CN105422181A - Underground flood alarming method based on image and flood monitoring - Google Patents
Underground flood alarming method based on image and flood monitoring Download PDFInfo
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- CN105422181A CN105422181A CN201610001300.0A CN201610001300A CN105422181A CN 105422181 A CN105422181 A CN 105422181A CN 201610001300 A CN201610001300 A CN 201610001300A CN 105422181 A CN105422181 A CN 105422181A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 27
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 64
- 238000006424 Flood reaction Methods 0.000 claims abstract description 39
- 239000003245 coal Substances 0.000 claims abstract description 15
- 230000002159 abnormal effect Effects 0.000 claims abstract description 8
- 239000000523 sample Substances 0.000 claims description 15
- 238000007654 immersion Methods 0.000 claims description 13
- 230000007812 deficiency Effects 0.000 claims description 12
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 238000003860 storage Methods 0.000 description 14
- 238000004891 communication Methods 0.000 description 10
- 238000004458 analytical method Methods 0.000 description 5
- 230000006378 damage Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000005065 mining Methods 0.000 description 4
- 238000012546 transfer Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000007726 management method Methods 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
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- 206010033799 Paralysis Diseases 0.000 description 1
- 230000001594 aberrant effect Effects 0.000 description 1
- 239000003963 antioxidant agent Substances 0.000 description 1
- 230000003078 antioxidant effect Effects 0.000 description 1
- 235000006708 antioxidants Nutrition 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000002817 coal dust Substances 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000009931 harmful effect Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- SWELZOZIOHGSPA-UHFFFAOYSA-N palladium silver Chemical compound [Pd].[Ag] SWELZOZIOHGSPA-UHFFFAOYSA-N 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
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- 239000011435 rock Substances 0.000 description 1
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- 239000000758 substrate Substances 0.000 description 1
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- 231100000331 toxic Toxicity 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
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Abstract
The invention discloses an underground flood alarming method based on image and flood monitoring. The method comprises: placing cameras on driving working faces, coal faces, or other working faces of an underground coal mine to which water inrush accidents may occur, and installing water sensors on walls of roadways the cameras monitor; when the sensors monitor that a set region of a camera video image has abnormal water flow, and water flow duration exceeds set time threshold or flow increasing speed exceeds a set threshold, and a detector of the water sensor is immersed, giving out a flood alarming signal. The alarming method gives full consideration on characteristics of floods in an underground coal mine, and the method is simple to apply. Corresponding measures are automatically taken in time, and the method accurately gives out an alarm on mine water inrush in first time, and buys valuable disaster relief and escape time for underground personnel who are not on the site of the water inrush and in other regions.
Description
Technical field
The present invention relates to a kind of down-hole floods alarm method of monitoring based on image and water yield, the method relates to the fields such as image steganalysis, sensor, communication.
Background technology
Coal is China's main energy sources, accounts for primary energy 70%.Coal industry is high risk industries, and the accidents such as gas, floods, fire, top board, coal dust annoying Safety of Coal Mine Production.In China's coal-mine generation severe and great casualty, natural calamity larger to mine harmfulness during mine water disaster, calculates with the number of coal mining accident death, water damage accident accounts for 15.72%, is only second to gas and roof accident, occupies the 3rd, after mine generation floods accident, its harm comprises:
1, to destroy by rush of water tunnel, pile things on, to flood and shutoff personnel.
2, with gushing water, have a large amount of coal slimes and rock alluvial tunnel, cause difficulty to personnel escape.
3, damage equipment.Down-hole electrical equipment, after cable is immersed in water, its insulating capacity declines rapidly, causes difficulty to the transport of down-hole, ventilation, draining etc., and the probability of surviving of the personnel that do not flee from time is reduced.
4, to gush out a large amount of toxic and harmfuls, the life condition environment of not fleeing from personnel is in time worsened more.
In sum, mine water disaster is the serious disaster in colliery, must accomplish promptly and accurately in coal production to the warning of mine water disaster.Current floods early warning based on the hydrology detection prevention, underground for probing water, tendency phenomenon observe and, hydrology detection and underground for probing water can prevent down-hole floods accident, but due to hydrologic regime complexity also may be there is, design improper, take effective measures, manage improperly and the reason such as thought paralysis of people, hydrology detection and underground for probing water can not prevent the generation of gushing water completely, more can not report to the police to the down-hole gushing water of burst; Based on artificial micro-judgment, there is larger subjective factor in the observation of tendency phenomenon.
