CN107860691A - A kind of laser mine coal dust method of telemetering based on machine vision technique - Google Patents
A kind of laser mine coal dust method of telemetering based on machine vision technique Download PDFInfo
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- CN107860691A CN107860691A CN201710965208.0A CN201710965208A CN107860691A CN 107860691 A CN107860691 A CN 107860691A CN 201710965208 A CN201710965208 A CN 201710965208A CN 107860691 A CN107860691 A CN 107860691A
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- 239000002817 coal dust Substances 0.000 title claims abstract description 91
- 238000000034 method Methods 0.000 title claims abstract description 63
- 239000000428 dust Substances 0.000 claims abstract description 78
- 238000004458 analytical method Methods 0.000 claims abstract description 18
- 238000005516 engineering process Methods 0.000 claims abstract description 8
- 238000003384 imaging method Methods 0.000 claims abstract description 5
- 238000005259 measurement Methods 0.000 claims description 12
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 239000003086 colorant Substances 0.000 claims description 3
- 239000000284 extract Substances 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 2
- 238000001228 spectrum Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 239000003245 coal Substances 0.000 description 10
- 238000012544 monitoring process Methods 0.000 description 5
- 238000005065 mining Methods 0.000 description 2
- 208000010123 anthracosis Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 206010035653 pneumoconiosis Diseases 0.000 description 1
- 238000010223 real-time analysis Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume or surface-area of porous materials
- G01N15/06—Investigating concentration of particle suspensions
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume or surface-area of porous materials
- G01N15/06—Investigating concentration of particle suspensions
- G01N15/075—Investigating concentration of particle suspensions by optical means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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Abstract
The present invention relates to a kind of laser mine coal dust method of telemetering based on machine vision technique, machine vision technique and laser technology are combined by methods described, launch laser realization by laser to measure the Dust Concentration of certain target point in target area, simultaneously, pass through the laser view field imaging to target area coal dust spatiality, obtained view field image is compressed, and pass through corresponding algorithm, analysis obtains the dynamic change trend of Dust Concentration, and it is distributed according to the height of Dust Concentration, analysis obtains wind direction, so as to calculate the flowing velocity of coal dust target point coal dust and anticipation subsequent time Dust Concentration, carry out coal dust real time kinematics analysis.Existing measuring method is solved when harmful Dust Concentration has obvious poly- increasing trend, it is impossible to judging promptly and accurately, the problem of potential hazard is caused to downhole safety production and staff.
Description
Technical field
The present invention relates to a kind of laser mine coal dust method of telemetering based on machine vision technique.
Background technology
Coal is described as " coal ", and main status is occupied in China's energy resource supply.The danger that coal mining faces is also more
Kind is various, and such as gas, fire, top plate, coal dust accident annoying Safety of Coal Mine Production.In the course of work of coal mining activity,
Substantial amounts of coal dust can be produced in tunnel, causes anthracosis.When coal dust reaches finite concentration and has naked light, blast thing can be produced
Therefore endanger mine safety production.Underground coal dust monitoring and warning is always the important directions of coal mine safety monitoring area research, to coal
Emergency management and rescue are significant after ore deposit is kept the safety in production and instructs calamity.
In existing underground coal mine coal dust measuring method, can only right place, discontinuously dust measuring is examined to coal dust in short-term
Survey, it is impossible to monitor Dust Concentration in real time and be accurately positioned high concentration coal dust region, endanger the safety of personnel in the pit.Work as Dust Concentration
It is relatively low to alarm, but when Dust Concentration has obvious poly- increasing trend, it is impossible to judging promptly and accurately, to downhole safety
Production and staff cause potentially hazardous, and existing measuring method can not all visualize coal dust motion conditions.
The content of the invention
It is an object of the invention to provide a kind of laser mine coal dust method of telemetering based on machine vision technique, the present invention can
Remote sensing monitoring can both obtain under Dust Concentration, and can dynamic analysis for the moment in real time compared with the Dust Concentration value in far range
Carve Dust Concentration variation tendency and the visualization of this variation tendency, positioning are harmful to coal dust position, when harmful Dust Concentration has
During obvious poly- increasing trend, can be promptly and accurately judge, downhole safety production and the person peace of staff are substantially increased
Entirely, solving existing measuring method when harmful Dust Concentration has obvious poly- increasing trend, it is impossible to judging promptly and accurately
Come, to downhole safety production and staff cause potential hazard the problem of.
