CN107100658A - Coal-face top plate warning system based on image - Google Patents
Coal-face top plate warning system based on image Download PDFInfo
- Publication number
- CN107100658A CN107100658A CN201710440627.2A CN201710440627A CN107100658A CN 107100658 A CN107100658 A CN 107100658A CN 201710440627 A CN201710440627 A CN 201710440627A CN 107100658 A CN107100658 A CN 107100658A
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- Prior art keywords
- hydraulic support
- coal
- image
- top plate
- warning system
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- 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.)
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- 238000012544 monitoring process Methods 0.000 claims abstract description 18
- 239000003245 coal Substances 0.000 claims abstract description 15
- 238000012806 monitoring device Methods 0.000 claims abstract description 14
- 239000000463 material Substances 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 4
- 239000007788 liquid Substances 0.000 claims description 4
- 238000013500 data storage Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 2
- 238000005259 measurement Methods 0.000 claims description 2
- 238000004891 communication Methods 0.000 description 4
- 238000005065 mining Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000003909 pattern recognition Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 238000006424 Flood reaction Methods 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 239000002817 coal dust Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000009432 framing Methods 0.000 description 1
- -1 i.e. Substances 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/12—Control, e.g. using remote control
-
- 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
- E21F17/185—Rock-pressure control devices with or without alarm devices; Alarm devices in case of roof subsidence
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Emergency Alarm Devices (AREA)
- Alarm Systems (AREA)
Abstract
The invention provides a kind of coal-face top plate warning system based on image, the warning system is monitored by the way of image recognition to coal face hydraulic support posture, so as to realize the early warning and alarm of the roof accident of coal-face.The warning system mainly includes video camera, hydraulic support monitoring device and hydraulic support control device.Video camera is used for the video image for gathering hydraulic support；Hydraulic support control device is responsible for gathering hydraulic pressure shelf-like state；The hydraulic support monitoring device is by the video image of camera acquisition hydraulic support, and being obtained by the fixed signal identification to hydraulic support in image includes hydraulic support angle-data, and top plate early warning or warning message are sent according to monitoring result.
Description
Technical field
The present invention relates to a kind of coal-face top plate warning system based on image, this method, which is related to, to be automatically controlled, schemes
As the field such as pattern-recognition and communication.
Background technology
Coal is China's main energy sources, accounts for 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, mine roof accident category
The larger natural calamity of harmfulness, has substantial amounts of rock and blocks tunnel, difficulty is caused to personnel escape, therefore in coal production
In mine roof accident must be accomplished to give warning in advance and alarm.Current roof accident early warning based on top plate distortion measurement,
Included using measuring apparatus：Pressure sensor, displacement transducer, travel switch etc., these sensors are touch sensor,
It must be fixedly mounted in top plate.Easily occurs the coal-face of roof accident, due to being continually changing, it is necessary to frequently for coal face
Mobile and install sensor, use is very inconvenient.Region is easily sent out for top plate thing at present, the artificial of Field Force is still relied primarily on
Alarm, but when accident occurs to flee from hastily in unattended time or region, or Field Force and fail initiative alarming, adjust
Degree room just can not timely obtain the information for having occurred roof accident, it is impossible to notify underground relevant staff in time, so that
Water inrush accident can not in time be taken emergency measures, easily cause that disaster is out of control and casualties.Effectively to reduce caused by top plate
Mine property loss and casualties, can be right in unattended period, it is necessary to new underground top plate accident early warning and warning system
The roof accident of coal-face carries out early warning, and roof accident can be alarmed exactly in the very first time, to strive for treasured
The expensive disaster relief and escape time.
The content of the invention
The invention provides a kind of coal-face top plate warning system based on image, the warning system uses image
Knowledge is monitored to coal face hydraulic support posture otherwise, so as to realize the early warning to coal-face roof accident
And alarm.The system mainly includes video camera and hydraulic support monitoring device；Video camera is installed on coal-face tunnel side
Wall position, the video image for gathering at least one hydraulic support, the video image includes at least one of hydraulic support
Fixed signal；The hydraulic support control device is responsible for being controlled hydraulic support, and gathers hydraulic pressure shelf-like state；The liquid
Video image of the support monitoring device by camera acquisition hydraulic support is pressed, passes through the fixed signal to hydraulic support in image
Identification, which is obtained, includes the data of hydraulic support angle, and data and the support that the has stored angle-data that works are compared, when
Monitor that hydraulic support angle is abnormal, then enter alert status and send warning information；The hydraulic support monitoring device is pre-
Under alert state, when monitoring no video image or the None- identified hydraulic support fixed signal in setting time, then top plate is sent
Warning message.
The coal-face top plate warning system further comprises：The hydraulic support monitoring device data storage includes
The template image data of at least one hydraulic support fixed signal in camera acquisition image-region, in addition to hydraulic support
Operating angle data；The operating angle data are to be in measuring in the state of operating position in video camera and hydraulic support
Arrive.