At present for on-the-spot water inrush accident, the artificial warning of main dependence Field Force, but when gushing water occurs in unattended time or region, or Field Force flees from hastily and fails initiative alarming, control room just cannot obtain the information that gushing water occurs timely, down-hole relevant staff cannot be notified in time, so that can not take emergency measures in time to water inrush accident, easily cause the out of control and casualties of water damage.For effectively reducing the mine property loss and casualties that floods cause, need new down-hole floods alarm method, exactly down-hole gushing water can be reported to the police the very first time, for not striving for the valuable disaster relief and escape time other region personnel in the pit that scene occurs.
Summary of the invention
When the present invention, according to down-hole, water inrush accident occurs, have a large amount of water outwards spouting, and constantly, the feature constantly increased proposes a kind of down-hole floods alarm method based on image and flood monitoring.Underground coal mine driving face, coal-face or other may there is the place such as the scope of operation of water leak accident and place video camera, the tunnel be communicated with tunnel, video camera place all, particularly place water sensor lower than the tunnel of camera plane; Real-Time Monitoring is carried out to the immersion situation in vedio data and tunnel, there are abnormal current when monitoring setting regions in camera video image, and the current duration exceedes the time threshold of setting or current pushes the speed when exceeding setting threshold value, be then judged to be data exception; And when finding that tunnel immersion then sends floods alarm signal.Described floods alarm method specifically comprises:
1. camera installation locations is near top, tunnel or be highly greater than 2 meters, and install secondary light source video camera is other, it is consistent that light projecting direction and camera video gather direction; Close auto-focusing and the automatic white balance function of video camera.
2. the probe of water sensor should be installed on wall, and probe quantity is no less than 2 groups, and order is installed from low to high, and often group probe interval is not less than 5 centimetres, and minimum one group of probe is not more than 5 centimetres apart from tunnel distance from bottom; The circuit box of water sensor is fixed on tunnel wall or top, tunnel, and setting height(from bottom) is not less than 1.5 meters.
3. the subregion A in pair camera supervised scope sets, and adds up, obtain sequence H to the pixel count of gray value i each in every frame video image setting regions A
i; The arithmetic mean of instantaneous value of the pixel count of each gray value of computing K two field picture,
obtain sequence S
i; Ask and be more than or equal to setting gray value M
1pixel summation D
s,
and by last frame image as a setting image b (x, y) store, interval time T
mto D
supgrade with b (x, y); Ask in latest image frame at interval of P frame and be more than or equal to setting gray value M
2pixel summation D
h,
work as D
hbe more than or equal to D
ssetting threshold value M
3time, i.e. (D
h-D
s)>=M
3time, trigger early warning, and store b (x, y); As (D
h-D
s) < M
3, then D is upgraded
swith b (x, y), then upgrade D
swith b (x, y); K, P, M
1, M
2, M
3, T
mobtain by measuring setting or artificially setting.
4. after entering modes of warning, at interval of Q
1frame carries out accumulated deficiency process to the real time video image f (x, y) of camera acquisition and the background image b (x, y) that deposits, and accumulated deficiency operational formula is:
P in formula
n(x, y) is setting regions for the accumulated deficiency image initial value having processed n frame is 0, A, T
1for setting gray threshold; By accumulated deficiency calculation process Q
2after frame, ask and be more than or equal to setting gray value T
2pixel summation D
t, as met D
t>=M
4, be then judged to be that view data is abnormal; M in formula
4for the threshold value of setting; Q
1, Q
2, T
1, T
2, M
4obtain by measuring setting or artificially setting.
5. when monitor view data abnormal after, interval time T
jmonitoring water sensor data variation, reports to the police when water sensor monitors immersion, then sends floods alarm signal, T
jobtain by measuring setting or artificially setting.
Accompanying drawing explanation
Fig. 1 is based on the down-hole floods warning system schematic diagram of image and flood monitoring.
Fig. 2 water sensor structural representation.
Fig. 3 floods alert operation schematic flow sheet.
Fig. 4 floods monitor server monitoring schematic flow sheet.
Detailed description of the invention
Described floods alarm method is realized by monitoring system, and system composition mainly comprises:
1. storage server (101), is responsible for receiving by camera video, water logging status data storing, for monitoring host computer and floods monitor server provide inquiry to transfer service.
