurrence process and the situation of the live status.
And 12, (512) after the production management personnel confirm the alarm, the production management personnel can send out an alarm signal through a coal mine communication system, issue an emergency dispatching instruction to related personnel and inform the withdrawal of coal mine underground operation personnel.
The monitoring process of the image and water inflow monitoring equipment is shown in FIG. 6:
(601) calling prestored monitoring area A and all parameters related to monitoring operation at each starting.
(602) counting the number of pixels of the gray value in each frame of image area A to obtain a sequence Hi(ii) a The arithmetic average of the number of pixels of each gradation value in the K-frame image area a is operated,
obtaining the sequence Si。
(603) statistically setting the number of pixels D in the gray scale intervalS，
(604) storing the last acquired frame of image as a background image b (x, y).
(605) obtaining the set gray value M or more in the area A of the latest image frame at intervals of P frames2Pixel sum of (D)H，
(606) As (D)H-DS)≥M3Then execute (608), otherwise execute (607); m3To set the threshold.
(607) determining whether it is the background image update time TSIf the update time is up, the method returns (602), otherwise, the method returns (605).
(608) triggering an early warning and setting an early warning mark.
(609) update the stored background image b (x, y).
(610) performing accumulated difference image operation on the real-time video image and the stored background image for a set time.
(611) Gray level pixel statistics of the processed cumulative difference image
Wherein f (x, y) is a real-time video image, Pn(x, y) is that the initial value of the accumulated difference image in which n frames have been processed is 0,a is a set region, T1Setting a gray threshold; processing Q by cumulative difference operation2After the frame, the gray value T higher than the set gray value is calculated2Pixel sum of (D)T。
(612) As DT≥M4Then execution is performed 614, otherwise execution 613 is followed by return 602, M4Is a set growth rate threshold.
(614) calculating and monitoring the drain flow data changes when at time TJIn, satisfy
Then execute (615), otherwise return (602) after execute (613); in the formula LiFor real-time acquisition of drainage canal flow data, LSThe average value of the drainage channel flow data before the image data are abnormal, and R is a set drainage channel flow increase rate threshold value.
(615) issuing a flood alarm signal.
(613) clearing the early warning mark and canceling the early warning state.
Claims (5)
1. The utility model provides a floods alarm system in pit based on image and water inflow monitoring facilities which characterized in that: the system mainly comprises a camera, a video splitter, an image and water inflow monitoring device, a flow acquisition device, a video server, a mining Ethernet, a storage server and a monitoring terminal; the system comprises a camera, a video splitter, an image and water inflow monitoring device, a flow acquisition device and a video server, wherein the camera, the video splitter, the image and water inflow monitoring device, the flow acquisition device and the video server are installed underground; the camera is arranged on an underground tunneling working surface or a coal mining working surface of a coal mine, and the camera acquires an underground field video simulation image; the flow acquisition equipment adopts drainage channel flow acquisition equipment provided with an open channel water gaging weir groove; the image and water inflow monitoring equipment comprises: the system comprises a core processor, a storage module, a video acquisition module, a serial port communication module, a network communication module, a power supply and clock module and an explosion-proof shell; the method comprises the steps that an image and water inflow monitoring device collects and monitors water inflow data, sudden and continuous water flow in a field video of an underground coal mine is monitored, a flood alarm signal is sent according to a monitoring result, and the alarm signal is transmitted to an aboveground monitoring terminal through a mine Ethernet; the monitoring terminal is responsible for displaying alarm information, acquiring a field video through the video server and acquiring a historical field video through accessing the storage server; the specific alarm method comprises the following steps:
setting a partial area A in a camera monitoring range of the image and water inflow monitoring equipment, and storing the partial area A in a storage module; calculating the arithmetic mean value of the pixel numbers of all gray values in the K frame image setting area A; calculating the gray value M greater than or equal to the set gray value1Pixel sum of (D)SAnd storing the last frame image as a background image b (x, y) with a time interval TSTo DSAnd b (x, y) updating; obtaining the set gray value M in the set area A of the latest image frame every P frames2Pixel sum of (D)HWhen D is presentHGreater than or equal to DSSetting a threshold M3Triggering early warning; K. p, TS、M1、M2、M3Through measurement setting or artificial setting, storing in a storage module;
after entering the early warning mode, every interval Q1The method comprises the following steps of carrying out accumulated difference processing on a real-time video image f (x, y) acquired by a camera and a stored background image b (x, y) by a frame, wherein the accumulated difference operation formula is as follows:
in the formula Pn(x, y) is an accumulated difference image obtained by processing n frames, and the initial value P is0(x, y) is 0, A is a set region, T1Setting a gray threshold; processing Q by cumulative difference operation2After the frame, the gray value T which is more than or equal to the set gray value is calculated2Pixel sum of (D)TIf satisfy DT≥M4If so, sending out a flood alarm signal; q1、Q2、T1、T2、M4Through measurement setting or artificial setting, the data is stored in the storage module.
2. The warning system of claim 1, wherein: the installation position of the camera is close to the top of the roadway or the height of the camera is more than 2 meters; an auxiliary light source is arranged beside the camera, and the light projection direction is consistent with the video acquisition direction of the camera; the camera focal length and exposure value are manually set, and the auto-focus and auto-white balance functions of the camera are turned off.
3. The warning system of claim 1, wherein: the video acquisition module of the image and water inflow monitoring equipment is connected with a camera analog video output port, and the video acquisition module is responsible for digitizing analog video signals and outputting digital video data to the core processor.
4. The warning system of claim 1, wherein: the serial port communication module of the image and water inflow monitoring device is connected with a flow acquisition device, and acquires water inflow of a roadway where the camera is located, namely the flow data of a drainage channel; and a network communication module of the image and water inflow monitoring equipment is connected with the mining Ethernet and is communicated with the monitoring terminal on the well through the mining Ethernet.
5. The warning system of claim 1, wherein: when the image data is monitored to be abnormal, calculating and monitoring the flow data change of the drainage channel, and when the flow data change is monitored at the time TJIn, satisfy
Then send out flood alarm signal, wherein LiFor real-time acquisition of drainage canal flow data, LSThe average value of the drainage channel flow data before the image data are abnormal, and R is a set drainage channel flow increase rate threshold; t isJAnd R is obtained by measurement setting or manual setting.
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| CN106246224A (en) * | 2016-08-11 | 2016-12-21 | 山东科技大学 | Mine water disaster at-once monitor early warning system |
| CN106851210A (en) * | 2017-03-01 | 2017-06-13 | 中国矿业大学(北京) | Development machine abnormal work and calamity forecast system based on image |
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