To achieve the above object, the solution of the present invention is：A kind of laser mine coal dust remote measurement based on machine vision technique
Machine vision technique and laser technology are combined by method, methods described, are launched laser by laser and are realized to target area
The Dust Concentration of certain interior target point measures, meanwhile, will by the laser view field imaging to target area coal dust spatiality
The view field image collected is compressed, and by corresponding algorithm, is analyzed and is obtained the dynamic change trend of Dust Concentration, and according to
The height distribution of Dust Concentration, analysis obtain wind direction, lower for the moment so as to calculate the flowing velocity of coal dust target point coal dust and anticipation
Dust Concentration is carved, carries out coal dust real time kinematics analysis；
The specific method of telemetering is as follows：
(1) Dust Concentration is set in mine from being projected into abnormal pre-alarm value and alarm threshold value；
(2) laser signal is sent in real time to target area to be measured, the coal dust flowing velocity of target point in measurement target region
And the Dust Concentration of target point；
(3) collection target coal dust is irradiated with a laser the image in region, the image of collection is compressed, appliance computer number
It is worth analysis method, the dynamic change trend of Dust Concentration is obtained, so that it is determined that wind direction；
(4) inferred to obtain the dense of a certain moment coal dust according to the Dust Concentration of target point, wind vector rule, time difference
Degree；
(5) Dust Concentration at each moment is recorded, and subsequent time Dust Concentration is prejudged, if it is determined that subsequent time
When the concentration of coal dust exceedes the pre-alarm value of setting, pre-alarm is carried out to the coal dust in respective objects region；
(6) if it is determined that when the Dust Concentration at current time exceedes the concentration threshold of setting, to the coal dust in respective objects region
Alarmed.
Further, according to the laser mine coal dust method of telemetering of the present invention, the dynamic change trend of coal dust is existed
Shown on display, and same coal dust is changed by different colours come the height of display density.
Further, according to the laser mine coal dust method of telemetering of the present invention, in described step (5), to next
The method that moment Dust Concentration is prejudged is：It is constant to be located at wind speed in measurement process, then Dust Concentration rate of change is kept constant,
In tAThe concentration at moment is expressed as vA, Dust Concentration is from zero moment to tAThe rate of change at moment is expressed as：Set for the moment
Carve tA+1Dust Concentration be νA+1, change rate of concentration is expressed as：Draw tA+1The Dust Concentration at moment is：
Further, according to the laser mine coal dust method of telemetering of the present invention, in the step (2), target point coal
Dust concentration measuring method is：The laser signal that the coal dust selective absorbing of target area receives, carry the laser of Dust Concentration
Signal is converted into corresponding electric signal, and passes through noise reduction and enhanced processing, extracts wherein containing the humorous of Dust Concentration signal
Ripple signal, and finally it is finally inversed by Dust Concentration value.
Further, according to the laser mine coal dust method of telemetering of the present invention, in the step (2), target point coal
Dirt flowing velocity measuring method is：Due to the incident light frequency of laser signal and the scattering light of the laser signal received that send
There is frequency shift (FS) in frequency, according to the frequency difference of incident light and scattering light, by the way that coal dust flowing velocity is calculated.
Further, according to the laser mine coal dust method of telemetering of the present invention, the described method of telemetering is by looking in the distance
Mirror is imaged, and camera is arranged on telescope ocular position, and the telescope remote measurement obtains the coal of different distance target area
Dirt, obtained coal dust space distribution situation are presented on camera, and camera obtains the image information from telescope.
Further, according to the laser mine coal dust method of telemetering of the present invention, the described method of telemetering is by camera
The IMAQ in field range is completed, the image collected is compressed, passes through corresponding algorithm, appliance computer numerical value
Analysis method, the spatiality concentration of coal dust in field range is finally finally inversed by, and in display screen in a manner of color distribution figure
Upper Dynamic Announce.
Further, according to the laser mine coal dust method of telemetering of the present invention, the described method of telemetering is provided with fixed
Position module, the positional information in harmful coal dust region that Real-time Feedback monitors, realizes and the real time position for being harmful to coal dust region is determined
Position.
The beneficial effect that the present invention reaches：The present invention can remote sensing monitoring compared with the Dust Concentration value in far range, can be with
Dust Concentration, dynamic analysis and real-time graph are obtained in real time shows the change of subsequent time coal dust, the harmful coal dust position of positioning in real time,
When harmful Dust Concentration has obvious poly- increasing trend, can be promptly and accurately judge, substantially increase downhole safety production and
The personal safety of staff.