2. floods monitor server (102), receive the digital video frequency flow of camera acquisition, the video image of video camera is processed, the aberrant continuation change that in monitoring camera video image, setting regions occurs, and with reference to the corresponding tunnel water logging status data that storage server stores, then export gushing water alarm signal to monitoring host computer as met alert if.When monitoring the too much server handling ability of video way and being not enough, multiple servers can be placed and respectively video is monitored.
3. geographic information server (103), be responsible for monitoring host computer and geographic information services is provided, use ArcGIS platform, and store the position data of the relevant geographic information data of mine, video camera (107) and water sensor (110); Server has floods sunykatuib analysis function, according to gushing water position analysis floods development, according to analysis result for each working region, down-hole provides escape route information, and can send to monitoring host computer.
4. monitoring host computer (104), has sound and light of alarm, receives the alarm signal then sound and light alarm of floods monitor server (102); There is phonetic synthesis and digital voice compression encoding function, when after the escape route information obtaining each working region, down-hole from geographic information server (103), by the text message synthetic speech of gushing water position and escape route and compressed encoding, be issued to each broadcasting equipment and broadcast; Have real-time video monitoring and history video transfers function, production management personnel check live video image by monitoring host computer and can transfer history monitor data from storage server (101).
5. the network switch (105), is responsible for management and the exchanges data of the equipment of the mining Ethernet of all accesses.
6. down-hole switch (106), is responsible for substation and other access by network communication equipment and exchanges data, has flameproof enclosure, meet the requirement of underground coal mine flame proof.
7. video camera (107); Adopt the mining video camera meeting coal mine flame-proof requirement, with secondary light source, be arranged on underground coal mine driving face, coal-face or other may occur, on the places such as the scope of operation of water leak accident, to be connected with video server (108) by coaxial cable.
8. video server (108), also claims video encoder, by the analog video image digitlization of camera acquisition and compressed encoding, by mining Ethernet to aboveground storage server, floods monitor server, monitoring host computer transmitting video data.
9. substation (109), also claims data collection station, is responsible for the water logging status data that reception water sensor (110) is uploaded, and by data upload to floods monitoring server.Substation and water sensor (110) adopt RS-485 standard by twisted-pair communication, can connect multiple water sensor; Substation is connected with nearest down-hole switch by twisted-pair feeder or optical cable, adopts TCP mode to communicate with aboveground storage server, has flameproof enclosure, meet the requirement of underground coal mine flame proof.
10. water sensor (110), for detecting tunnel immersion situation, adopt multichannel input water sensor, every road correspondence installs 1 group of probe; Probe is installed on wall, and probe number is no less than 2 groups, and namely water sensor is no less than 2 tunnel inputs; Probe from low to high order is installed, and often group probe interval is not less than 5 centimetres, and minimum one group of probe is not more than 5 centimetres apart from tunnel distance from bottom; The circuit box of water sensor is fixed on tunnel wall or top, tunnel, and setting height(from bottom) is not less than 1.5 meters.
11. broadcasting equipments (111), for down-hole voice broadcast service, have digital speech decoding function, the data convert of being encoded by digital voice compression are become voice, and amplify broadcasting; Broadcasting equipment and substation adopt RS-485 standard to be communicated by twisted pair line connection.
As shown in Figure 2, circuit design should meet down-hole intrinsic safety requirements to water sensor composition:
1. the MSP430F147 single-chip microcomputer of TI company selected by processor (201).This model is 16 risc architectures, has 32kFlash, 1kRAM; And have 5 kinds of low-power consumption modes, abundant sheet inner peripheral module, the plurality of advantages such as clock system flexibly.MSP430 can work under 1.8 ~ 3.6V low-voltage, and system adopts 3.3V operating voltage.
2. pop one's head in (202), adopt combed line loop inductance, with screen printing technique printing palladium-silver lines on a ceramic substrate, high-temperature process back contact is connected firmly, anti-oxidant and anti-external environment capability of influence is strong, two induction line resistances be infinity in without immersion situation, are immersed in water the stable state also needing the time of 2-3s just can reach low-resistance, help avoid the interference of moist dew.
3. testing circuit (203), mainly comprises series resistance, is had by probe loop inductance water and anhydrous resistance change to be converted to processor (201) collectable voltage change signal.
4. communication interface (204), adopts RS-485 standard communications mode, and communication chip uses MAX485 and MSP430F147 to connect.
5. power supply (205), comprises AC/DC module and DC Power convert two parts, and DC power conversion chip adopts MAX1724EZK33, MAX1724EZK50, is converted to the operating voltage that 3.3V and 5V is stable, is respectively processor and communication interface is powered.
