CN105484797B - Underground floods alarm system based on image and coalcutter monitoring device - Google Patents
Underground floods alarm system based on image and coalcutter monitoring device Download PDFInfo
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- CN105484797B CN105484797B CN201610001286.4A CN201610001286A CN105484797B CN 105484797 B CN105484797 B CN 105484797B CN 201610001286 A CN201610001286 A CN 201610001286A CN 105484797 B CN105484797 B CN 105484797B
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- coalcutter
- monitoring device
- coal
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/22—Equipment for preventing the formation of, or for removal of, dust
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
Abstract
The underground floods alarm system based on image and coalcutter monitoring device that the invention discloses a kind of.Video camera is installed on underground coal mine coal face hydraulic support, video camera connects image and coalcutter monitoring device and video server, image acquires coal mining machine data simultaneously with coalcutter monitoring device, image and coalcutter monitoring device monitoring field video and coal mining machine data, according to monitoring result floods alert data is sent to monitor terminal, production management personnel can check live real-time and history video by monitor terminal, and make emergency processing；This alarm system point considers the characteristic feature of coal face floods, implement simple, automatically corresponding measure is taken in time, can accurately alarmed at the first time water bursting in mine, not strive for the valuable disaster relief and escape time in other region personnels in the pit that scene occurs.
Description
Technical field
The underground floods alarm system based on image and coalcutter monitoring device that the present invention relates to a kind of, the system are related to figure
As the fields such as pattern-recognition and communication.
Background technology
Coal is China's main energy sources, accounts for about primary energy 70%.Coal industry is high risk industries, gas, floods, fire
The accidents such as calamity, top plate, coal dust annoying Safety of Coal Mine Production.China's coal-mine occurs in severe and great casualty, to mine when mine water disaster
The larger natural calamity of well harmfulness, is calculated with the number of coal mining accident death, and water damage accident accounts for 15.72%, is only second to gas
And roof accident, third is occupied, after floods accident occurs for mine, harm includes：
1, it destroys by rush of water tunnel, pile things on floods and block personnel.
2, with gushing water, a large amount of coal slime and rock siltation tunnel is had, difficulty is caused to personnel escape.
3, equipment is damaged.Underground electric appliance, after cable is immersed in water, insulating capacity declines rapidly, to the transporting of underground, leads to
Wind, draining etc. cause difficulty, make the probability reduction of surviving for not fleeing from personnel in time.
4, gush out a large amount of toxic and harmful gas, the life condition environment for not fleeing from personnel in time is made more to deteriorate.
In conclusion mine water disaster is the serious disaster of coal mine, the alarm of mine water disaster must be done in coal production
To promptly and accurately.Floods early warning at present with the hydrology detection preventions, underground for probing water, tendency phenomenon observation and based on, the hydrology detection with
Underground for probing water can prevent underground floods accident, but it is complicated since there is likely to be hydrologic regimes, design is improper, takes effective measures, manages
Reason is not good at that with the reasons such as the thought of people paralysis, the hydrology detection generation of gushing water can not be entirely prevented with underground for probing water, can not
It alarms the underground gushing water of burst；The observation of tendency phenomenon is taking human as based on micro-judgment, and there are larger subjective factors.Mesh
It is preceding that the artificial alarm of Field Force relied primarily on for live water inrush accident, but when gushing water be happened at the unattended time or
Region or Field Force flee from and fail initiative alarming hastily, and control room just can not timely obtain the letter that gushing water has occurred
Breath, can not notify underground relevant staff, so that cannot in time take emergency measures to water inrush accident, easily cause water in time
The out of control and casualties of evil.Coal working face is the region that water inrush accident easily occurs for underground, to effectively reduce floods caused by mine
Mountain property loss and casualties need new coal working face underground floods alarm system, can be at the first time accurately to adopting
Coal water gush face is alarmed, for not when other region personnels in the pit that scene occurs strive for the valuable disaster relief and escape
Between.