The coal-face top plate warning system further comprises：The laser and camera installation locations include hanging down
The straight trapped orbit device installed in coal face；The trapped orbit device includes controllable moving track device；The controllable shifting
Dynamic rail duct device mainly includes track and motor；The motor is used to control video camera to move in orbit；The motor is by liquid
Press the control of support control device.
The coal-face top plate warning system further comprises：The material of the fixed signal includes fluorescent material；
The fixed signal is marked including " ten " font.
The hydraulic support monitoring and alarming system further comprises：Video of the hydraulic support monitoring device to camera acquisition
The process that image is compared with hydraulic support fixed signal template includes：
A) the particular color feature in digital picture is extracted；
B) processing is filtered to image with filtering algorithm；
C) template is marked to be carried out with the digital picture Jing Guo rim detection at pattern match with each hydraulic support transferred
Reason.
Brief description of the drawings
The system schematic of Fig. 1 embodiments 1.
The system schematic of Fig. 2 embodiments 2.
Fig. 3 coal-face video camera scheme of installations.
Fig. 4 hydraulic supports monitor server workflow diagram.
The pattern-recognition of Fig. 5 hydraulic supports and process chart.
Embodiment
The embodiment 1 of the coal-getter face hydraulic support monitoring and alarming system based on image is as shown in figure 1, system group
Into mainly including：
1. hydraulic support monitoring server (101), i.e. hydraulic support monitoring device, receive video server (103) and upload
Coal-face scene digital video data, and pass through in video image hydraulic support fixed signal recognize obtain
Including hydraulic support angle-data；When monitoring that Hydraulic Support Posture is abnormal, then alert data is sent to monitor terminal.
2. storage server (102), is responsible for receiving the digitlization at the coal-face scene that video server (103) is uploaded
Video data is simultaneously stored, and transfers service for monitor terminal (103) offer inquiry.
3. monitor terminal (103), is responsible for display coal-face live video image, with real-time video monitoring and history
Video transfers function, and production management personnel check live video image by monitor terminal and can adjusted from storage server (102)
Take history monitoring data；The alert data progress alarm that server (101) transmission can be monitored according to the hydraulic support received is carried
Show, and send sound and light alarm.
4. the network switch (104), is responsible for management and the data exchange of the equipment of all mining Ethernets of access.
5. underground interchanger (105), is responsible for substation and other accesses and data exchange by network communication equipment, has
Flameproof enclosure, meets underground coal mine flame proof requirement.
6. hydraulic bracket controller (106), is hydraulic support control device, collection monitors server with hydraulic support
(101) communicated, hydraulic support (107) status information is provided using programmable controller (PLC), such as Siemens S700 for it
Series Programmable logic Controller (PLC)；.
7. hydraulic support (107), for support works face top, is controlled, with sensing by hydraulic bracket controller (106)
Device, including pressure sensor, travel switch, infrared sensor etc., it is that hydraulic bracket controller (106) provides status signal.
8. video camera (108), using the mine digital formula video camera for meeting coal mine flame-proof requirement, with secondary light source, connects
Underground interchanger (105) is connect, video data is sent with multicast mode, in camera tracks (114).
9. camera tracks (109), are installed on work surface side wall, using stepper motor perpendicular to tunnel and parallel to tunnel
Track is driven to slide, stepper motor connection hydraulic bracket controller (106) controls to rotate, band according to the pulse signal of its transmission
Dynamic video camera (108) is moved to specified location to working face.
10. coal mining machine controller (110), for coal-winning machine control, using programmable controller, passes through network communications port
Connect underground interchanger.
The embodiment 2 of the coal face hydraulic support monitoring and alarming system based on image as shown in Fig. 2 with reality
The difference for applying scheme 1 is：
1. hydraulic support monitoring server (101) is installed on underground, recognized using industrial computer or for multiway images processing
Special equipment, direct collecting work face field video signal simultaneously handled, and network is passed through with hydraulic bracket controller (106)
Communication, can also be communicated by industrial field bus.
2. video camera connection equipment video shunt (111), for two-way output, one will to be divided into by analog video signal all the way
Road connection video encoder (112), by video signal digitization and compresses, and is transmitted to storage and taken by UDP mode of unicast
Business device (102)；Second road analog video output connection hydraulic support monitoring server (101).
3. video encoder (112), analog video image digitlization and compressed encoding by camera acquisition, and on well
Hydraulic support monitoring server (101), storage server (102), monitor terminal (103) transmitting video data；Haikang can be used
DS-6701HW, video data is sent with multicast mode.