Brief description of the drawings
Fig. 1 is the principle schematic that machine vision technique of the present invention is combined with laser technology；
Fig. 2 is the schematic diagram that machine vision technique of the present invention is combined with laser technology；
Fig. 3 is the remote measurement flow chart of the present invention.
In Fig. 2,101 be alarm, and 102 be display, and 103 be button, and 104 be control processor, and 105 be camera,
106 be laser, and 107 be internal focusing telescope.
Embodiment
The present invention is further detailed explanation with specific embodiment below in conjunction with the accompanying drawings.
Machine vision technique and laser technology are combined by the method for the present invention, are launched laser by laser and are realized to mesh
The Dust Concentration of certain target point measures in mark region, meanwhile, completed by camera to target area coal dust spatiality
Laser view field imaging, the view field image collected is compressed, by corresponding algorithm, analysis obtains the dynamic of Dust Concentration
State variation tendency, and be distributed according to the height of Dust Concentration, analysis obtains wind direction, so as to calculate the flowing of coal dust target point coal dust
Speed and anticipation subsequent time Dust Concentration.
The specific method of telemetering is as follows：
1, Dust Concentration is set in mine from being projected into abnormal pre-alarm value and alarm threshold value；
2, as shown in figure 1, laser signal is sent in real time by lasing light emitter to target area to be measured, mesh in measurement target region
The coal dust flowing velocity of punctuate and the Dust Concentration of target point.
The laser signal that the coal dust selective absorbing of target area receives, the laser signal for carrying Dust Concentration are changed
For corresponding electric signal, and pass through noise reduction and enhanced processing, extract the harmonic signal wherein containing Dust Concentration signal, and most
Dust Concentration value is finally inversed by eventually.Due to the incident light frequency of laser signal and the scattering optical frequency of the laser signal received that send
There is frequency shift (FS) in rate, according to the frequency difference of incident light and scattering light, by the way that coal dust flowing velocity is calculated.
3, collection target coal dust is irradiated with a laser the image in region, the view field image collected is compressed, using meter
Calculation machine numerical analysis method, obtains the dynamic change trend of Dust Concentration, so that it is determined that wind direction；
As shown in figure 1, camera is arranged on telescope ocular position, it is imaged by telescope, the telescope is adopted
With internal focusing telescope, can remote measurement obtain the coal dust of different distance target area, obtained coal dust space distribution situation is presented
On camera, camera obtains the image information from telescope.Meanwhile the information that camera acquires passes through image pressure
Contracting and corresponding image procossing, are sent to control process unit, control process unit passes through Fourier transformation, appliance computer
Numerical analysis method, the spatiality concentration of coal dust in field range is finally finally inversed by, and aobvious in a manner of color distribution figure
Dynamic Announce in display screen, and same coal dust is changed by different colours come the height of display density.
4, inferred to obtain the concentration of a certain moment coal dust according to the Dust Concentration of target point, wind vector rule, time difference,
Specific method is：
It is constant to be located at wind speed in measurement process, then Dust Concentration rate of change is kept constant, in tAThe concentration at moment is expressed as
vA, Dust Concentration is from zero moment to tAThe rate of change at moment is expressed as：If subsequent time tA+1Dust Concentration be νA+1,
Change rate of concentration is expressed as：Draw tA+1The Dust Concentration at moment is：
5, the Dust Concentration at each moment is recorded, and subsequent time Dust Concentration is prejudged, if it is determined that subsequent time
Dust Concentration when exceeding the pre-alarm value of setting, pre-alarm is carried out to the coal dust in respective objects region.
6, if it is determined that when the Dust Concentration at current time exceedes the concentration threshold of setting, the coal dust in respective objects region is entered
Row alarm.
The present invention can remote sensing monitoring compared with the Dust Concentration value in far range, Dust Concentration, dynamic can be obtained in real time
Analysis and real-time graph show the change of subsequent time coal dust, the harmful coal dust position of positioning in real time, when harmful Dust Concentration has substantially
During poly- increasing trend, can be promptly and accurately judge, downhole safety production and the personal safety of staff are substantially increased.
Claims (8)
- A kind of 1. laser mine coal dust method of telemetering based on machine vision technique, it is characterised in that：Methods described regards machine Feel technology and laser technology are combined, and are launched laser by laser and are realized to enter the Dust Concentration of certain target point in target area Row measurement, meanwhile, by the laser view field imaging to target area coal dust spatiality, the view field image collected is pressed Contracting, by corresponding algorithm, analysis obtains the dynamic change trend of Dust Concentration, and is distributed according to the height of Dust Concentration, point Analysis obtains wind direction, and so as to calculate the flowing velocity of coal dust target point coal dust and anticipation subsequent time Dust Concentration, it is real to carry out coal dust When motion analysis；The specific method of telemetering is as follows：(1) Dust Concentration is set in mine from being projected into abnormal pre-alarm value and alarm threshold value；(2) send laser signal in real time to target area to be measured, in measurement target region the coal dust flowing velocity of target point and The Dust Concentration of target point；(3) collection target coal dust is irradiated with a laser the image in region, and the image of collection is compressed, appliance computer numerical value point Analysis method, the dynamic change trend of Dust Concentration is obtained, so that it is determined that wind direction；(4) inferred to obtain the concentration of a certain moment coal dust according to the Dust Concentration of target point, wind vector rule, time difference；(5) Dust Concentration at each moment is recorded, and subsequent time Dust Concentration is prejudged, if it is determined that subsequent time coal dust Concentration when exceeding the pre-alarm value of setting, pre-alarm is carried out to the coal dust in respective objects region；(6) if it is determined that when the Dust Concentration at current time exceedes the concentration threshold of setting, the coal dust in respective objects region is carried out Alarm.
- 2. the laser mine coal dust method of telemetering according to claim 1, it is characterised in that described method is moved coal dust State variation tendency is shown over the display, and same coal dust is changed by different colours come the height of display density.
- 3. the laser mine coal dust method of telemetering according to claim 1, it is characterised in that in described step (5), under The method that one moment Dust Concentration is prejudged is：It is constant to be located at wind speed in measurement process, then Dust Concentration rate of change is kept not Become, in tAThe concentration at moment is expressed as vA, Dust Concentration is from zero moment to tAThe rate of change at moment is expressed as：Set one Moment tA+1Dust Concentration be νA+1, change rate of concentration is expressed as：Draw tA+1The Dust Concentration at moment is：
- 4. the laser mine coal dust method of telemetering according to claim 1, it is characterised in that in the step (2), target point Dust Concentration measuring method is：The laser signal that the coal dust selective absorbing of target area receives, carry swashing for Dust Concentration Optical signal is converted into corresponding electric signal, and passes through noise reduction and enhanced processing, extracts wherein containing Dust Concentration signal Harmonic signal, and finally it is finally inversed by Dust Concentration value.
- 5. the laser mine coal dust method of telemetering according to claim 1, it is characterised in that in the step (2), target point Coal dust flowing velocity measuring method is：Due to the scattering of the incident light frequency of laser signal sent and the laser signal received There is frequency shift (FS) in light frequency, according to the frequency difference of incident light and scattering light, by the way that coal dust flowing velocity is calculated.
- 6. the laser mine coal dust method of telemetering according to claim 1, it is characterised in that the described method of telemetering passes through prestige Remote mirror imaging, camera is arranged on telescope ocular position, the telescope remote measurement obtains different distance target area Coal dust, obtained coal dust space distribution situation are presented on camera, and camera obtains the image information from telescope.
- 7. the laser mine coal dust method of telemetering according to claim 6, it is characterised in that the described method of telemetering is by spectrum Instrument coordinates camera to complete the IMAQ in field range, and the image collected is compressed, should by corresponding algorithm With computer numerical analysis method, the spatiality concentration of coal dust in field range is finally finally inversed by, and with color distribution figure Mode Dynamic Announce on a display screen.
- 8. the laser mine coal dust method of telemetering according to claim 1, it is characterised in that the described method of telemetering is provided with Locating module, the positional information in harmful coal dust region that Real-time Feedback monitors, realize the real time position to being harmful to coal dust region Positioning.
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Cited By (3)
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| CN109269951A (en) * | 2018-09-06 | 2019-01-25 | 山西智卓电气有限公司 | Floating tail-coal ash content, concentration, coarse granule detection method of content based on image |
| CN110595973A (en) * | 2019-10-22 | 2019-12-20 | 中国矿业大学(北京) | Mine dust monitoring method based on image |
| CN112067516A (en) * | 2020-08-06 | 2020-12-11 | 国度人工智能科技有限公司 | Intelligent video sensor for dust concentration and dust concentration detection method |
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| CN107860691B (en) | 2023-10-24 |
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