CN105484800A - Alarm method for underground coal mine coal working face flood based on images - Google Patents

Alarm method for underground coal mine coal working face flood based on images Download PDF

Info

Publication number
CN105484800A
CN105484800A CN201610001297.2A CN201610001297A CN105484800A CN 105484800 A CN105484800 A CN 105484800A CN 201610001297 A CN201610001297 A CN 201610001297A CN 105484800 A CN105484800 A CN 105484800A
Authority
CN
China
Prior art keywords
coal
setting
time
alarm method
camera
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201610001297.2A
Other languages
Chinese (zh)
Other versions
CN105484800B (en
Inventor
孙继平
刘毅
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China University of Mining and Technology CUMT
China University of Mining and Technology Beijing CUMTB
Original Assignee
China University of Mining and Technology Beijing CUMTB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China University of Mining and Technology Beijing CUMTB filed Critical China University of Mining and Technology Beijing CUMTB
Priority to CN201610001297.2A priority Critical patent/CN105484800B/en
Publication of CN105484800A publication Critical patent/CN105484800A/en
Application granted granted Critical
Publication of CN105484800B publication Critical patent/CN105484800B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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 invention discloses an alarm method for an underground coal mine coal working face flood based on images. The alarm method includes the steps that a camera is installed in a coal working face region, video image data and the collected working state of a coal cutter are monitored in real time, and when it is monitored that abnormal water flow appears in a set region in video images of the camera, while the coal cutter does not start spray function newly, the situation is judged to be data exception; when it is monitored that the duration time of the water flow exceeds a set time threshold value or water flow increasing speed exceeds a set threshold value, a flood alarm signal is sent out. The alarm method fully considers the characteristic of the coal mine coal working face flood and is easy to implement, corresponding measures are taken automatically in time, an alarm can be given for water inrush of the mine coal working face accurately at first time, and valuable rescue and escape time is bought for underground staff, not at the flood site, in other regions.

