CN105569732B - The coal mine floods alarm method monitored based on image and hydrographic data - Google Patents

The coal mine floods alarm method monitored based on image and hydrographic data Download PDF

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CN105569732B
CN105569732B CN201610001289.8A CN201610001289A CN105569732B CN 105569732 B CN105569732 B CN 105569732B CN 201610001289 A CN201610001289 A CN 201610001289A CN 105569732 B CN105569732 B CN 105569732B
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water
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CN105569732A (en
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孙继平
刘毅
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China University of Mining and Technology Beijing CUMTB
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    • EFIXED CONSTRUCTIONS
    • E21EARTH OR ROCK DRILLING; MINING
    • E21FSAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F17/00Methods or devices for use in mines or tunnels, not covered elsewhere
    • E21F17/18Special adaptations of signalling or alarm devices
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01DMEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00Measuring or testing not otherwise provided for
    • G01D21/02Measuring two or more variables by means not covered by a single other subclass

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Alarm Systems (AREA)
  • Emergency Alarm Devices (AREA)

Abstract

The invention discloses a kind of underground floods alarm methods monitored based on image and hydrographic data, this alarm method places video camera by places such as underground coal mine driving face, coal working face or other possible work surfaces that water leak accident occurs, while monitoring ground hydrological observation wells water level and water temperature data;When monitoring in camera video image that abnormal water flow occurs in setting regions, and the water flow duration is more than that the time threshold of setting or water flow are pushed the speed more than given threshold, while ground hydrological observation wells water level or water temperature data are abnormal, then issue floods alarm signal.This alarm method has fully considered the characteristic feature of underground coal mine 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 for gushing water.

Description

The coal mine floods alarm method monitored based on image and hydrographic data
Technical field
The present invention relates to a kind of coal mine floods alarm method monitored based on image and hydrographic data, this method is related to image The fields such as pattern-recognition, sensor, communication.
Background technique
Coal is China's main energy sources, accounts for about non-renewable 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 biggish 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, causes difficulty to personnel escape.
3, equipment is damaged.Underground electric appliance, after cable is immersed in water, insulating capacity declines rapidly, to the transport, logical of underground Wind, draining etc. cause difficulty, make the probability reduction of surviving for fleeing from personnel not in time.
4, gush out a large amount of toxic and harmful gas, deteriorate the life condition environment for fleeing from personnel not in time more.
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 prevention, 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 the generation of gushing water can not be entirely prevented with underground for probing water with the reasons such as the thought of people paralysis, hydrology detection, 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 biggish subjective factors.Mesh It is preceding that the artificial alarm of Field Force relied primarily on to water inrush accident on site, but occur in unattended time when gushing water or Region or Field Force flee from hastily and fail initiative alarming, and control room just can not timely obtain the letter that gushing water has occurred Breath, can not notify underground relevant staff in time, so that cannot take emergency measures in time to water inrush accident, easily cause water The out of control and casualties of evil.To effectively reduce mine property loss and casualties caused by floods, new underground floods are needed Alarm method can at the first time accurately alarm to underground gushing water, for not in other region personnels in the pit that scene occurs Strive for the valuable disaster relief and escape time.
Summary of the invention
When according to underground water inrush accident occurs for the present invention, it is spouting outward to have a large amount of water, and constantly, constantly The characteristics of increase, proposes a kind of coal mine floods alarm method monitored based on image and hydrographic data.In underground coal mine heading driver Make face, coal working face places video camera, while monitoring ground hydrological observation wells water level and water temperature data;To video image data Real-time monitoring is carried out, when monitoring in camera video image that abnormal water flow occurs in setting regions, and the water flow duration is more than When the time threshold or water flow of setting are pushed the speed more than given threshold, then it is determined as data exception;And when discovery hydrological observation Hole water level or water temperature variation are more than that the threshold value of setting then issues floods alarm signal at once.Specific method includes:
1. camera installation locations are at the top of tunnel or height is greater than 2 meters, secondary light source is installed by video camera, light is thrown It is consistent with camera video acquisition direction to penetrate direction;Close the auto-focusing and automatic white balance function of video camera.
2. the partial region A in pair camera supervised range is set, to each gray value in every frame video image region A The pixel number of i is counted, and sequence H is obtainedi;The arithmetic average of the pixel number of each gray value in operation K frame image-region A Value,Obtain sequence Si;It asks and is more than or equal to setting gray value M1Pixel summation DS,And it will be last One frame image is stored as background image b (x, y), interval time TMTo DSIt is updated with b (x, y);Ask newest at interval of P frame It is more than or equal to setting gray value M in picture frame in the A of region2Pixel summation DH,Work as DHMore than or equal to DSSet threshold Value M3When, i.e. (DH-DS)≥M3When, early warning is triggered, and store b (x, y);Such as (DH-DS) < M3, then D is updatedSWith b (x, y);K,P, M1、M2、M3、TMIt is obtained by measurement setting or artificial settings.
3. after entering modes of warning, at interval of Q1The real time video image f (x, y) and deposited background that frame acquires video camera Image b (x, y) carries out accumulated deficiency processing, accumulated deficiency operational formula are as follows:
Pn(x, y) is the accumulated deficiency image for having handled n frame, initial value P0(x, y) is that 0, A is setting regions, T1For setting Gray threshold;Pass through accumulated deficiency calculation process Q2After frame, asks and be more than or equal to setting gray value T2Pixel summation DT, such as meet DT≥M4, then it is determined as image data exception;M in formula4For the threshold value of setting;Q1、Q2、T1、T2、M4By measurement setting or artificially Setting obtains.
4. after monitoring image data exception, calculate and monitor the waterlevel data variation of ground hydrological observation wells, when Time TSIt is interior, meetThen issue floods alarm signal, L in formulai1For the waterlevel data acquired in real time, LS1For The extremely preceding waterlevel data of image data, R1For the SEA LEVEL VARIATION rate threshold value of setting;TS、R1By measurement setting or it is manually set It obtains.
5. after monitoring image data exception, calculate and monitor the water temperature data variation of ground hydrological observation wells, when Between TSIt is interior, meetThen issue floods alarm signal, L in formulai2For the water temperature data acquired in real time, LS2For The extremely preceding water temperature data of image data, R2For the water temperature change rate threshold value of setting;R2By measurement setting or it is manually set It arrives.
Detailed description of the invention
The coal mine floods alarm system schematic diagram that Fig. 1 is monitored based on image and hydrographic data.
The circuit hardware composition schematic diagram of Fig. 2 hydrologic monitoring equipment.
The coal mine floods alarm system workflow schematic diagram that Fig. 3 is monitored based on image and hydrographic data.
Fig. 4 floods monitoring server monitors flow diagram.
Specific embodiment
The floods alarm method realizes that system composition is specifically included that by monitoring system
1. storage server (101) is responsible for receiving video data, the water level in hydrological observation wells and water temperature data and be deposited Storage, provides inquiry and transfers service for monitoring host computer and floods monitoring server.
2. floods monitoring server (102), receive the digital video frequency flow of video camera acquisition, to the video image of video camera into Row processing monitors the aberrant continuation variation that setting regions occurs in camera video image, and with reference to storage server storage Water level, water temperature data in corresponding hydrological observation wells, export gushing water alarm signal to monitoring host computer if meeting alert if.When When monitoring the excessive server handling ability deficiency of video number, multiple servers can be placed, video is monitored respectively.
3. geographic information server (103), it is responsible for monitoring host computer and geographic information services is provided, using ArcGIS platform, And store the position data of the related geographic information data of mine, video camera (107) and hydrological observation wells;Server has floods Sunykatuib analysis function can provide based on the analysis results for each working region in underground according to gushing water position analysis floods development Escape route information, and it is sent to monitoring host computer.
4. monitoring host computer (104) has sound and light of alarm, the alarm signal of floods monitoring server (102) is received then Sound-light alarm;With speech synthesis and digital voice compression encoding function, when obtaining underground from geographic information server (103) After the escape route information of each working region, the text information of gushing water position and escape route is synthesized into voice and compressed encoding, Each broadcasting equipment is issued to be broadcasted;Have the function of that real-time video monitoring and history video are transferred, production management personnel pass through Monitoring host computer checks live video image and can transfer history monitoring data from storage server (101).
5. the network switch (105) is responsible for the management and data exchange of the equipment of all mining Ethernets of access.
6. underground interchanger (106) is responsible for substation and other accesses and data exchange by network communication equipment, is had Flameproof enclosure meets underground coal mine flame proof requirement.
7. video camera (107);Using the mining video camera for meeting coal mine flame-proof requirement, secondary light source is had, coal is mounted on Under mine on the places such as driving face, coal working face or other possible work surfaces that water leak accident occurs, pass through coaxial electrical Cable is connect with video server (108).
8. the analog video image that video camera acquires is digitized and is pressed by video server (108), also referred to as video encoder Reduce the staff code, by mining Ethernet on well storage server, floods monitoring server, monitoring host computer transmitting video data.
9. substation (109), also referred to as data collection station are responsible for receiving alarm switch and other monitoring device data, can be connected Multiple alarm switches, broadcasting equipment and other monitoring devices;Substation is connected by twisted pair or optical cable and nearest underground interchanger It connects, is communicated using TCP mode with the storage server on well, there is flameproof enclosure, meet underground coal mine flame proof requirement.
10. hydrologic monitoring equipment (110), in hydrological observation wells water level and water temperature data monitoring acquisition, acquired Data pass through mobile data network and the Internet transmission to storage server.
11. alarm switch (111) alarms for on-site manual, using RS-485 standard interface, should meet coal mine and divide into Standby safety requirements.
12. broadcasting equipment (112) is used for underground voice broadcast service, there is digital speech decoding function, digital speech will be passed through The data convert of compressed encoding amplifies broadcasting at voice;Broadcasting equipment and substation are connected using RS-485 standard by twisted pair Connect letter.
The circuit hardware composition of hydrologic monitoring equipment is as shown in Figure 3:
1. the MSP430F147 single-chip microcontroller of processor (201) selection TI company.16 risc architectures of the model, have 32k Flash, 1kRAM;And there are 5 kinds of low-power consumption modes, flexible clock system.MSP430 can be under 1.8~3.6V low-voltage Work, system use 3.3V operating voltage.Precision built in MSP430F147 is the A/D converter of 12 200kps.1 non-thread Property differential error, 1 non-linear integral error, 4 kinds of analog-to-digital conversion modes.For acquiring the simulation letter of sensor probe output Number.
1. sensor probe (202), including measuring the piezoresistive pressure sensor of water level and the temperature sensitive sensing of measurement water temperature Device.
2. detection circuit (203), for probe power supply and the analog signal acquired that will pop one's head in is converted to processor (201) and can adopt The voltage change signal of collection.
3. wirelessly communicating (204), using mobile network communication module, since the data volume of transmission is smaller, so using 2G Mobile communication module can meet functional requirement, select Huawei MG323-B module, support mobile GPRS network, built-in TCP/IP Agreement uses UART interface and MSP430F147 connection communication.
4. debugging interface (205), standard JTAG are used for Debugging Program for Single-chip Computer, programming, upgrading.
5. power supply (206) is responsible for all functional modules power supply.Since hydrologic monitoring equipment is placed in field, so to protect Barrier power supply needs support a variety of power supply modes.Power supply composition includes battery, solar panels, AC/DC module, DC/DC module, DC Power conversion chip.
The course of work of floods alarm is as shown in Figure 4:
1. (301) video camera acquires video image, analog video signal is transferred to video server by coaxial cable.
2. (302) video server digitized analog video signal and carry out compressed encoding, by cable by compressed encoding Video data afterwards is with multicast transmission to storage server, monitoring host computer and floods monitoring server.
3. (303) floods monitoring server analyzes the video image data sent by video server in real time, video is monitored In abnormal water flow.
4. (304) water level and water temperature data in hydrologic monitoring equipment acquisition hydrological observation wells.
It, will 5. (305) water level and water temperature data data are packaged by hydrologic monitoring equipment according to the communication protocol of setting Data packet is transmitted to storage server by mobile network and internet in a manner of TCP Client.
6. (306) storage server is received in a manner of TCP server in the hydrological observation wells uploaded by hydrologic monitoring equipment Water level and water temperature data, and be stored in database.
7. (307) floods monitoring server obtains the water level and water temperature number in hydrological observation wells by access storage server According to the water level and water temperature number in video image monitoring (303) result and hydrological observation wells relevant to video camera position According to comprehensive monitoring is carried out, floods alarm signal is issued to monitoring host computer when meeting alert if, while by monitored video camera Number is sent to monitoring host computer.
8. when pressing alarm button, substation acquires the alarm signal of alarm button (308) when field personnel has found floods Number, data are packaged according to the communication protocol of setting, data packet is transmitted in a manner of TCP Client by network interface Storage server.
9. (309) storage server stores alert data, and forwards alarm signal to monitoring host computer.
10. (310) when monitoring host computer is connected to the alarm signal of floods monitoring server or storage server, by video camera Or the number of alarm switch be sent to geographic information server.
11. (311) geographic information server determines gushing water position according to the number of alarming video camera or alarm switch, according to Gushing water position analysis floods development provides escape route information further according to analysis result for each working region in underground, concurrently Give monitoring host computer.
12. (312) monitoring host computer real-time display live video and automatic sound-light alarm, by gushing water position and escape route Text information synthesizes voice and compressed encoding, is issued to each broadcasting equipment and is broadcasted.Production management personnel can check live real When video, alarm condition and equipment situation then transfer history live video number when the hardware that video and data acquire is damaged According to.
13. (313) underground broadcasting equipment receives the voice data comprising gushing water position and escape route information, decoded back Amplify for voice signal and broadcasts.
Floods monitoring server monitors process as shown in Fig. 4:
Monitoring area A and the relevant parameter of all monitoring operations are transferred when 1. (401) floods monitoring server starting every time Transferred, if being not yet arranged, needs to be configured manually.
2. (402) counting the pixel number of each gray value in every frame image-region A, sequence H is obtainedi;Operation K frame image-region 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) will finally collect a frame image as background image b (x, y) to store.
5. (405) interval P frame, which is asked, is more than or equal to setting gray value M in the A of region 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. (410) continuing setting time carries out accumulated deficiency image operation to real time video image and deposited background image.
11. (411) 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 frame be 0, A For setting regions, T1To set gray threshold;Pass through accumulated deficiency calculation process Q2After frame, asks and be higher than setting gray value T2Picture Plain summation DT
12. (412) such as DT≥M4, then (414) are executed, (413) is otherwise executed and returns to (402) afterwards, M4For the growth rate of setting Threshold value.
13. (414) access storage server obtains water level, water in hydrological observation wells relevant to video camera position Warm data calculate and monitor waterlevel data variation, when in time TSIt is interior, meet(416) are then executed, otherwise It executes (415);L in formulai1For the waterlevel data acquired in real time, LS1For the waterlevel data that image data is extremely preceding, R1For setting SEA LEVEL VARIATION rate threshold value.
14. (415) calculating and monitoring water temperature data variation, such as in time TSIt is interior, meetThen execute (416), (413) are otherwise executed and returns to (402) afterwards;L in formulai2For the waterlevel data acquired in real time, LS2Before image data exception Waterlevel data, R2For the SEA LEVEL VARIATION rate threshold value of setting.
15. (416) issuing floods alarm signal.
16. (413) removing pre-warning mark, cancel alert status.

Claims (6)

1. a kind of coal mine floods alarm method monitored based on image and hydrographic data, it is characterised in that: tunneled in underground coal mine Working face, coal working face place video camera, and hydrological observation wells are bored on well and are used for the related groundwater state near mine It is monitored, monitors hydrological observation water level in borehole and water temperature data;Real-time monitoring is carried out to video image data, when monitoring to take the photograph There is abnormal water flow in setting regions in camera video image, and the water flow duration is more than that the time threshold of setting or water flow increase When speed is more than given threshold, then it is determined as data exception;And when discovery hydrological observation wells water level or water temperature variation are more than setting Threshold value then at once issue floods alarm signal;Specifically:
For the setting regions in camera video image, calculates and be more than or equal to setting gray value M1Pixel summation DS, and to DS It is timed update, is asked at interval of P frame and is more than or equal to setting gray value M in latest image frame region2Pixel summation DH, when (DH-DS)≥M3When, trigger early warning;
Into after modes of warning, to video image by accumulative difference processing, calculates and be more than or equal to setting gray value T2Pixel it is total And DT, such as meet DT≥M4, then it is determined as image data exception, M4For the threshold value of setting;
After monitoring image data exception, water level or the water temperature data variation of ground hydrological observation wells are calculated and monitor, when setting In fixing time, meets data variation more than given threshold, then issue floods alarm signal.
2. alarm method as described in claim 1, it is characterised in that: camera installation locations are at the top of tunnel or height is big In 2 meters, secondary light source is installed by video camera, light projection direction is consistent with camera video acquisition direction;Close video camera Auto-focusing and automatic white balance function.
3. alarm method as described in claim 1, it is characterised in that: carried out to the partial region A in camera supervised range Setting, counts the pixel number of each gray value i in every frame video image region A, obtains sequence Hi;Operation K frame image The arithmetic mean of instantaneous value of the pixel number of each gray value,Obtain sequence Si;It asks and is more than or equal to setting gray value M1Picture Plain summation DS,And it is stored last frame image as background image b (x, y), interval time TMTo DSWith b (x, Y) it is updated;It is asked at interval of P frame and is more than or equal to setting gray value M in latest image frame in the A of region2Pixel summation DH,Work as DHMore than or equal to DSGiven threshold M3When, i.e. (DH-DS)≥M3When, early warning is triggered, and store b (x, y);Such as (DH-DS) < M3, then D is updatedSWith b (x, y);K,P,M1、M2、M3、TMIt is obtained by measurement setting or artificial settings.
4. alarm method as claimed in claim 3, it is characterised in that: after entering modes of warning, at interval of Q1Frame adopts video camera The real time video image f (x, y) of collection and deposited background image b (x, y) carry out accumulated deficiency processing, accumulated deficiency operational formula Are as follows:
P in formulan(x, y) is the accumulated deficiency image for having handled n frame, initial value P0(x, y) is that 0, A is setting regions, T1For setting Gray threshold;Pass through accumulated deficiency calculation process Q2After frame, asks and be more than or equal to setting gray value T2Pixel summation DT, such as meet DT≥M4, then it is determined as image data exception;M in formula4For the threshold value of setting;Q1、Q2、T1、T2、M4By measurement setting or artificially Setting obtains.
5. alarm method as claimed in claim 4, it is characterised in that: after monitoring image data exception, calculate and monitor The waterlevel data of ground hydrological observation wells changes, when in time TSIt is interior, meetThen issue floods alarm signal Number, L in formulai1For the waterlevel data acquired in real time, LS1For the waterlevel data that image data is extremely preceding, R1For the SEA LEVEL VARIATION of setting Rate threshold value;TS、R1It is obtained by measurement setting or artificial settings.
6. alarm method as claimed in claim 4, it is characterised in that: after monitoring image data exception, calculate and monitor ground The water temperature data of face hydrological observation wells changes, when in time TSIt is interior, meetThen issue floods alarm signal Number, L in formulai2For the water temperature data acquired in real time, LS2For the water temperature data that image data is extremely preceding, R2Change for the water temperature of setting Rate threshold value;R2It is obtained by measurement setting or artificial settings.
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