6. alarm switch (206), adopts button member, for floods manual alarm.
Floods report to the police the course of work as shown in Figure 3:
1. (301) camera acquisition video image, by analog video signal by co-axial cables transport to video server.
2. (302) video server digitized analog video signal carry out compressed encoding, by netting twine by the video data after compressed encoding with multicast transmission to storage server, monitoring host computer and floods monitor server.
3. the vedio data that sent by video server of (303) floods monitor server real-time analysis, the abnormal current in monitoring video.
4. (304) water sensor gathers Riddled Condition data, is sent to substation by RS-485 communication interface modules.
5. (305) substation is by RS-485 interface Riddled Condition data, the communication protocol of data according to setting is packed, packet is sent to storage server by network interface with TCP ad hoc mode.
6. (306) storage server receives the Riddled Condition data uploaded by substation in TCP server mode, and stored in database.
7. (307) floods monitor server obtains Riddled Condition data by access storage server, comprehensive monitoring is carried out to video image monitoring (303) result and Riddled Condition data, sending floods alarm signal when meeting alert if to monitoring host computer, monitored camera number being sent to monitoring host computer simultaneously.
8. (308) find floods as field personnel, when pressing the alarm switch button of immersion sensor, immersion sensor sends manual alarm signal, substation gathers alarm signal, the communication protocol of data according to setting is packed, packet is sent to storage server by network interface with TCP ad hoc mode.
9. (309) storage server store alarms data, and forward alarm signal to monitoring host computer.
10. (310) are when monitoring host computer receives the alarm signal of floods monitor server or storage server, by video camera or the numbering of alarm switch send to geographic information server.
11. (311) geographic information servers determine gushing water position according to the numbering of alarming video camera or immersion sensor, according to gushing water position and immersion Elevation Analysis floods development, again according to analysis result for each working region, down-hole provides escape route information, and send to monitoring host computer.
The real-time displaying scene video of 12. (312) monitoring host computer automatic sound-light alarm, by the text message synthetic speech of gushing water position and escape route and compressed encoding, be issued to each broadcasting equipment and broadcast.Production management personnel can check live real-time video, alarm condition and equipment situation, when the hardware of video and data acquisition is damaged, then transfer history live video data.
13. (313) down-hole broadcasting equipment receiving packages contain the speech data of gushing water position and escape route information, and decoded back is that voice signal amplifies report.
The monitoring flow process of floods monitor server is as shown in Figure 4:
1. transferring the guarded region A parameter relevant with all monitoring computings when (401) each floods monitor server starts to carry out transferring, as not yet arranged, needing manually to arrange.
2. (402) add up the pixel count of each gray value in every two field picture setting regions A, obtain sequence H
i; The arithmetic mean of instantaneous value of the pixel count of each gray value in computing K two field picture region A,
obtain sequence S
i.
3. the pixel count D in (403) statistics setting gray area
s,
4. (404) will finally collect two field picture image b (x, y) storage as a setting.
5. (405) interval P frame is asked in latest image frame and is more than or equal to setting gray value M in setting regions A
2pixel summation D
h,
6. (406) are as (D
h-D
s)>=M
3, then perform (408), otherwise perform (407); M
3for setting threshold value.
7. (407) determine whether background image T update time
s, as then returned (402) to update time, otherwise return (405).
8. (408) trigger early warning, put pre-warning mark.
9. (409) upgrade and store background image b (x, y).
10. (410) continue setting-up time and carry out accumulated deficiency image operation to real time video image and background image of depositing.
11. (411) carry out gray-scale pixels statistics to processing the accumulated deficiency image obtained
In formula, f (x, y) is real time video image, P
n(x, y) is setting regions for the accumulated deficiency image initial value having processed n frame is 0, A, T
1for setting gray threshold; By accumulated deficiency calculation process Q
2after frame, ask higher than setting gray value T
2pixel summation D
t.
12. (412) as D
t>=R, then perform (414), otherwise return (402) after performing (413), and R is the growth rate threshold value of setting.
13. (414) interval time T
jaccess storage server obtains Riddled Condition data, reports to the police if any immersion, then perform (415), otherwise returns (402) after performing (413).
14. (415) send floods alarm signal.
15. (413) remove pre-warning mark, cancel alert status.
Claims (6)
1. the down-hole floods alarm method based on image and flood monitoring, it is characterized in that: underground coal mine driving face, coal-face or other may there is the place such as the scope of operation of water leak accident and place video camera, the tunnel be communicated with tunnel, video camera place all, particularly place water sensor lower than the tunnel of camera plane; Real-Time Monitoring is carried out to the immersion situation in vedio data and tunnel, there are abnormal current when monitoring setting regions in camera video image, and the current duration exceedes the time threshold of setting or current pushes the speed when exceeding setting threshold value, be then judged to be data exception; And when finding that tunnel immersion then sends floods alarm signal.
2. alarm method as claimed in claim 1, is characterized in that: camera installation locations is near top, tunnel or be highly greater than 2 meters, and at video camera other installation secondary light source, it is consistent that light projecting direction and camera video gather direction; Close auto-focusing and the automatic white balance function of video camera.
3. alarm method as claimed in claim 1, it is characterized in that: the probe of water sensor is installed on wall, probe is no less than 2 groups, and order is installed from low to high, often group probe interval is not less than 5 centimetres, and minimum one group of probe is not more than 5 centimetres apart from tunnel distance from bottom; The circuit box of water sensor is fixed on tunnel wall or top, tunnel, and setting height(from bottom) is not less than 1.5 meters.
4. alarm method as claimed in claim 1, is characterized in that: set the subregion A in camera supervised scope, adds up, obtain sequence H to the pixel count of gray value i each in every frame video image setting regions A
i; The arithmetic mean of instantaneous value of the pixel count of each gray value of computing K two field picture,
obtain sequence S
i; Ask and be more than or equal to setting gray value M
1pixel summation D
s,
and by last frame image as a setting image b (x, y) store, interval time T
mto D
supgrade with b (x, y); Ask in latest image frame at interval of P frame and in setting regions A, be more than or equal to setting gray value M
2pixel summation D
h,
work as D
hbe more than or equal to D
ssetting threshold value M
3time, i.e. (D
h-D
s)>=M
3time, trigger early warning, and store b (x, y); As (D
h-D
s) < M
3, then D is upgraded
swith b (x, y), then upgrade D
swith b (x, y); K, P, M
1, M
2, M
3, T
mobtain by measuring setting or artificially setting.
5. alarm method as claimed in claim 4, is characterized in that: after entering modes of warning, at interval of Q
1frame carries out accumulated deficiency process to the real time video image f (x, y) of camera acquisition and the background image b (x, y) that deposits, and accumulated deficiency operational formula is:
P in formula
n(x, y) is setting regions for the accumulated deficiency image initial value having processed n frame is 0, A, T
1for setting gray threshold; By accumulated deficiency calculation process Q
2after frame, ask and be more than or equal to setting gray value T
2pixel summation D
t, as met D
t>=M
4, be then judged to be that view data is abnormal; M in formula
4for the threshold value of setting; Q
1, Q
2, T
1, T
2, M
4obtain by measuring setting or artificially setting.
6. alarm method as claimed in claim 5, is characterized in that: when monitor view data abnormal after, interval time T
jmonitoring water sensor data variation, reports to the police when water sensor monitors immersion, then sends floods alarm signal, T
jobtain by measuring setting or artificially setting.
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| CN108457699A (en) * | 2018-03-15 | 2018-08-28 | 中国矿业大学(北京) | Driving face floods alarm system based on infrared image |
| CN108457699B (en) * | 2018-03-15 | 2023-04-18 | 中国矿业大学(北京) | Tunneling working face flood alarm system based on infrared images |
| CN108252741B (en) * | 2018-03-15 | 2023-04-18 | 中国矿业大学(北京) | Coal face flood alarm system based on infrared image |
| CN108194145B (en) * | 2018-03-15 | 2023-04-18 | 中国矿业大学(北京) | Mine flood alarm system based on infrared image |
| CN110017172A (en) * | 2019-05-13 | 2019-07-16 | 中国矿业大学(北京) | Mine water disaster based on image perceives alarm method |
| CN111636923A (en) * | 2019-12-04 | 2020-09-08 | 辽宁工程技术大学 | Coal mine underground water prevention and control early warning system |
| CN111636923B (en) * | 2019-12-04 | 2022-05-17 | 辽宁工程技术大学 | Coal mine underground water prevention and control early warning system |
| CN111768575A (en) * | 2020-06-08 | 2020-10-13 | 深圳市海洋王照明工程有限公司 | Lamp-based immersion alarm rescue method, system and equipment and storage medium |
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