Description

Based on the underground coal mine coal-face floods alarm method of image
Technical field
The present invention relates to a kind of underground coal mine coal-face floods alarm method based on image, the method relates to image steganalysis and the field such as to communicate.
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.Coal-face is the region that water inrush accident easily occurs in down-hole, for effectively reducing the mine property loss and casualties that floods cause, need new coal-face down-hole floods alarm method, exactly coal-face 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 is according to down-hole coal excavation work plane generation water inrush accident, have a large amount of water outwards spouting, and constantly, the feature constantly increased proposes a kind of underground coal mine coal-face floods alarm method based on image.Place video camera at underground coal mine coal-face, gather coal-winning machine and atomization mechanism working state signal thereof simultaneously; Real-Time Monitoring being carried out to vedio data and the coal-winning machine gathered and atomization mechanism duty thereof, occur abnormal current when monitoring setting regions in camera video image, and spraying newly not being opened by coal-winning machine, be then judged to be data exception; Exceed the time threshold of setting or current and push the speed when monitoring the current duration and exceed setting threshold value, then send floods alarm signal.Concrete grammar comprises:
1. camera installation locations is on coal face hydraulic support, near top, tunnel or be highly greater than 2 meters.
2., at video camera other installation secondary light source, it is consistent that light projecting direction and camera video gather direction.
3. the subregion A in pair camera supervised scope sets, and adds up, obtain sequence H to the pixel count of each gray value i in every frame video image region A 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; 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 sto D supgrade with b (x, y); D sfor early warning and monitoring; Ask in latest image frame at interval of P frame and in the A of region, be more than or equal to setting gray value M 2pixel summation D h, work as D hexceed D ssetting threshold value M 3time above, 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); K, P, T s,m 1, M 2, M 3obtain by measuring setting or artificially setting.
4. monitor coal-winning machine and atomization mechanism duty thereof, be never opened to the state of opening spraying change as coal-winning machine in T second before triggering early warning and monitoring exists, then cancel early warning, and upgrade D swith b (x, y).
5. 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>=R, then send floods alarm signal; In formula, R is the growth rate threshold value of setting; Q 1, Q 2, T 1, T 2, R is by measuring setting or artificial setting obtains.
6. floods alarm signal is sent automatically by down-hole public address system, and alarm signal uses voice broadcast form, reports content and comprises gushing water position and escape route.
Accompanying drawing explanation
Fig. 1 embodiment 1 system schematic.
The workflow schematic diagram that Fig. 2 reports to the police.
Fig. 3 embodiment 2 system schematic.
Fig. 4 floods monitor server monitoring schematic flow sheet.
Detailed description of the invention
Described floods alarm method is realized by monitoring system, Figure 1 shows that embodiment 1, and system composition mainly comprises:
1. storage server (101), is responsible for receiving the data such as video data, coal-winning machine and spraying thereof and stores, 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 the latest data of the coal-winning machine of reference storage server storage, 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), is responsible for monitoring host computer and provides geographic information services, uses ArcGIS platform, and stores the position data of the relevant geographic information data of mine, video camera (107) and coal-winning machine; 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 the hydraulic support of coal-face, 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 data collection station is claimed, the coal-winning machine sensing data that responsible reception coal-winning machine controller (110) sends and state of a control data, and by data upload to floods monitoring server, adopt RS485 standard by twisted-pair communication with coal-winning machine controller (109) and alarm switch (111), multiple coal-winning machine controller and alarm switch can be connected; 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 underground coal mine requirement of explosion proof.
10. coal-winning machine controller (110), responsible collection comprises the coal mining machine data of coal miner spray unit state, and adopt programmable logic controller (PLC), programmable logic controller has communication interface or communication module.Select in the present embodiment and adopt Siemens SIMATICS7-300, configuration CP341 module is communicated with substation (108) by RS-485 standard.
11. alarm switches (111), report to the police for on-site manual, adopt RS-485 standard interface, should meet colliery downhole equipment safety requirements.
12. broadcasting equipments (112), 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.
Floods report to the police the course of work as shown in Figure 2:
1. (201) camera acquisition video image, by analog video signal by co-axial cables transport to video server.
2. (202) 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 (203) floods monitor server real-time analysis, the abnormal current in monitoring video.
4. (204) coal-winning machine PLC gathers data and the state of a control data of the sensor that coal-winning machine and atomization mechanism thereof are installed, and is sent to substation by the RS485 interface of communication interface modules.
5. (205) substation is by the data of RS485 interface coal-winning machine PLC transmission, 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. (206) storage server receives the sensor and coal mining machine data uploaded by substation in TCP server mode, and stored in database.
7. (207) floods monitor server obtains coal-winning machine current state by access storage server, comprehensive monitoring is carried out to video image monitoring (203) result and coal-winning machine status data, sending floods alarm signal when meeting alert if to monitoring host computer, monitored camera number being sent to monitoring host computer simultaneously.
8. (208) find floods as field personnel, push for emergency button time, substation gathers the alarm signal of alarm button, 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. (209) storage server store alarms data, and forward alarm signal to monitoring host computer.
10. (210) 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. (211) geographic information servers determine gushing water position according to the numbering of alarming video camera or alarm switch, according to gushing water position 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. (212) 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. (213) 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.
Figure 3 shows that the embodiment 2 of system, this scheme is simplified underground equipment, distinguishes be with embodiment 1:
1. video camera (107) adopts the digital network camera supporting multicast transmission mode, without the need to the video server (108) in embodiment 1.The direct connecting downhole switch of video camera, by mining Ethernet to aboveground storage server, floods monitor server, monitoring host computer transmitting video data.
2. coal-winning machine controller (110) directly connecting downhole switch, TCP ad hoc mode sends data by mining Ethernet to aboveground storage server; Siemens SIMATICS7-300 is adopted to configure CP343-1 module in the present embodiment.
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 region 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, D H = &Sigma; i = M 2 255 H i .
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) access storage server obtains coal miner spray unit state data, return (402) as coal-winning machine exists in the fixed time to be never opened to after the state of opening spraying changes then execution (414) before early warning, otherwise return (411).
11. (411) continue setting-up time carries out accumulated deficiency image operation to real time video image and background image of depositing.
12. (412) 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.
13. (413) as D t>=R, then perform (415), otherwise return (402) after performing (414), and R is the growth rate threshold value of setting.
13. (415) send floods alarm signal.
14. (414) remove pre-warning mark, cancel alert status.