Invention content
The present invention proposes that a kind of underground floods alarm system based on image and coalcutter monitoring device, the system are main
Including：Video camera, video splitter, coal mining machine controller, image and coalcutter monitoring device, video server, mining ether
Net, storage server, monitor terminal；Wherein video camera, video splitter, coal mining machine controller, image and coalcutter monitoring are set
Standby, video server is installed in underground, and storage server and monitor terminal are installed on well；Video camera is installed on underground coal mine
Coal working face hydraulic support on, camera acquisition coal working face live video analog image；Image is supervised with coalcutter
Measurement equipment forms：Core processor, memory module, video acquisition module, flame proof shell, power management module, serial communication
Module, network communication module；Image is filled with the coalcutter of coalcutter monitoring device acquisition coal mining machine controller output and its spraying
Data are set, and monitor burst unrelated with coal miner spray in coal work plane video and constant stream, are sent out according to monitoring result
Go out floods alarm signal, alarm signal is transmitted to monitor terminal on well by mining Ethernet；Monitor terminal is responsible for display alarm
Information obtains live video by video server, and history live video is obtained by accessing storage server.Specific method packet
It includes：
1. camera installation locations, on coal face hydraulic support, at the top of tunnel or height is more than 2 meters；It is taking the photograph
Secondary light source is installed, light projection direction is consistent with camera video acquisition direction by camera.
2. image connect video camera analog video delivery outlet, video acquisition with the video acquisition module of coalcutter monitoring device
Module is responsible for digitizing analog video signal, and digital video data is output to core processor.
3. image connect the communication module of coal mining machine controller with the serial communication modular of coalcutter monitoring device, acquisition is adopted
The control of coal machine spraying device and status data；The network communication module connecting mine ether of image and coalcutter monitoring device
Net is communicated by mining Ethernet with the monitor terminal on well.
4. pair image is set with the subregion A in the camera supervised range of coalcutter monitoring device, it is stored in
In memory module；The arithmetic mean of instantaneous value of the pixel number of each gray value in operation K frame image settings region A；It asks to be more than or equal to and set
Determine gray value M1Pixel summation DS, and stored last frame image as background image b (x, y), interval time TSTo DSWith
B (x, y) is updated；It is asked at interval of P frames and is more than or equal to setting gray value M in latest image frame in setting regions A2Pixel it is total
And DH, work as DHMore than or equal to DSGiven threshold M3When trigger early warning；Image and coalcutter monitoring device monitoring coalcutter and its spraying
Working state of device changes as triggered the state that coalcutter has never unlatching to unlatching spraying in T seconds before early warning and monitoring, then takes
Disappear early warning, and updates DSWith b (x, y)；Into after modes of warning, at interval of Q1Real time video image f of the frame to camera acquisition
(x, y) carries out accumulated deficiency processing with deposited background image b (x, y), and accumulated deficiency operational formula is：
P in formulanIt is setting regions, T that (x, y), which is that have handled the accumulated deficiency image initial value of n frames be 0, A,1To set gray scale
Threshold value；Pass through accumulated deficiency calculation process Q2After frame, ask more than or equal to setting gray value T2Pixel summation DT, such as meet DT≥
R then sends out floods alarm signal；R is the growth threshold value of setting in formula；Monitor relevant all threshold values and parameter include K, P,
TS、M1、M2、M3、T、Q1、Q2、T1、T2, R by measure set or be manually set, storage in a storage module.
Description of the drawings
Underground floods alarm system schematic diagrames of the Fig. 1 based on image and coalcutter monitoring device.
Fig. 2 images and coalcutter monitoring device structural schematic diagram.
The workflow schematic diagram of Fig. 3 alarm systems.
Fig. 4 images monitor flow diagram with coalcutter monitoring device.
Specific implementation mode
As shown in Figure 1, the underground floods alarm system composition based on image and coalcutter monitoring device includes mainly：
1. video camera (101), using the mining video camera for meeting coal mine flame-proof requirement, secondary light source is carried, mounted on adopting
On the hydraulic support of coal working face, it is connect with video splitter (102) by coaxial cable.
2. video splitter (102) is responsible for the analog signal output all the way of video camera being divided into two-way output, wherein all the way
Map interlinking picture and coalcutter monitoring device (103), another way connect video server (105).
3. image and coalcutter monitoring device (103) receive and are believed by the analog video all the way that video splitter (102) exports
Number, it is responsible for, according to video and coalcutter and its spraying device data is monitored, according to monitoring result, sending out to monitor terminal
Floods alarm signal.Image connect coal mining machine controller (104) by serial ports with coalcutter monitoring device and acquires coal mining machine data,
Video splitter (102), which is connected, by coaxial cable acquires video.