Fig. 3 is coal-face video camera scheme of installation.As illustrated, in coal-face air intake lane and return airway
In wall, camera tracks (109) are respectively mounted parallel to tunnel, video camera (108) is installed on camera tracks, video camera
(108) fixed signal of hydraulic support should be able to be collected, fixed signal is drawn by the fluorescent material with particular color, specific face
Color includes red, green, yellow, white etc..
Hydraulic support monitoring server workflow is as shown in Figure 4：
1. (401 gather hydraulic support and coal-winning machine by hydraulic bracket controller (106) and coal mining machine controller (110)
Operating state data.
2. (402) analysis hydraulic support and coal-winning machine operating state data, when monitoring that hydraulic support starts one group of shifting frame,
Then controlling camera tracks motor to rotate by hydraulic bracket controller (106) drives video camera to move coal mining to working face direction
The distance of machine this time feed.
3. (403) gather the video image of support
4. pattern match identification (404) is carried out to the fixation mark in image.
5. (405) determining the angle for the hydraulic support that pattern match is obtained, and enter with the hydraulic support operating angle of storage
Row Determination, judges whether Hydraulic Support Posture is normal.
6. (406) carrying out corresponding early warning processing if Hydraulic Support Posture is abnormal, top plate early warning is sent to monitor terminal
Information, and subsequent alarms monitoring is carried out, send top plate warning message to monitor terminal if meeting alert if.
Hydraulic support pattern-recognition and handling process are as shown in Figure 5：
1. (501) transfer the template image data and liquid of the hydraulic support fixation mark in current camera institute monitoring range
Press the operating angle of support；The fixation mark of this example is " ten " font mark artificially done using red fluorescence material, specific
Characteristic point is the central point that " ten " font is marked.
2. (502) color characteristic in the color extraction digital picture of fluorescent material, this example uses red fluorescence
Material, i.e., extract to RED sector.
3. (503) being filtered processing to image with filtering algorithm, remove the disturbing factors such as electromagnetic interference, dust and cause
Picture noise, strengthen image information, processing can be filtered to image using a variety of filtering algorithms.
4. (504) entered with the template image data and treated digital picture of the hydraulic support fixation mark transferred
Row mode matching treatment, in this example, can carry out pattern match for the vertex position relation of " ten " font fixation mark.
5. (505) judge pattern match result, if pattern match success if perform (506), otherwise perform
(511)。
6. (506) calculating the orientation angle of fixation mark, in this example, the folder of summit line and framing mask is calculated
Angle.
7. (507) compare the difference of the orientation angle for the fixation mark that (508) are obtained and the operating angle of hydraulic support, if
Differential seat angle is more than given threshold, then illustrates that hydraulic support is tilted and perform (508)；(502) are returned if not tilting.
8. (508) sending top plate warning message to monitor terminal, and enter alert status.
9. (509) the real-time monitoring video signal under alert status, such as monitors no vision signal input, then performs
(510) (502) otherwise, are returned.
10. (510) send warning message to monitor terminal.
11. (510) (511) are performed if in alert status carries out alert process, otherwise (502) are returned to.
Claims (7)
1. the coal-face top plate warning system based on image, its feature is：The system mainly includes video camera and liquid
Press support monitoring device；Video camera is installed on coal-face tunnel sidewall locations, for gathering at least one hydraulic support
Video image, the video image includes at least one fixed signal of hydraulic support；The hydraulic support control device is responsible for
Hydraulic support is controlled, and gathers hydraulic pressure shelf-like state；The hydraulic support monitoring device passes through camera acquisition hydraulic pressure
The video image of support, being obtained by the fixed signal identification to hydraulic support in image includes the data of hydraulic support angle,
And data and the support work angle-data that has stored are compared, when monitoring that hydraulic support angle is abnormal, then into pre-
Alert state simultaneously sends warning information；The hydraulic support monitoring device under alert status, when monitor no video image or
None- identified hydraulic support fixed signal in setting time, then send top plate warning message.
2. coal-face top plate warning system as claimed in claim 1, it is characterised in that：The hydraulic support monitoring device
Data storage includes the template image data of at least one hydraulic support fixed signal in camera acquisition image-region.
3. coal-face top plate warning system as claimed in claim 1, it is characterised in that：The hydraulic support monitoring device
Data storage includes the operating angle data of hydraulic support；The operating angle data are in video camera and hydraulic support
Measurement is obtained in the state of operating position.
4. coal-face top plate warning system as claimed in claim 1, it is characterised in that：The camera installation locations bag
Include the trapped orbit device installed perpendicular to coal face；The trapped orbit device includes controllable moving track device；It is described can
Controlling moving track device mainly includes track and motor；The motor is used to control video camera to move in orbit；The motor
Controlled by hydraulic support control device.
5. coal-face top plate warning system as claimed in claim 1, it is characterised in that：The material bag of the fixed signal
Include fluorescent material.
6. coal-face top plate warning system as claimed in claim 1, it is characterised in that：The fixed signal includes " ten "
Font is marked.
7. described in coal-face top plate warning system further comprise：Video of the hydraulic support monitoring device to camera acquisition
The process that image is compared with hydraulic support fixed signal template includes：
A) the particular color feature in digital picture is extracted；
B) processing is filtered to image with filtering algorithm；
C) template is marked to carry out pattern match processing with the digital picture Jing Guo rim detection with each hydraulic support transferred.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710440627.2A CN107100658A (en) | 2017-06-13 | 2017-06-13 | Coal-face top plate warning system based on image |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710440627.2A CN107100658A (en) | 2017-06-13 | 2017-06-13 | Coal-face top plate warning system based on image |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107100658A true CN107100658A (en) | 2017-08-29 |
Family
ID=59660192
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710440627.2A Pending CN107100658A (en) | 2017-06-13 | 2017-06-13 | Coal-face top plate warning system based on image |
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| Country | Link |
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| CN (1) | CN107100658A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110365944A (en) * | 2019-07-19 | 2019-10-22 | 精英数智科技股份有限公司 | Monitoring method, device, equipment and the storage medium of sky top operation |
| CN110426016A (en) * | 2019-07-30 | 2019-11-08 | 精英数智科技股份有限公司 | A kind of alignment householder method and system for moving frame for fully-mechanized mining working surface hydraulic support |
| CN111441825A (en) * | 2020-03-05 | 2020-07-24 | 天地科技股份有限公司 | Fully-mechanized mining face hydraulic support working state monitoring system |
| RU2750248C1 (en) * | 2019-03-20 | 2021-06-24 | ДЖОЙ ГЛОБАЛ АНДЕРГРАУНД МАЙНИНГ ЭлЭлСи | System and method of operation of managing the long face mining system based on the mining profile with a forward view |
| CN115877401A (en) * | 2023-02-07 | 2023-03-31 | 南京北路智控科技股份有限公司 | Posture detection method, device and equipment of hydraulic support and storage medium |
| RU2804654C1 (en) * | 2022-05-10 | 2023-10-03 | Сани Хэви Эквипмент Ко., Лтд. | Method and device for controlling a loader based on binocular vision |
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| US20030054808A1 (en) * | 2000-03-31 | 2003-03-20 | Hiroshi Watanabe | Method of detection of actual operating time of machinery deployed at construction sites, data collection and management system, and base station |
| CN202694116U (en) * | 2012-07-03 | 2013-01-23 | 河北天择重型机械有限公司 | Intelligent digital unmanned working face complete equipment for fully mechanized mining |
| CN106567737A (en) * | 2016-10-20 | 2017-04-19 | 辽宁工程技术大学 | Early warning system and method of coal and gas outburst in coal mining working face based on infrared thermal images |
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| US6056481A (en) * | 1996-09-07 | 2000-05-02 | Dbt Automation Gmbh | Method and device for monitoring the load on hydraulic powered shield supports for underground mining |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2750248C1 (en) * | 2019-03-20 | 2021-06-24 | ДЖОЙ ГЛОБАЛ АНДЕРГРАУНД МАЙНИНГ ЭлЭлСи | System and method of operation of managing the long face mining system based on the mining profile with a forward view |
| CN110365944A (en) * | 2019-07-19 | 2019-10-22 | 精英数智科技股份有限公司 | Monitoring method, device, equipment and the storage medium of sky top operation |
| CN110365944B (en) * | 2019-07-19 | 2020-12-15 | 精英数智科技股份有限公司 | Monitoring method, device, equipment and storage medium for empty top operation |
| CN110426016A (en) * | 2019-07-30 | 2019-11-08 | 精英数智科技股份有限公司 | A kind of alignment householder method and system for moving frame for fully-mechanized mining working surface hydraulic support |
| CN111441825A (en) * | 2020-03-05 | 2020-07-24 | 天地科技股份有限公司 | Fully-mechanized mining face hydraulic support working state monitoring system |
| RU2804654C1 (en) * | 2022-05-10 | 2023-10-03 | Сани Хэви Эквипмент Ко., Лтд. | Method and device for controlling a loader based on binocular vision |
| RU2804654C9 (en) * | 2022-05-10 | 2023-11-30 | Сани Хэви Эквипмент Ко., Лтд. | Method and device for controlling a loader based on binocular vision |
| CN115877401A (en) * | 2023-02-07 | 2023-03-31 | 南京北路智控科技股份有限公司 | Posture detection method, device and equipment of hydraulic support and storage medium |
| CN115877401B (en) * | 2023-02-07 | 2023-11-10 | 南京北路智控科技股份有限公司 | Posture detection method, device and equipment for hydraulic support and storage medium |
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Application publication date: 20170829 |