Claims (8)

1. based on a underground coal mine coal-face floods alarm method for image, it is characterized in that: underground coal mine, place video camera at coal-face, gather coal-winning machine and atomization mechanism working state signal thereof simultaneously; Real-Time Monitoring being carried out to vedio data and the coal-winning machine gathered and atomization mechanism duty thereof, occur abnormal current when monitoring setting regions in camera video image, and spraying newly not being opened by coal-winning machine, be then judged to be data exception; Exceed the time threshold of setting or current and push the speed when monitoring the current duration and exceed setting threshold value, then send floods alarm signal.
2. alarm method as claimed in claim 1, is characterized in that: camera installation locations on coal face hydraulic support, near top, tunnel or be highly greater than 2 meters.
3. alarm method as claimed in claim 1, is characterized in that: at video camera other installation secondary light source, it is consistent that light projecting direction and camera video gather direction.
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 each gray value i in every frame video image region 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 sto D supgrade with b (x, y); K, M 1, T sobtain by measuring setting or artificially setting.
5. alarm method as claimed in claim 4, is characterized in that: D sfor early warning and monitoring; Ask in latest image frame at interval of P frame and in the A of region, 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); P, M 2, M 3obtain by measuring setting or artificially setting.
6. alarm method as claimed in claim 5, is characterized in that: monitoring coal-winning machine and atomization mechanism duty thereof, is never opened to the state of opening spraying and changes, then cancel early warning, and upgrade D as coal-winning machine in T second before triggering early warning and monitoring exists swith b (x, y); T obtains by measuring setting or artificially setting.
7. alarm method as claimed in claim 5, 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>=R, then send floods alarm signal; In formula, R is the growth threshold value of setting; Q 1, Q 2, T 1, T 2, R is by measuring setting or artificial setting obtains.
8. alarm method as claimed in claim 1, is characterized in that: floods alarm signal is sent automatically by down-hole public address system, and alarm signal uses voice broadcast form, reports content and comprises gushing water position and escape route.
CN201610001297.2A 2016-01-04 2016-01-04 Underground coal mine coal working face floods alarm method based on image Active CN105484800B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610001297.2A CN105484800B (en) 2016-01-04 2016-01-04 Underground coal mine coal working face floods alarm method based on image

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610001297.2A CN105484800B (en) 2016-01-04 2016-01-04 Underground coal mine coal working face floods alarm method based on image

Publications (2)

Publication Number Publication Date
CN105484800A true CN105484800A (en) 2016-04-13
CN105484800B CN105484800B (en) 2019-04-16

Family

ID=55672045

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610001297.2A Active CN105484800B (en) 2016-01-04 2016-01-04 Underground coal mine coal working face floods alarm method based on image

Country Status (1)

Country Link
CN (1) CN105484800B (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN106761928A (en) * 2016-11-25 2017-05-31 中原工学院 The collecting method and device of a kind of coal mine safety monitoring system
CN107829783A (en) * 2017-12-01 2018-03-23 中国矿业大学(北京) Based on ranging and the driving face floods warning system to test the speed
CN108005723A (en) * 2017-12-01 2018-05-08 中国矿业大学(北京) Based on ranging and the coal working face floods alarm system to test the speed
CN110400448A (en) * 2019-07-29 2019-11-01 精英数智科技股份有限公司 A kind of coalcutter operating status judgment method, system and storage medium
CN110796834A (en) * 2019-11-01 2020-02-14 广州小鹏汽车科技有限公司 Vehicle flooding alarm method and system, vehicle and readable storage medium

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05119834A (en) * 1991-10-24 1993-05-18 Fujita Corp Mine underground monitoring system
JPH0944627A (en) * 1995-07-25 1997-02-14 Toshiba Corp Tunnel illumination controller
CN101526010A (en) * 2009-03-25 2009-09-09 华北科技学院 Mine water bursting disaster monitoring and early-warning system and control method thereof
CN101762582A (en) * 2008-10-22 2010-06-30 上海市建青实验学校 Air-pollution detecting method
CN103046956A (en) * 2011-10-14 2013-04-17 孟国营 Rapidly installed mine rescue and drainage system
CN104454012A (en) * 2014-12-22 2015-03-25 中国矿业大学(北京) Coal mine driving face rock burst alarming method based on images
CN204928983U (en) * 2015-07-14 2015-12-30 陕西思杰智能科技有限公司 Big flood water level image data collection camera