4. coal mining machine controller (104), is responsible for the status data of acquisition coalcutter and its spraying device, data pass through industry
Ethernet is transmitted to storage server, and using programmable controller (PLC), programmable controller has communication interface or communication mould
Block.Use Siemens SIMATIC S7-300 in the present embodiment, configuration CP341 modules by RS232 standards and image with
Coalcutter monitoring device (103).
5. video server (105), also referred to as video encoder receive the simulation all the way exported by video splitter (102)
Vision signal is digitized simultaneously compressed encoding, and by mining Ethernet, storage server and monitor terminal transmission regard on well
Frequency evidence.Haikang DS-6701HW one-way network video servers are selected in the present embodiment, are set as multicast mode.
6. underground interchanger (106) is the underground access device of mining Ethernet, concatenation forms looped network, is responsible for video clothes
Business device and other accesses and data exchange by network communication equipment, equipment incoming end are generally RJ45 interfaces, and looped network connects
End is optical interface, has flameproof enclosure, meets underground coal mine flame proof requirement.
7. the network switch (107) is the hard core control equipment of mining Ethernet, it is responsible for the equipment of all access networks
Management and data exchange.
8. storage server (108), it is responsible for receiving the video data uploaded by video server and storage, for monitor terminal
Live historical query is provided and transfers service.
9. monitor terminal (109) has sound and light of alarm, receives the report of image and coalcutter monitoring device (103)
Warn data then sound-light alarm；Monitor terminal has the function of that real-time video monitoring and history video are transferred, and production management personnel pass through
Monitor terminal checks the live video image uploaded by video server (105), also can transfer history from storage server (108)
Video data.Production management personnel can send out alarm signal by Technology for Communication System of Coal Mine, and issuing emergency scheduling to related personnel refers to
It enables, and notifies to withdraw from coal mine underground operators.Underground geography information built in monitor terminal, and there is map denotation engine, this
Embodiment uses the visualized map component MapX of MapInfo companies, can be shown automatically when floods are alarmed and monitor gushing water
Camera position.
As shown in Fig. 2, image includes with coalcutter monitoring device composition：Core processor, memory module, video acquisition mould
Block, serial communication modular, network communication module, power supply and clock module and flame proof shell.
1. core processor (201), using Samsung S3C2440 processors, S3C2440 is based on the micro- of ARM920T kernels
There are processor 8 bit digital video interfaces, maximum value to support the input of 4096 × 4096 pixel programmable vision synchronizing signals, lead to
Cross the video data that 8 bit digital video interfaces receive video acquisition module (203)；S3C2440 is connected by 16 BITBUS network modes
Network communication module (205)；S3C2440 also has 3 UART interfaces, and 2 SPI interfaces, 2 USB interfaces, 1 IIC-BUS connects
Mouthful；Pass through UART interface and serial communication modular (204) connection communication；Pass through IC-BUS interfaces and video acquisition module
SAA7113 carries out control communication, realizes that drive control communicates using embedded Linux platform, the built-in libraries OpenCV are used for video
Data processing.
2. memory module (202)；Including 256M NAND Flash, a piece of 4M NOR Flash, 128M SDRAM, a piece of
The EEPROM of IIC-BUS interfaces.
3. video acquisition module (203)；Main processing chip uses SAA7113H video input processing chips, SAA7113H
It is QFP44 encapsulation, voltage 3.3V carries out control communication by IIC-BUS interfaces and core processor (201), selects four road moulds
Quasi- input channel carries out the acquisition of camera simulation field frequency vision signal all the way, by 8 VPO buses to core processor
(201) digital video of outputting standard ITU656 formats.
4. serial communication modular (204) uses the MAX232 chip rs-232 standard serial ports single supply level conversions of TI companies
Chip is connected 9 needle serial ports using transit cable and is realized communication using 5V power supply power supplies.
5. network communication module (205), main chip uses DM9000, the singlechip Ethernet that DM9000 is completely integrated
Mac controller, the procotol on upper layer is driven by the built-in Linux of core processor to be supported.DM9000 supports 10/100M adaptive
It answers, supports the supply voltage of 3.3V and 5V.DM9000 passes through network isolation transformer interface chip YL18-1080S connections RJ45
Network interface, realization communicate the physical connection of network.
6. power supply includes AC/DC Switching Power Supplies, D/C voltage conversion and Clock management element, AC/DC with clock module (206)
Switching Power Supply exports 5V direct currents, and D/C voltage conversion is all made of MAX1724 power supply chips, for all chip power supplies；Select 12MHz
Crystal oscillator
7. flame proof shell (207) is used for the physical isolation of internal circuit and external environment, underground coal mine flame proof requirement should be met.
The course of work of floods alarm is as shown in Figure 3：
1. (301) camera acquisition video image transmits collected in-site modeling vision signal by coaxial cable
Give video splitter (102).
2. (302) in-site modeling vision signal is divided into two-way analog video signal by video splitter, it is respectively transmitted to figure
Picture and coalcutter monitoring device (103) and video server (105).
3. (303) video server (105) digitized analog video signal and carrying out compressed encoding, will be compressed by cable
Video data after coding is with multicast transmission to storage server (108) and monitor terminal (109).
4. (304) storage server (108) receives live video data and is stored.
5. (305) image is digitized analog video signal by video acquisition module (203) with coalcutter monitoring device.
6. (306) image acquires coalcutter with coalcutter monitoring device by serial communication modular (204) and its spraying fills
Set status data.
7. (307) the built-in library processing analysis video counts that image passes through core processor (201) with coalcutter monitoring device
According to, burst and constant stream in monitoring coal work plane video, and coal miner spray device status data is referred to, to analysis result
Judged.
8. (308) when monitoring result meets alert if, then alert data is led to using TCP communication mode by network
The underground interchanger (106) of letter module (205) connecting mine Ethernet is uploaded to monitor terminal (109).
9. after (309) monitor terminal (109) receives alert data, being drawn by map denotation automatically according to camera number
It holds up and shows gushing water position over the display, and sound-light alarm prompt production management personnel are handled.
10. (310) production management personnel access storage server (108) by monitor terminal (109) and transfer live history
Video.
11. (311) production management personnel watch the live video uploaded by video server (105) simultaneously, alarm is confirmed
Generating process and presence states situation.
After 12. (312) production management personnel confirm alarm, alarm signal can be sent out by Technology for Communication System of Coal Mine, to correlation
Personnel issue emergency scheduling instruction, and notify to withdraw from coal mine underground operators.
The monitoring flow of image and coalcutter monitoring device video image is as shown in Figure 4：
Monitoring area A and the relevant ginseng of all monitoring operations are transferred when 1. (401) image starting with coalcutter monitoring device
Number.
2. (402) counting the pixel number per each gray value in frame image-region A, sequence H is obtainedi；Operation K frame image-regions
The arithmetic mean of instantaneous value of the pixel number of each gray value in A,Obtain sequence Si。
3. (403) the pixel number D in statistics setting gray scale intervalS,
4. (404) the last frame image that collects is stored as background image b (x, y).
5. (405) interval P frames, which are asked, is more than or equal to setting gray value M in setting regions A in latest image frame2Pixel summation
DH,
6. (406) such as (DH-DS)≥M3, then (408) are executed, otherwise execute (407)；M3For given threshold.
7. (407) determining whether background image renewal time TS, (402) are returned if to renewal time, are otherwise returned
It returns (405).
8. (408) triggering early warning, pre-warning mark is set.
9. (409) updating storage background image b (x, y).
10. coal miner spray unit state data (410) are monitored, as coalcutter exists never before early warning in specified time
It opens the state change opened and sprayed and then executes (414) return (402) afterwards, otherwise return to (411).
11. (411) continue setting time carries out accumulated deficiency image operation to real time video image and deposited background image.
12. (412) carrying out gray-scale pixels statistics to the accumulated deficiency image that processing obtains
F (x, y) is real time video image, P in formulan(x, y) is that have handled the accumulated deficiency image initial value of n frames be 0, A
For setting regions, T1To set gray threshold；Pass through accumulated deficiency calculation process Q2After frame, ask higher than setting gray value T2Picture
Plain summation DT。
13. (413) such as DT>=R then executes (415), otherwise executes (414) and returns to (402) afterwards, and R is the growth rate of setting
Threshold value.
13. (415) sending out floods alarm signal.
14. (414) removing pre-warning mark, cancel alert status.
Claims (7)
1. a kind of underground floods alarm system based on image and coalcutter monitoring device, it is characterised in that：System includes mainly
Video camera, video splitter, coal mining machine controller, image and coalcutter monitoring device, mining Ethernet, are deposited video server
Store up server, monitor terminal；Wherein video camera, video splitter, coal mining machine controller, image and coalcutter monitoring device, regard
Frequency server is installed in underground, and storage server and monitor terminal are installed on well；Video camera is installed on the coal mining of underground coal mine
On the hydraulic support of working face, camera acquisition coal working face live video analog image；Image and coalcutter monitoring device
Including：Core processor, memory module, video acquisition module, serial communication modular, network communication module, power supply and clock mould
Block and flame proof shell；The coalcutter and its spraying device data of image and the acquisition coal mining machine controller output of coalcutter monitoring device,
And burst unrelated with coal miner spray in coal work plane video and constant stream are monitored, floods report is sent out according to monitoring result
Alert signal, alarm signal are transmitted to monitor terminal on well by mining Ethernet；Monitor terminal is responsible for display alarm information, passes through
Video server obtains live video, and history live video is obtained by accessing storage server.
2. alarm system as described in claim 1, it is characterised in that：Camera installation locations are in coal face hydraulic support
On, at the top of tunnel or height is more than 2 meters；Secondary light source is installed by video camera, light projection direction is adopted with camera video
It is consistent to collect direction.
3. alarm system as described in claim 1, it is characterised in that：The video acquisition module of image and coalcutter monitoring device
Video camera analog video delivery outlet is connected, video acquisition module is responsible for digitizing analog video signal, by digital video data
It is output to core processor.
4. alarm system as described in claim 1, it is characterised in that：The serial communication modular of image and coalcutter monitoring device
The communication module of coal mining machine controller is connected, the status data of coalcutter and its spraying device is acquired；Image is monitored with coalcutter
The network communication module connecting mine Ethernet of equipment is communicated by mining Ethernet with the monitor terminal on well.
5. alarm system as described in claim 1, it is characterised in that：To the camera supervised of image and coalcutter monitoring device
Subregion A in range is set, and storage is in a storage module；Each gray value in operation K frame image settings region A
The arithmetic mean of instantaneous value of pixel number；It asks more than or equal to setting gray value M1Pixel summation DS, and using last frame image as background
Image b (x, y) is stored, interval time TSTo DSIt is updated with b (x, y)；Setting regions A in latest image frame is sought at interval of P frames
It is interior to be more than or equal to setting gray value M2Pixel summation DH, work as DHMore than or equal to DSGiven threshold M3When trigger early warning；K,P,TS、
M1、M2、M3By measuring setting or being manually set, storage is in a storage module.
6. alarm system as claimed in claim 5, it is characterised in that：Image and coalcutter monitoring device monitoring coalcutter and its
Spraying device working condition changes as triggered the state that coalcutter has never unlatching to unlatching spraying in T seconds before early warning and monitoring,
Then cancel early warning, and updates DSWith b (x, y)；T sets or is manually set by measuring, and storage is in a storage module.
7. alarm system as claimed in claim 5, it is characterised in that：Into after modes of warning, at interval of Q1Frame adopts video camera
The real time video image f (x, y) of collection carries out accumulated deficiency processing, accumulated deficiency operational formula with deposited background image b (x, y)
For：
P in formulan(x, y) is the accumulated deficiency image for having handled n frames, and initial value 0, A is setting regions, T1To set gray scale threshold
Value；Pass through accumulated deficiency calculation process Q2After frame, ask more than or equal to setting gray value T2Pixel summation DT, such as meet DT>=R,
Then send out floods alarm signal；R is the growth threshold value of setting in formula；Q1、Q2、T1、T2, R by measure set or be manually set,
Storage is in a storage module.
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| CN105848110B (en) * | 2016-05-05 | 2023-05-09 | 中国矿业大学(北京) | Integrated self-powered mine emergency communication and positioning system |
| CN106791720A (en) * | 2017-03-01 | 2017-05-31 | 中国矿业大学(北京) | Coal-winning machine abnormal work and calamity forecast system based on image trace monitoring device |
| CN106657935A (en) * | 2017-03-01 | 2017-05-10 | 中国矿业大学(北京) | Coal cutter abnormal work and disaster alarm system based on images |
| CN107060848A (en) * | 2017-06-13 | 2017-08-18 | 中国矿业大学(北京) | Coal face hydraulic support monitoring and alarming system based on 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 |
| CN110400448B (en) * | 2019-07-29 | 2020-07-24 | 精英数智科技股份有限公司 | Method and system for judging running state of coal mining machine and storage medium |
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