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5119834B2 (en) * 2007-09-27 2013-01-16 ぺんてる株式会社 Handwriting input system

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05119834A (en) * 1991-10-24 1993-05-18 Fujita Corp Mine underground monitoring system
JPH0944627A (en) * 1995-07-25 1997-02-14 Toshiba Corp Tunnel illumination controller
CN101762582A (en) * 2008-10-22 2010-06-30 上海市建青实验学校 Air-pollution detecting method
CN101526010A (en) * 2009-03-25 2009-09-09 华北科技学院 Mine water bursting disaster monitoring and early-warning system and control method thereof
CN103046956A (en) * 2011-10-14 2013-04-17 孟国营 Rapidly installed mine rescue and drainage system
CN104454012A (en) * 2014-12-22 2015-03-25 中国矿业大学(北京) Coal mine driving face rock burst alarming method based on images
CN204928983U (en) * 2015-07-14 2015-12-30 陕西思杰智能科技有限公司 Big flood water level image data collection camera

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
李彩萍: "视频监控系统在煤矿水害防治中的研究与应用", 《中国优秀硕士学位论文全文数据库 工程科技I辑》 *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106761928A (en) * 2016-11-25 2017-05-31 中原工学院 The collecting method and device of a kind of coal mine safety monitoring system
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
CN107829783A (en) * 2017-12-01 2018-03-23 中国矿业大学(北京) Based on ranging and the driving face floods warning system to test the speed
CN108005723A (en) * 2017-12-01 2018-05-08 中国矿业大学(北京) Based on ranging and the coal working face floods alarm system to test the speed
CN110400448A (en) * 2019-07-29 2019-11-01 精英数智科技股份有限公司 A kind of coalcutter operating status judgment method, system and storage medium
CN110796834A (en) * 2019-11-01 2020-02-14 广州小鹏汽车科技有限公司 Vehicle flooding alarm method and system, vehicle and readable storage medium

Also Published As

Publication number Publication date
CN105484800B (en) 2019-04-16

Similar Documents

Publication Publication Date Title
CN105569733A (en) Underground coal mine tunneling working surface water hazard alarm method based on images
CN105484800A (en) Alarm method for underground coal mine coal working face flood based on images
CN105484798A (en) Underground flood alarm method based on temperature, humidity and image monitoring
CN205638559U (en) Colliery is headwork face floods alarm system in pit based on image
CN105484799A (en) Underground flood alarm method based on image and water sump monitoring
CN105569732A (en) Coal mine water hazard alarm method based on image and hydrologic data monitoring
CN105484797B (en) Underground floods alarm system based on image and coalcutter monitoring device
CN105422181A (en) Underground flood alarming method based on image and flood monitoring
CN105484801A (en) Underground flood alarm method based on image and water inflow monitoring
CN105484796A (en) Underground flood alarm system based on temperature, humidity and image monitoring equipment
CN207813654U (en) Based on ranging and the coal working face calamity forecast system to test the speed
CN105464705A (en) Underground flood alarm system based on image and water quality monitoring equipment
CN105422180A (en) Underground flood alarm system based on image and water inflow monitoring device
CN107795336A (en) Based on ranging and the coal-face calamity forecast system to test the speed
CN105464706A (en) Downhole flood alarm system based on image and flood monitoring device
CN107725110A (en) Based on ranging and the driving face calamity forecast system to test the speed
CN105451003A (en) Underground water and fire alarm system based on image and heading machine monitoring equipment
CN205638555U (en) Floods alarm system in pit based on image and sump monitoring
CN207609446U (en) Based on ranging and the coal working face floods alarm system to test the speed
CN207905864U (en) Based on ranging and the driving face calamity forecast system to test the speed
CN108252741B (en) Coal face flood alarm system based on infrared image
CN108457699A (en) Driving face floods alarm system based on infrared image
CN208236463U (en) Mine water disaster alarm system based on infrared image
CN205558972U (en) Floods alarm system in pit based on humiture and image monitoring
CN205638556U (en) Floods alarm system in pit based on image and water quality monitoring

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant